| 摘要 |
<p>Provided is a power transmission device with which the load acting on a unidirectional rotation prevention mechanism can be reduced upon returning to the gripping state from the slipping state. In this power transmission device the transmission gear ratio can be changed by changing the amount of eccentricity (R1), and the drive power of a travel drive source (50) is changed in accordance with the amount of eccentricity (R1) and then transmitted to drive wheels (60). When a control device (40) moves from a gripping detection state to a slipping detection state, the control device performs a slipping radius control process which controls the amount of eccentricity (R1) such that a unidirectional clutch (17) is rotating freely, even if the state returns to the gripping state at this time.</p> |
