| 主权项 |
1. An engagement device comprising:
a first member including a plurality of engaged teeth; a second member arranged coaxially with the first member, the second member including a plurality of engaging teeth; a rotation unit configured to relatively rotate the first member and the second member about an axis; a movement unit configured to relatively move the first member and the second member in an axial direction; and a control unit configured to control operations of the rotation unit and the movement unit, wherein the engaged teeth are formed on the first member at a side opposing the second member along a circumferential direction around the axis, and the engaging teeth are formed on the second member at a side opposing the first member along the circumferential direction around the axis, each of the engaged teeth includes a pair of tooth surfaces opposing each other in the circumferential direction, and each of the engaging teeth includes a pair of tooth surfaces facing each other in the circumferential direction, when viewed from the second member, out of the pair of tooth surfaces of each of the engaged teeth, a front edge end of a first tooth surface is arranged on a back side in the axial direction with respect to a front edge end of a second tooth surface, and, when viewed from the first member, out of the pair of tooth surfaces of each of the engaging teeth, a front edge end of a first tooth surface is arranged on a back side in the axial direction with respect to a front edge end of a second tooth surface, the engaged teeth and the engaging teeth are formed to have a small width in the circumferential direction on a side opposing each other in the axial direction, the first tooth surfaces of the engaged teeth and the first tooth surfaces of the engaging teeth are arranged to face and approach each other at a time the first member rotates in a negative rotation direction relative to the second member, the second tooth surfaces of the engaged teeth and the second tooth surfaces of the engaging teeth are arranged to face and approach each other at a time the first member rotates in a positive rotation direction relative to the second member, and at a time the first member and the second member are engaged with each other, the control unit is configured to control the movement unit to relatively move the first member and the second member in a direction approaching each other while the first member is rotating in the negative rotation direction relative to the second member, and further control the rotation unit to change a relative rotation speed of the first member relative to the second member from a negative rotation speed to zero or more after a predetermined movement condition for relative movement between the first member and the second member is satisfied. |
