Actuator and reaction force application device using same

Abstract

An output shaft (30) is provided so as to be rotatable relative to a housing (11). An 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). An intermediate shaft (40) is provided so as to be rotatable relative to the housing (11). An intermediate gear (41) meshes with the output gear (31) and a drive gear (22), and is provided so as not to be rotatable relative to the intermediate shaft (40). A biasing member (50) is provided so as to be capable of transmitting a biasing force to the output shaft (30) separately from a drive source (20) in a direction in which the drive source (20) generates a reaction force. A biasing gear (51) is provided so as to be rotatable relative to the output shaft (30) such that the biasing gear (51) is rotatable relative to the output gear (31), and meshes with the intermediate gear (41). The biasing member (50) is provided between the housing (11) and the biasing gear (51), and is capable of transmitting a biasing force from the biasing gear (51) to the output gear (31) through the intermediate gear (41).

Description

Actuator and reaction force applying device using the same CROSS-REFERENCE TO RELATED APPLICATIONS

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

[0002] The present disclosure relates to an actuator and a reaction force applying device using the same.

[0003] Conventionally, there has been known a reaction force applying device that can apply a reaction force to an accelerator pedal that is depressed by a driver in response to the driver's depression force. For example, Patent Document 1 discloses a reaction force applying device that includes an actuator that generates a reaction force against the pedal.

[0004] EP 2607139

[0005] In the actuator of Patent Document 1, a torsion spring biases a lever connected to a reducer so that it always abuts against the accelerator pedal lever. Therefore, when the accelerator is operated, the internal gear is also driven in accordance with the pedal operation. In this configuration, backlash in the gears during operation can cause play, i.e., rattle, which can result in abnormal noise and delays in load transmission.

[0006] Scissor gears are generally known as gears that eliminate backlash, but they have a complex structure, including the arrangement of a spring that applies tension between gears arranged on the same axis, and if they are used in the actuator of Patent Document 1, this could result in the actuator becoming larger and the structure becoming more complex.

[0007] An object of the present disclosure is to provide an actuator that has a simple configuration and is capable of suppressing the generation of abnormal noise and delay in load transmission due to backlash between gears, and a reaction force applying device using the same.

[0008] The present disclosure provides an actuator capable of outputting a reaction force against an external force in one direction, the actuator comprising a housing, a drive source, and a reducer. The drive source is provided in the housing and has a drive gear 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, an output gear, an intermediate shaft, an intermediate gear, a biasing member, and a biasing gear. 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 rotatable or non-rotatable relative to the housing. The intermediate gear meshes with the output gear and the drive gear and is rotatable or non-rotatable relative to the intermediate shaft. The biasing member is capable of transmitting a biasing force to the output shaft separately from the drive source in the direction of reaction force generation by the drive source.

[0011] The biasing gear is rotatable relative to the output shaft and meshes with the intermediate gear. The biasing member is disposed 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 disclosure, the biasing force of the biasing member can generate a return force on the output shaft and eliminate backlash between the intermediate gear and the output gear. In other words, a single biasing member can generate a return force and eliminate backlash between the gears. This makes it possible to suppress abnormal noise and delays in load transmission due to backlash between the gears with a simple configuration.

[0013] The above and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which Fig. 1 is a diagram showing an actuator according to a first embodiment, a reaction force applying device using the same, and an accelerator device to which the same is applied, Fig. 2 is a diagram showing the reaction force applying device according to the first embodiment, Fig. 3 is a cross-sectional view showing the reaction force applying device according to the first embodiment, Fig. 4 is a perspective view showing a drive source and a reducer of the actuator according to the first embodiment, Fig. 5 is a diagram showing a gear meshing portion of the actuator according to the first embodiment, Fig. 6 is a schematic cross-sectional view showing a part of the actuator according to the first embodiment, Fig. 7 is a schematic cross-sectional view showing a part of the actuator according to the first embodiment, Fig. 8 is a diagram showing a reaction force applying device according to a comparative embodiment, Fig. 9 is a cross-sectional view showing a reaction force applying device according to a comparative embodiment, Fig. 10 is a diagram showing a gear meshing portion of the actuator according to the comparative embodiment, and Fig. 11 is a diagram showing a second embodiment. FIG. 16 is a cross-sectional view showing an intermediate gear of the actuator of the fourth embodiment; FIG. 17 is a cross-sectional view showing a reaction force applying device of the fifth embodiment; FIG. 18 is a cross-sectional view showing a part of the actuator of the sixth embodiment; FIG. 19 is a cross-sectional view showing a part of the actuator of the seventh embodiment; FIG. 20 is a cross-sectional view showing a part of the actuator of the eighth embodiment; and FIG. 21 is a cross-sectional view showing a part of the actuator of the ninth embodiment.

[0014] Hereinafter, actuators according to several embodiments and reaction force application devices using the same will be described with reference to the drawings. Note that substantially the same components in several embodiments will be given the same reference numerals and descriptions thereof will be omitted.

[0015] First Embodiment FIG. 1 shows an actuator according to a first embodiment, a reaction force applying device using the actuator, and an accelerator device to which the reaction force applying device 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 relating 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 applying 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. By applying a reaction force to the pedal 72 of the accelerator device 70, the reaction force applying device 3 is capable of providing the driver with notifications such as danger notices and fuel efficiency improvement notices. Furthermore, the reaction force applying device 3 can restrict the rotation of the pedal 72, thereby enabling the pedal 72 to function as a footrest.

[0018] 1 , the x-axis indicates the traveling direction of the vehicle 1, the y-axis indicates the width direction of the vehicle, and the z-axis indicates the vertically upward direction. Hereinafter, unless otherwise specified, the shape or configuration of the accelerator device 70 and the reaction force applying device 3 when attached to the vehicle 1 will be described. For example, "above" or "upper side" means the upper side or upper side when the accelerator device 70 or the reaction force applying 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 and a pedal 72. 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, which rotates when the driver depresses it, and transmits the detected accelerator opening 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 within 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] 1 and 2, the reaction force applying device 3 includes an actuator 10 and a load transmission member 60. The load transmission member 60 is provided so as not to rotate relative to an output shaft 30 (described later), and rotates integrally with the output shaft 30. The load transmission member 60 abuts against a pedal 72 and applies a reaction force in the return direction of the pedal 72.

[0023] 2, 3, and 4, the actuator 10 includes a housing 11, a drive source 20, and a reducer 4. The drive source 20 is provided in the housing 11 and has a drive gear 22 that outputs a drive force. The reducer 4 is capable of reducing the drive force from the drive 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 rotatable relative to the housing 11. The output gear 31 is non-rotatable relative to the output shaft 30 and rotates integrally with the output shaft 30.

[0025] The intermediate shaft 40 is rotatable relative to the housing 11. The intermediate gear 41 meshes with the output gear 31 and the drive gear 22, and is non-rotatable relative to the intermediate shaft 40. The biasing member 50 is provided separately from the drive source 20 so as to be able to transmit a biasing force to the output shaft 30 in the direction in which the reaction force is generated by the drive source 20.

[0026] The biasing 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 biasing member 50 is provided between the housing 11 and the biasing gear 51, and is capable of transmitting a biasing force from the biasing 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 of the vehicle 1 by being fixed to the wall surface 7 of the floor panel 2 with, for example, mounting bolts (not shown). The housing 11 has a housing main body 12 and a cover 13. The housing main body 12 is made of, for example, metal. The cover 13 is made of, for example, resin. The housing main body 12 and the cover 13 have openings that abut against each other to form a space inside that can accommodate components, etc. The housing main body 12 and the cover 13 are connected with, for example, bolts (not shown).

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

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

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

[0032] The actuator 10 includes bearings 81, 82, 83, and 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 shapes of the output gear hole 311 and one end of the output shaft 30 are formed in a non-circular shape, for example, a D-cut shape or a two-face shape. The output gear 31 is arranged so that the output gear hole 311 fits into one end of the output shaft 30. As a result, the output gear 31 is arranged 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 as external teeth is formed along the circumferential direction of the output shaft 30 at the end of the output gear 31 opposite the output gear hole 311.

[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 made of, for example, 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 411 is formed inside the intermediate gear small diameter portion 43.

[0037] The intermediate gear 41 is integrally formed with the intermediate shaft 40, for example, in a state where 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 can mesh 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 can mesh with the output gear tooth portion 312.

[0039] The biasing member 50 is, for example, a torsion spring, and 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 located inside the biasing gear hole 511. This allows the biasing gear 51 to rotate relative to the output gear 31 and the output shaft 30. Furthermore, the biasing gear 51 is movable axially relative to the output shaft 30 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, 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 biasing member 50 is provided between the housing main body 12 and the biasing gear 51, with one end engaged with the housing main body 12 and the other end engaged with the biasing gear 51. The biasing member 50 biases the biasing gear 51 so that the biasing 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 drive source 20 (see FIG. 3 ). This allows the biasing member 50 to transmit a biasing force from the biasing 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. A load transmission member hole 61 is formed in the load transmission member 60. 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 non-circular, for example, a two-face shape or a D-cut shape. The load transmission member 60 is arranged so 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 arranged so as to be unable to rotate 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 drive source 20 is operated, a driving force is output from the drive gear 22, causing the intermediate gear 41 to rotate, and the output gear 31 and the output shaft 30 to 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 a pedaling force F1 by the driver 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, the intermediate gear small diameter toothed portion 432 is acted upon by the biasing force SPGF1 of the biasing member 50 from the biasing gear tooth portion 512. Furthermore, the output gear tooth portion 312 is acted upon by the biasing force SPGF2 of the biasing member 50 via the intermediate gear 41. SPGF1 and SPGF2 are balanced with the external force acting on the intermediate gear small diameter toothed 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 separate axis from the output gear 31. Furthermore, since the loads in the rotational direction when meshing with the output gear 31 cancel each other out, the load in the direction perpendicular to the axis of the output gear 31, i.e., the load in the direction that tilts the axis, can be reduced. This makes it possible to suppress abnormal wear and malfunctions between the gears.

[0047] 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 of the biasing gear 51 facing the output gear 31 so as to be able to come into contact with the output gear 31. Therefore, by providing clearance at the tips of the teeth of the biasing gear 51 and the output gear 31, i.e., on the outer edge side, and by 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 includes an inner ring 811, an outer ring 812, and balls 813. The inner ring 811 and the outer ring 812 are cylindrical. The outer ring 812 is disposed radially outward of the inner ring 811. An annular bearing groove 814 is formed in the outer peripheral wall of the inner ring 811. An annular bearing groove 815 is formed in the inner peripheral wall of the outer ring 812. The balls 813 are disposed between the inner ring 811 and the outer ring 812 so as to be able to roll in the bearing grooves 814 and 815. This allows the inner ring 811 and the outer ring 812 to rotate smoothly relative to each other. Furthermore, the balls 813 are engaged between the bearing grooves 814 and 815, thereby restricting relative axial movement between the inner ring 811 and the outer ring 812 beyond 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 tubular portion 513. The biasing gear extension tubular portion 513 is formed to extend cylindrically from the biasing gear hole portion 511 toward the bearing 81. The end face of the biasing gear extension tubular portion 513 on the bearing 81 side can come into contact with the 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 that rotates integrally with the output shaft 30, it is possible to significantly reduce loss of biasing force due to sliding friction.

[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 delays 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, thereby eliminating backlash and suppressing the generation of abnormal noise and delays in load transmission (see Figure 5).

[0055] As described above, in this embodiment, the biasing member 50 is provided separately from the drive source 20 so as to be able to transmit a biasing force to the output shaft 30 in the direction in which the reaction force is generated by the drive source 20 .

[0056] The biasing 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 biasing member 50 is provided between the housing 11 and the biasing gear 51, and is capable of transmitting a biasing force from the biasing 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 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 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] This embodiment also 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] The biasing gear 51 also 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 clearance at the tooth tips, i.e., outer edge sides, of the biasing gear 51 and the output gear 31 and locating 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] In this embodiment, a reaction force applying device 3 is provided that can apply a reaction force to the pedal 72 of an accelerator device 70 that includes a pedal 72 that is depressed by the driver in response to the pedal depression force of the driver, and includes the above-described 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 abuts against 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, and therefore, even when the driver depresses the pedal 72, the generation of abnormal noise and discomfort due to backlash can be suppressed.

[0062] Second Embodiment An actuator according to a 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 the 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 described above, in this embodiment, the intermediate shaft 40 is provided so as not to rotate 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, 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.

[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 a biasing gear 52. A biasing gear hole 521 is formed in the biasing gear 52. The biasing gear 52 is provided on the opposite side of the output gear 31 from the bearing 81. An end of the output shaft 30 is inserted into the biasing gear hole 521. The biasing 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, 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 cylindrical portion 523. The biasing gear cylindrical portion 523 is formed in a cylindrical shape with a portion cut out in the circumferential direction, and surrounds the end of the output gear 31 on the output gear hole portion 311 side (see FIG. 13 ).

[0069] The other end of the biasing member 50 is engaged with the biasing gear 52. As in the first embodiment, the biasing member 50 biases the biasing gear 52 so that the biasing 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 drive source 20.

[0070] As described above, in this embodiment, the biasing gear 52 is provided on the opposite side of the output gear 31 from 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] 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 auxiliary intermediate gear 47, and a second auxiliary 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 auxiliary intermediate gear 47 meshes with the output gear 31. The second auxiliary intermediate gear 48 rotates integrally with the first auxiliary 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 mounted 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 auxiliary 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 as separate pieces, for example, from resin. The first main intermediate gear 45 is formed in a cylindrical shape and has an intermediate gear hole 441 formed therein. The intermediate gear hole 441 of the first main intermediate gear 45 is fitted to the intermediate shaft 40 so as to prevent relative rotation with respect 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 to the end of the intermediate shaft 40 so as to prevent relative rotation with respect to the intermediate shaft 40.

[0076] The first main intermediate gear 45 has external teeth formed on its outer peripheral wall, which are first main intermediate gear teeth 452 that can mesh with the biasing gear teeth 512. The second main intermediate gear 46 has external teeth formed on its outer edge, which are second main intermediate gear teeth 462 that can mesh with the drive gear teeth 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 as external teeth is formed on the outer peripheral wall of the first sub-intermediate gear 47. The first sub-intermediate gear tooth portion 472 can mesh with the output gear tooth portion 312. A second sub-intermediate gear tooth portion 482 as external teeth is formed on the outer edge of the second sub-intermediate gear 48. The second sub-intermediate gear tooth portion 482 can mesh with the drive gear tooth portion 222.

[0079] The first sub intermediate gear 47 is formed with an intermediate gear extension cylinder portion 473 and an intermediate gear extension cylinder portion 474. The intermediate gear extension cylinder 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 cylinder 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 integrally formed first and second auxiliary intermediate gears 47 and 48 are disposed radially outward of the intermediate shaft 40 between the first and second main intermediate gears 45 and 46 (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 and second auxiliary intermediate gears 47 and 48 are rotatable and axially movable relative to the first and second main intermediate gears 45 and 46. The end face of the intermediate gear extension tube 473 can come into contact with the end face of the first main intermediate gear 45 facing the second main intermediate gear 46. The end face of the intermediate gear extension tube 474 can come into contact with the end face of the second main intermediate gear 46 facing the first main intermediate gear 45.

[0081] By forming an intermediate gear extension tube portion 473 and an intermediate gear extension tube 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, sliding loss can be reduced.

[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 formed from 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 auxiliary intermediate gear 47 and second auxiliary 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 cross-sectional views of 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 without the first sub-intermediate gear 47 and the second sub-intermediate gear 48 attached.

[0086] With the above-described 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 reduce backlash between the gears.

[0087] As described above, this embodiment includes the intermediate gear 44. The intermediate gear 44 has a first main intermediate gear 45, a second main intermediate gear 46, a first auxiliary intermediate gear 47, and a second auxiliary intermediate gear 48. The first main intermediate gear 45 meshes with the biasing gear 51. The second main intermediate gear 46 rotates integrally with the first main intermediate gear 45. The first auxiliary intermediate gear 47 meshes with the output gear 31. The second auxiliary intermediate gear 48 rotates integrally with the first auxiliary 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 mounted 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 auxiliary 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] 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 from 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 auxiliary intermediate gear tooth portion 472. That is, the first auxiliary 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 in the following order: from the biasing gear 52 to 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.

[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 described above, this embodiment includes the intermediate gear 44. The intermediate gear 44 has a first main intermediate gear 45, a second main intermediate gear 46, a first auxiliary intermediate gear 47, and a second auxiliary intermediate gear 48. The first main intermediate gear 45 meshes with the output gear 31. The second main intermediate gear 46 rotates integrally with the first main intermediate gear 45. The first auxiliary intermediate gear 47 meshes with the biasing gear 51. The second auxiliary intermediate gear 48 rotates integrally with the first auxiliary 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 mounted 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] As in the present embodiment, even when a reduction stage is added and the arrangement of the biasing gear 52 and the output gear 31 is changed, the backlash at the meshing portion of the added gear can be eliminated by the biasing force of the biasing member 50. Therefore, it is possible to suppress the generation of abnormal noise and delay in load transmission due to backlash between the gears.

[0100] Sixth Embodiment A part of an actuator according to a sixth embodiment is shown in Fig. 18. The sixth embodiment differs from the first embodiment in the configuration around the biasing gear 51 and the like.

[0101] 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 a similar configuration to the bearing 81. The inner peripheral wall of the inner ring of the bearing 85 is fitted to the outer peripheral wall of the output shaft 30 so as to prevent relative rotation with respect to the output shaft 30. The outer peripheral wall of the outer ring of the bearing 85 is fitted to the inner peripheral wall of the biasing gear hole 511 so as to prevent relative rotation with respect 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 more than a predetermined amount. 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 described above, 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 A part of an actuator according to a 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 convex portion 515 shown in the first embodiment.

[0106] In this embodiment, the output gear 31 has a protrusion 315 that protrudes toward the biasing gear 51 from a predetermined area 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. Therefore, as in the first embodiment, by providing clearance at the tooth tips, i.e., outer edge sides, of the biasing gear 51 and the output gear 31 and by 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 A 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 the output gear 31 and the like.

[0108] In this embodiment, the output gear 31 has a protrusion 315 that protrudes toward the biasing gear 51 from a predetermined area 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. The end face of the protrusion 315 is able to come into contact with the end face of the protrusion 515. Therefore, as in the first embodiment, by providing clearance at the tips of the teeth of the biasing gear 51 and the output gear 31, i.e., on the outer edge side, and by 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.

[0109] Ninth Embodiment A part of an actuator according to a 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 convex portion 515 shown in the first embodiment.

[0111] 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 radially outer side 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 facing the biasing gear 51, within a predetermined range, radially outward from the output shaft 30. The other face of the spacer 91 can come into contact with a portion of the surface of the biasing gear 51 facing the output gear 31, within a predetermined range, radially outward from the output shaft 30.

[0113] (Other Embodiments) In the first embodiment, an example was shown in which the intermediate shaft was rotatable relative to the housing and the intermediate gear was non-rotatable relative to the intermediate shaft. Also, in the second embodiment, an example was shown in which the intermediate shaft was non-rotatable relative to the housing and the intermediate gear was rotatable relative to the intermediate shaft. In contrast to this, 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 formed parallel to the yz plane, that is, 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 disclosure can be applied to devices other than reaction force applying devices, etc. Furthermore, the reaction force applying device and accelerator device according to the present disclosure 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, comprising: a housing (11); a drive source (20) provided in the housing and having a drive gear (22) that outputs a drive force; and a reducer (4) capable of reducing the drive force from the drive source, wherein the reducer has: an output shaft (30) rotatable relative to the housing; an output gear (31) non-rotatable relative to the output shaft and rotating integrally with the output shaft; an intermediate shaft (40) rotatable or non-rotatable relative to the housing; intermediate gears (41, 44) meshing with the output gear and the drive gear and non-rotatable or rotatable relative to the intermediate shaft; an urging member (50) provided separately from the drive source to be able to transmit an urging force to the output shaft in a direction in which a reaction force is generated by the drive source; and an urging gear (51) rotatable relative to the output shaft so as to be rotatable relative to the output gear, and meshing with the intermediate gear. The actuator has a biasing member 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 so that its axial movement relative to the output shaft is restricted, and a gap (S1) is formed between the biasing gear and the output gear. "Disclosure 3" The actuator according to Disclosure 1, further comprising a bearing (81) provided in the housing to support the output shaft, and the biasing gear is provided between the output gear and the bearing so as to be axially movable relative to the output shaft. "Disclosure 4" The actuator according to Disclosure 3, wherein at least one of the biasing gear and the output gear has a convex portion (315, 515) on the surface on the other side that protrudes toward the other side from a predetermined portion radially outward 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 has a first main intermediate gear (45) meshing with the biasing gear, a second main intermediate gear (46) rotating integrally with the first main intermediate gear, a first auxiliary intermediate gear (47) meshing with the output gear, and a second auxiliary intermediate gear (48) rotating 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 auxiliary intermediate gear mesh with the drive gear, and the biasing force of the biasing member can be transmitted from the biasing gear to the output gear in the order of 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 actuator according to any one of Disclosures 1 to 5, wherein 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, and the first sub 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) has a first main intermediate gear (45) meshing with the output gear, a second main intermediate gear (46) rotating integrally with the first main intermediate gear, a first auxiliary intermediate gear (47) meshing with the biasing gear, and a second auxiliary intermediate gear (48) rotating 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 auxiliary intermediate gear mesh with the drive gear, and the biasing force of the biasing member can be transmitted from the biasing gear to the output gear in the order of 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 actuator according to any one of Disclosures 1 to 5, wherein 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, and the first sub 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 to an accelerator device (70) having a pedal (72) that is depressed by a driver in response to the pedal depression force of the driver, the reaction force imparting device comprising: an actuator (10) described in any one of Disclosures 1 to 7; and 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 transmission member abutting against the pedal and imparting a reaction force in the return direction of the pedal.

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

[0118] The present disclosure has been described based on the embodiments. However, the present disclosure is not limited to the embodiments and structures. The present disclosure also encompasses various modifications and variations within the scope of equivalents. Furthermore, various combinations and forms, as well as other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure.

Claims

1. An actuator capable of outputting a reaction force against an external force in one direction, comprising: a housing (11); a drive source (20) provided in the housing and having a drive gear (22) for outputting a drive force; and a reducer (4) capable of reducing the speed of the drive force from the drive source, the reducer having: an output shaft (30) rotatable relative to the housing; an output gear (31) provided non-rotatable relative to the output shaft and rotating integrally with the output shaft; an intermediate shaft (40) rotatable relative to the housing or non-rotatable relative to the housing; intermediate gears (41, 44) meshing with the output gear and the drive gear, and provided non-rotatable relative to the intermediate shaft or rotatable relative to the intermediate shaft; an urging member (50) provided to transmit an urging force to the output shaft separately from the drive source in the direction in which a reaction force is generated by the drive source; and an urging gear (51, 52) provided rotatable relative to the output shaft so as to be rotatable relative to the output gear, and meshing with the intermediate 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. The actuator according to claim 1, wherein the biasing gear is provided so that its relative axial movement with respect to the output shaft is restricted, and a gap (S1) is formed between the biasing gear and the output gear.

3. The actuator according to claim 1, further comprising a bearing (81) provided in the housing to support the output shaft, 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. An actuator as described in 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 predetermined portion of the surface of the other side that is radially outward of the output shaft so as to be able to contact the other.

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

6. The intermediate gear (44) has a first main intermediate gear (45) meshing with the biasing gear, a second main intermediate gear (46) rotating integrally with the first main intermediate gear, a first sub intermediate gear (47) meshing with the output gear, and a second sub intermediate gear (48) rotating integrally with the first sub 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, and the biasing force of the biasing member can be transmitted from the biasing gear to the output gear in the order of the first main intermediate gear, the second main intermediate gear, the drive gear, the second sub intermediate gear, and the first sub intermediate gear, The actuator according to any one of claims 1 to 5, wherein 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, and the first sub 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) has a first main intermediate gear (45) meshing with the output gear, a second main intermediate gear (46) rotating integrally with the first main intermediate gear, a first sub-intermediate gear (47) meshing with the biasing gear, and a second sub-intermediate gear (48) rotating integrally with the first sub-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, and the biasing force of the biasing member can be transmitted from the biasing gear to the output gear in the order of the first sub-intermediate gear, the second sub-intermediate gear, the drive gear, the second main intermediate gear, and the first main intermediate gear, The actuator according to any one of claims 1 to 5, wherein 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, and the first sub 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 to an accelerator device (70) having a pedal (72) that is depressed by a driver, against the force of the pedal being depressed by the driver, the reaction force imparting device comprising: an actuator (10) as described in any one of claims 1 to 5; and a load transmission member (60) that is non-rotatable relative to the output shaft and rotates integrally with the output shaft, the load transmission member abutting against the pedal and imparting a reaction force in the return direction of the pedal.

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