KR101548580B1 - a two-speed gear of track driven robots - Google Patents

Abstract

[0001] The present invention relates to a two-speed transmission of a track-driven robot, and more particularly to a two-speed transmission of a track-driven robot, which is equipped with a transmission control section composed of a single speed change motor, Speed transmission of a track-driven robot, which allows a smooth response according to the road surface situation by allowing the vehicle to be smoothly transmitted to the right track. The left and right transmission portions transmit the power of the first or second stage to the left track and the right track of the track-driven robot. A shift control portion positioned at an upper portion of the left and right transmission portions and supporting one side of the left and right transmission portions so as to simultaneously convert and transmit the first or second power to left and right; .

Description

A two-speed gear of track driven robots,

[0001] The present invention relates to a two-speed transmission of a track-driven robot, and more particularly to a two-speed transmission of a track-driven robot, which is equipped with a transmission control section composed of a single speed change motor, Speed transmission of a track-driven robot, which allows a smooth response according to the road surface situation by allowing the vehicle to be smoothly transmitted to the right track.

Generally, most track-driven robots are equipped with a basic drive system consisting of motors and decelerators. However, some robots are equipped with Continuously Variable Transmission (CVT: conventional manual and automatic transmission with 4 to 5 limited- Is also applicable to a continuously variable transmission within a given shift range).

However, the conventional transmission of the track-driven robot has a problem that it is difficult to match the driving speeds of the left and right tracks because the CVT is continuously shifted only within a given range.

In addition, since two separate speed-change motors for shifting the left and right tracks are provided, the total length and the control components are added to increase the weight and increase the cost.

Korean Patent Publication No. 10-2000-0015284

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a motor vehicle which can smoothly transfer the first- and second- Speed transmission of a track drive type robot that reduces weight and cost.

In order to accomplish the above object, the present invention provides a track-driven robot including left and right transmission portions for transmitting power of one or two stages to a left track and a right track, And a speed change control section for supporting one side of the speed change section and operating so that the power of the first or second stage is simultaneously converted and transmitted to the left and right sides, wherein the speed change control section is a one- A drive gear coupled to the shaft of the speed change motor; a slave gear meshingly engaged with the drive gear; a rotation shaft installed horizontally through a center of the slave gear; , A pair of left and right movable blocks which are located on both sides of the right and on the inner surface of which the left internal thread and the right internal thread are formed It characterized.
The rotary shaft has left and right external threads on one side and right side threads on the other side with respect to an intermediate portion.
The left and right moving blocks are characterized in that the left and right holders are integrally formed so as to support the fourth left and right driven gears of the left and right transmission portions on both sides thereof to the lower side.
The left and right moving blocks and the surfaces of the left and right holders are characterized in that a lubricant sliding coating layer is formed so as to correspond to friction wear of the gear.

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As described above, according to the present invention, the left and right tracks of the track-driven robot can be simultaneously controlled at the same speed through one speed change motor, so that it is possible to cope with various ground conditions and mission environments, The weight and the cost can be remarkably reduced.

1 is a partially exploded view of a two-speed transmission according to a preferred embodiment of the present invention.
FIG. 2 is an enlarged view of a main portion of a shift control portion according to the present invention. FIG.
FIG. 3 is a view showing the combined state of FIG. 1. FIG.
Fig. 4 is a diagram schematically showing a state in which the transmission portion outputs the shift driving force to the first gear by the transmission control portion as the front state of Fig. 3;
Fig. 5 is a schematic view showing a state in which the transmission portion outputs the shift driving force to the two-speed stage by the transmission control portion as the front state of Fig. 3;
6 is a schematic view illustrating a state where the left and right chains are engaged with the two-speed transmission according to the preferred embodiment of the present invention.
7 is a schematic view illustrating a state of use in which a two-speed transmission according to a preferred embodiment of the present invention is mounted on a track-driven robot.

BEST MODE FOR CARRYING OUT THE INVENTION A preferred embodiment of a two-speed transmission of a track drive type robot according to the present invention will be described in more detail with reference to the accompanying drawings.

Hereinafter, elements having the same function in all the following drawings will be denoted by the same reference numerals, and repetitive description will be omitted. Further, the following terms are defined in consideration of functions in the present invention, Should be interpreted as.

As shown in FIGS. 1 to 7, the present invention is roughly divided into a transmission portion 100 and a shift control portion 200.

The transmission portion 100 includes a left transmission portion 110 and a right transmission portion 120 for transmitting the first or second power to the left track 310 and the right track 320 of the track drive type robot 300, ).

The left and right transmission portions 110 and 120 include a left driving motor 111 and a right driving motor 121 having a left speed reducer 111a and a right speed reducer 121a, A left drive gear 112 and a right drive gear 122 formed on one side of the left and right driver gears 112 and 122 and a first left side gear 112 coupled with the left and right driver gears 112 and 122, A second left driven gear 114 coupled to one side of the center shaft of the first left and right driven gears 113 and 123, And the second left and right driven gears 126 and 123 and the second left and right driven gears 126 and 123. The first left and right driven gears 113 and 123 and the second left and right driven gears 123 and 123, The third left and right driven gears 115 and 125 and the fourth left and right driven gears 116 and 126 and the fourth left and right driven gears 114 and 126, (116), (126) Left and right sprockets that output one or two stages of power (sprocket) (117, 127), which are fixed to a rotating shaft and engage between the nodes of the chain to transmit power by rotating them. .

The first left and right driven gears 113 and 123 and the second left and right driven gears 114 and 124 are formed to have diameters different from each other in diameter and the third left and right driven gears 113 and 123, The left and right driven gears 115 and 125 and the fourth left and right driven gears 116 and 126 are formed to have different diameters.

For example, if the diameters of the first left and right driven gears 113 and 123 are larger than the diameters of the second left and right driven gears 114 and 124, The diameters of the left and right driven gears 115 and 125 are preferably smaller than the diameters of the left and right driven gears 116 and 126. [

The first left and right driven gears 113 and 123 and the second left and right driven gears 114 and 124 are spaced apart from each other and the third left and right driven gears 115 and 125 and the fourth left and right driven gears 116 and 126 are provided so as to be continuous without a gap therebetween.

Accordingly, when the third left and right driven gears 115 and 125 and the fourth left and right driven gears 116 and 126 are moved to the left and right in association with the operation of the shift control unit 200, The first left and right driven gears 113 and 123 and the third left and right driven gears 115 and 125 are coupled to each other and the second left and right driven gears 114 and 124 And the fourth left and right driven gears 116, 126 are smoothly engaged with each other.

At this time, the first-stage or second-stage power generated is output through the left and right sprockets 117 and 127.

The transmission control unit 200 is disposed at an upper portion of the left and right transmission portions 110 and 120 and supports one side of the left and right transmission portions 110 and 120, And the driving force is simultaneously converted and transmitted to the left and right sides.

To this end, the transmission control unit 200 includes a shift motor 210 as a power source, a drive gear 220 coupled to the axis of the speed change motor 210, a drive gear 220 coupled to the drive gear 220, (230) coupled to and coupled to the rotation shaft (240), a rotation shaft (240) installed horizontally through the center of the slave gear (230) And a pair of left and right movement blocks 250 and 260 forming a left internal thread 250a and a right internal thread 260a.

A left male screw 241 and a right male screw 242 are formed on the left and right sides of the center of the rotating shaft 240 so as to be coupled with the left and right female threads 250a and 260a.

Here, the speed change motor 210 is a motor that performs forward rotation and reverse rotation operations by a switch (not shown) switching operation.

The left and right moving blocks 250 and 260 are disposed on the left and right sides of the left and right transmission gears 110 and 120 in such a manner that the left and right driven gears 116 and 126 It is preferable that left and right holders 251 and 261, which can be integrally or detachably supported, are formed.

That is, the left and right holders 251 and 261 are roughly formed in the shape of "∩" to support the fourth left and right driven gears 116, 126 on both sides.

However, the present invention is not limited to this, and various forms can be used as long as the fourth left and right driven gears 116 and 126 can be supported.

The rotation shaft 240 is rotated forward or reverse as well as the driven gear 230 linked to the drive gear 220 when the one shift motor 210 is rotated forward or reverse.

Accordingly, the left and right moving blocks 250 and 260 coupled to the rotating shaft 240 are simultaneously moved inward or outward.

At this time, the fourth left and right driven gears 116 and 126, which are supported on the left and right holders 251 and 262 of the left and right motion blocks 250 and 260, The first left and right driven gears 113 and 123 and the third left and right driven gears 115 and 125 are engaged with each other while being shifted outwardly or conversely the second left and right driven gears 114 and 124 and the fourth left and right driven gears 116, 126 are engaged with each other to perform one-stage or two-stage shifting.

Accordingly, since the left and right transmission portions 110 and 120 can be shifted to either the first or second speed at the same time by the single speed change motor 210, the driving speeds of the left and right tracks 310 and 320 The driving performance can be improved and one motor can be omitted, so that the weight and cost can be reduced.

The surfaces of the left and right moving blocks 250 and 260 and the left and right holders 251 and 261 are formed with sliding coating layers 251a and 261a for lubrication so as to correspond to friction wear of gears .

The operation state of the present invention having the above-described structure will now be described.

First, the speed change motor 210 of the transmission control unit 200 is operated in the two-speed transmission 10 of the track drive type robot according to the present invention.

When the shift motor 210 is rotated in the forward and reverse directions, the rotation shaft 240 rotates together with the drive gear 220 and the driven gear 230 in the forward and reverse directions.

At this time, the left and right moving blocks 250 and 260 coupled with the left male screw 241 and the right male screw 242 formed on both sides of the rotating shaft 240 move inward or outward.

When the left and right movement blocks 250 and 260 are moved inward or outward, the left and right movement blocks 250 and 260 are moved in the left and right holders 251 and 261, The left and right driven gears 116 and 126 of the left transmission part 110 and the right transmission part 110 move inward or outward while the first left and right driven gears 113 and 123 and the third The left and right driven gears 115 and 125 or the second left and right driven gears 114 and 124 and the fourth left and right driven gears 116 and 126 are engaged Thereby shifting to the single-stage or two-stage.

The second left and right driven gears 114 and 124 and the fourth left and right driven gears 116 and 126 move in the opposite directions while the left and right motion blocks 250 and 260 move outward, The left and right drive motors 111 and 121 and the left and right reduction gears 111a and 121a and the left and right drive gears 111 and 121 of the left and right transmission parts 110 and 120 are coupled to each other, The one-stage shift driving force transmitted through the left and right sprockets 112 and 122 is transmitted to the left and right chains 118 and 128 of the robot 300 through the left and right sprockets 117 and 127, The right tracks 310 and 320, and is driven by the first-stage driving force.

The left and right moving blocks 251 and 260 are moved inward and the first left and right driven gears 113 and 123 and the third left and right driven gears 115 and 125 are rotated, The left and right drive motors 111 and 121 and the left and right speed reducers 111a and 121a and the left and right drive units 111 and 121 of the left and right transmission parts 110 and 120 are coupled to each other, The two-stage shift driving force transmitted through the gears 112 and 122 is transmitted to the left and right chains 118 and 128 via the left and right sprockets 117 and 127, Left and right tracks 310 and 320 and driven by a two-stage driving force.

Accordingly, the track-driven robot can accurately adjust the driving speeds of the left and right tracks by such an operation, so that it is possible to flexibly cope with the situation of the road surface, and the weight and cost of the robot can be reduced.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. And will be apparent to those skilled in the art to which the invention pertains.

10: Two-speed transmission device 100:
110: left transmission portion 111: left drive motor
111a: Left speed reducer 112: Left drive gear
113: first left driven gear 114: second left driven gear
115: third left driven gear 116: fourth left driven gear
117: Left sprocket 118: Left chain
120: right transmission portion 121: right drive motor
121a: Right speed reducer 122: Right drive gear
123: first right driven gear 124: second right driven gear
125: third right driven gear 126: fourth right driven gear
127: Right sprocket 128: Right chain
200: speed change control unit 210: speed change motor
220: drive gear 230: subordinate gear
240: rotation axis 241: left male thread
242: an upward male thread 250: a left moving block
250a: Left female thread 251: Left holder
260: right moving block 260a: right female thread
261: Right holder 300: Track-driven robot
310: Left track 320: Right track

Claims (7)

delete delete Left and right transmission portions for transmitting power of one or two stages to the left track and the right track of the track-driven robot and the left and right transmission portions for supporting one side of the left and right transmission portions, And a speed change control section which is operated so that the two-stage power is simultaneously converted and transmitted to the left and right sides. In the two-speed transmission of the track drive type robot,
The shift control unit includes a shift motor as a power source, a drive gear coupled to the shaft of the shift motor, a slave gear meshed with the drive gear and horizontally positioned through the center of the slave gear, And a pair of left and right moving blocks which are located on both sides of the rotating shaft and have left internal threads and right internal threads on the inner surface, Transmission. delete The method of claim 3,
Wherein the rotary shaft is provided with a left male thread on one side and a right male thread on the other side on the left and right sides with respect to an intermediate portion thereof. The method of claim 3,
Wherein the left and right moving blocks are integrally formed with left and right holders for supporting the left and right driven gears of the left and right transmission portions on both sides thereof, Transmission. The method of claim 3,
Wherein the left and right moving blocks and the surfaces of the left and right holders are formed with lubricant sliding layers so as to correspond to friction wear of the gears.

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