A continuously variable transmission comprising: an input member attached to an input shaft to which rotational power is input from a drive power source; an output member that transmits the rotational power input from the input member to an output shaft; a planetary cone having a conical surface (14d, 15d) with which the input member and the output member come into contact, the planetary cone being formed in a truncated cone shape; a support shaft that supports the planetary cone to be rotatable and movable in an axis direction; and a moving mechanism that changes a contact position between the conical surface of the planetary cone and the input member and a contact position between the conical surface of the planetary cone and the output member the continuously variable transmission steplessly changing the rotational power of the input shaft into rotational power of the output shaft via the planetary cone, characterized in that the continuously variable transmission further comprising: bearings (17, 54) that support end portions (16A, 16B) of the support shaft; wherein the contact position between the conical surface of the planetary cone and the input member and the contact position between the conical surface of the planetary cone and the output member are in the same position in an axial direction of the input shaft, and the contact position between the conical surface of the planetary cone and the input member and the contact position between the conical surface of the planetary cone and the output member both extend substantially parallel to the input shaft. an input member attached to an input shaft to which rotational power is input from a drive power source; an output member that transmits the rotational power input from the input member to an output shaft; a planetary cone having a conical surface (14d, 15d) with which the input member and the output member come into contact, the planetary cone being formed in a truncated cone shape; a support shaft that supports the planetary cone to be rotatable and movable in an axis direction; and a moving mechanism that changes a contact position between the conical surface of the planetary cone and the input member and a contact position between the conical surface of the planetary cone and the output member the continuously variable transmission steplessly changing the rotational power of the input shaft into rotational power of the output shaft via the planetary cone, characterized in that the continuously variable transmission further comprising: bearings (17, 54) that support end portions (16A, 16B) of the support shaft; wherein the contact position between the conical surface of the planetary cone and the input member and the contact position between the conical surface of the planetary cone and the output member are in the same position in an axial direction of the input shaft, and the contact position between the conical surface of the planetary cone and the input member and the contact position between the conical surface of the planetary cone and the output member both extend substantially parallel to the input shaft. bearings (17, 54) that support end portions (16A, 16B) of the support shaft; wherein the contact position between the conical surface of the planetary cone and the input member and the contact position between the conical surface of the planetary cone and the output member are in the same position in an axial direction of the input shaft, and the contact position between the conical surface of the planetary cone and the input member and the contact position between the conical surface of the planetary cone and the output member both extend substantially parallel to the input shaft.