Patent ID: 7604560

Claim:
A planetary roller driving device comprising: a planetary roller speed up gear having a first carrier being a first input axis and a first sun roller being a first output axis; a planetary roller reduction gear having a second sun roller being a second input axis and a second carrier being a second output axis, the second input axis being joined with the first output axis; a roller ring driving mechanism which drives one of a first roller ring of the planetary roller speed up gear and a second roller ring of the planetary roller reduction gear; a roller ring rotation control circuit which controls a rotation of the roller ring driving mechanism corresponding to an external environmental condition; a torque-assisting mechanism which provides an assisting torque to the first input axis or the second output axis; and a singular housing which unitarily accommodates the planetary roller speed up gear, the planetary roller reduction gear, the roller ring driving mechanism, and the torque-assisting mechanism, wherein the torque-assisting mechanism includes: a motor-directly-connected reduction gear which is directly connectable to a motor, wherein the motor-directly-connected reduction gear is a worm reduction gear having a worm lead angle which prevents locking thereof even when a power is transmitted from a worm wheel to a worm axis, wherein the torque-assisting mechanism further includes an assisting-torque control circuit which controls an output of the motor, and thereby controlling said assisting torque corresponding to the external environmental condition, and wherein the planetary roller driving device further comprises an encoder which is directly connected to the worm reduction gear along the worm axis and measures a rotational angle of the worm reduction gear about the worm axis.