KR101758361B1

KR101758361B1 - Continuously-variable transmission device for robot

Info

Publication number: KR101758361B1
Application number: KR1020150102458A
Authority: KR
Inventors: 이동현; 조경식; 김명경; 송재우; 이백형
Original assignee: 퍼스텍주식회사
Priority date: 2015-07-20
Filing date: 2015-07-20
Publication date: 2017-07-17
Also published as: KR20170010608A

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a continuously variable transmission for a robot, and more particularly, to a continuously variable transmission for a robot that allows a mobile robot to travel in a variable speed manner with a simple and compact structure.
According to the present invention, An input rotor rotatably installed in one side of the housing; An output rotor rotatably installed in the other side of the housing; The input rotor and the output rotor are annularly arranged between the input rotor and the output rotor so that one side and the other side of the outer surface of the housing are in rolling contact with the inner ends of the input rotor and the output rotor, A plurality of shift balls for transmitting the rotational force and rotational speed of the input rotor to the output rotor while rotating together with the output rotor; And a ball shaft provided in the housing and seated in a direction orthogonal to the center of rotation of the input rotor or the output rotor with the center of the variable speed ball as a center so that the inner end of the input rotor and the output rotor are in rolling contact with each other And a speed ratio control means for controlling a rotational force and a rotational speed transmitted from the input rotor to the output rotor.

Description

[0001] Continuously-variable transmission device for robot [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a continuously variable transmission for a robot which is installed between a drive device of a mobile robot and a drive shaft so as to be able to change the traveling speed of the mobile robot.

The mobile robot has a driving function. In order to secure the driving performance on the rough roads depending on the terrain, a transmission device satisfying both high-speed and high-load conditions is required.

However, most of the speed shift devices applied to the conventional mobile robot are limited to a speed reduction device of a gear structure using a planetary gear or the like. Since the reduction gear ratio (or the gear ratio) is fixed, the structure of the reduction gear unit is limited to satisfy the wide range conditions such as high speed and high load.

In other words, in order for the decelerating device to satisfy the wide range conditions such as high speed and high load, the size of the driving motor must be increased and the power system related thereto must be increased so that the volume occupies a large volume, the weight increases, There is a problem in that it adversely affects the performance.

Therefore, it is necessary to research and develop the miniaturization and simplification of the transmission system in order to satisfy the wide range conditions such as high speed and high load so as to reduce the volume, weight and energy efficiency of the mobile robot while guaranteeing the running ability of the mobile robot.

Korean Patent Registration No. 10-0792834, Jan. 14, 2008. Korean Patent Laid-Open Publication No. 10-2015-0073508, Jul.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a shiftable gear mechanism, which is not a gear combination, to satisfy a wide range of conditions including a high speed and a high load through a simple and compact structure, The present invention is intended to provide a continuously variable transmission for a robot in which a continuously variable transmission can be performed freely and smoothly.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood from the following description.

According to an aspect of the present invention, there is provided a continuously variable transmission for a robot, comprising: a housing; An input rotor rotatably installed in one side of the housing; An output rotor rotatably installed in the other side of the housing; The input rotor and the output rotor are annularly arranged between the input rotor and the output rotor so that one side and the other side of the outer surface of the housing are in rolling contact with the inner ends of the input rotor and the output rotor, A plurality of shift balls for transmitting the rotational force and rotational speed of the input rotor to the output rotor while rotating together with the output rotor; And a ball shaft provided in the housing and seated in a direction orthogonal to the center of rotation of the input rotor or the output rotor with the center of the variable speed ball as a center so that the inner end of the input rotor and the output rotor are in rolling contact with each other And controlling a rotational force and a rotational speed transmitted from the input rotor to the output rotor.

The speed ratio control means includes a guide arm provided at both ends of the ball shaft and provided with a moving roller at an end thereof; A seesaw motion inducing unit horizontally movably installed on an inner center of the housing and formed with guide flanges formed on outer sides thereof with guide surfaces for rolling contact of the guide rolls on both ends thereof, A control shaft which is inserted through the center of the seesaw motion derivative by a screw fastening type; And a control motor for rotating the control shaft to horizontally move the seesaw motion derivative.

Further comprising shift state sensing means for sensing a maximum speed increase state and a maximum deceleration state between an input rotor and an output rotor through a position of the seesaw motion derivative to generate a sensing signal, A horizontal moving bar installed at the end and having a magnetic body at its end; And a sensing sensor installed on an inner surface of the housing to detect a position of the horizontal moving bar from the magnetic force of the magnetic body to generate a sensing signal according to a maximum speed increase state and a maximum deceleration state.

Further comprising motor control means for controlling the control motor between a maximum speed increase state in accordance with a sensing signal of the speed change state sensing means and a control motor rotational speed in a maximum deceleration state and a maximum speed increase state and a maximum deceleration state through a rotation direction .

Wherein a guide roller is provided on an outer surface of the seesaw motion derivative to guide a rotational movement of the speed change ball while supporting a speed change ball between the guide flanges, wherein the speed change ball is supported between the speed change balls, And a gap holding frame for guiding rotational movement of the input rotor and the rotary rotor is provided.

The following effects can be expected from the present invention.

First of all, as the continuously variable transmission is performed according to the angle control of the transmission ball, the structure is simple and compact in size, thereby satisfying the wide range of conditions including high speed and high load, thereby ensuring the traveling characteristic of the mobile robot.

Further, by controlling the control motor to operate between the maximum deceleration state and the maximum speed increase state by detecting the rotation number and the rotation direction of the control motor according to the angle of the speed change ball, the operation time of the mobile robot can be efficiently used.

1 is a sectional view showing a continuously-variable transmission for a mobile robot according to a preferred embodiment of the present invention.
2 is an exploded perspective view showing a continuously-variable transmission for a mobile robot according to a preferred embodiment of the present invention.
BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to a continuously variable transmission for a mobile robot, and more particularly to a continuously variable transmission for a mobile robot.
4 is a cross-sectional view illustrating the maximum speed increase state of the continuously-variable transmission for a mobile robot according to a preferred embodiment of the present invention.
5 is a sectional view showing the maximum deceleration state of the continuously-variable transmission for a mobile robot according to the preferred embodiment of the present invention.

The continuously-variable transmission for a mobile robot according to the present invention is a mechanical device that adjusts a rotational speed of a driving device between a driving device of a mobile robot and a driving shaft so as to shift the traveling speed of the traveling robot to a driving shaft.

Particularly, the continuously-variable transmission for a mobile robot according to the present invention simplifies the transmission structure and enables a compact size, thereby ensuring the running characteristics of the mobile robot, making it possible to miniaturize the mobile robot, and improving energy efficiency.

This feature makes it possible to perform a seesaw motion of the ball shaft of the speed-change ball provided between the input rotor and the output rotor by controlling the rotation speed of the inner rotor of the input rotor and the outer surface of the speed- And a continuously variable transmission is automatically enabled by controlling the turning radius at which the other side performs rolling motion.

That is, the present invention is achieved by a simple and compact structure in which the rotational radius of rolling motion between the input rotor and the output rotor varies relatively depending on the angle of the ball shaft of the speed change ball without using a complicated gear train.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0029] Hereinafter, a continuously variable transmission for a robot according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2, the continuously variable transmission for a robot according to the preferred embodiment of the present invention includes a housing 100, an input rotor 200, an output rotor 300, a speed change ball 400, 500).

First, the housing 100 has a structure in which an installation space is formed through the inside to form an outer shape of the continuously variable transmission.

1, a boss 110 rotatably supporting an input rotor 200, an input rotor shaft 210 and an output rotor 300 to be described later, and a support bearing 120 Respectively.

The input rotor 200 is rotatably installed in one side of the housing 100 and receives rotational force and rotational speed from the outside, and rotates the rotational shaft 400 with a later-described gear.

1, the input rotor 200 receives a rotational force and a rotational speed from the outside and rotates the input shaft 200, which is axially supported on the boss 110 of the housing 100, And an input friction surface is formed at an inner end of the other end of the transmission case 210. The input friction surface rubs against one side of an outer surface of the transmission ball 400 to be described later.

Next, the output rotor 300 is rotatably installed in the other side of the housing 100 to output a rotational force and a rotational speed transmitted from the transmission ball 400 to be described later.

1, an output rotor shaft 310 is formed at one end of the output rotor 300 to be rotatably supported by the boss 110 of the housing 100, and an output shaft 310, which is an edge of the other end, It is preferable that an output frictional surface that rubs against the other side of the outer surface of the speed change ball 400 to be described later is formed.

The variable speed ball 400 includes a plurality of variable speed balls 400 and is disposed at an equal interval between the input rotor 200 and the output rotor 300 in the housing 100 to form the input rotor 200 And transmits the input rotational force and rotational speed to the output rotor 300.

That is, one end of the outer peripheral surface of the shift ball 400 rubs against the inner end of the input rotor 200 to roll, and the other end rubs against the inner end of the output rotor 300 to perform rolling motion, And transmits the rotation speed to the output rotor 300.

However, it is preferable that at least three or more of the shift balls 400 are installed at intervals of 120 degrees or less so that the shifting balls 400 can roll smoothly between the input rotor 200 and the output rotor 300.

3, the shift ball 400 rotates about the same axis as the input rotor shaft 210 of the input rotor 200 and the output rotor shaft 310 of the output rotor 300, It is preferable that the ball shaft 410 is installed at the center thereof in the direction of the input rotor shaft 210 and the output rotor shaft 310.

A bearing (not shown) is provided between the speed change ball 400 and the ball shaft 410 to guide the speed change ball 400 to rotate smoothly on the ball shaft 410.

Also, as shown in FIGS. 1 and 2, the variable-speed balls 400 are preferably provided with annular spacing frames 700 between them so that the variable-speed balls 400 can maintain the shapes spaced apart and annular Do.

At this time, both ends of the gap holding frame 700 are provided with rotation inducing bearings 710 that are in rolling contact with the inner surfaces of the input rotor 200 and the output rotor 300, respectively, on the outer surfaces of the input rotor 200 and the output rotor 300 are smoothly rotated.

The speed ratio control means 500 is disposed in the housing 100 so that the ball shaft 410 of the speed change ball 400 is connected to the input rotor shaft 210 of the input rotor 200 and the output rotor of the output rotor 300, And rotates in a direction orthogonal to the axis 310 to control the rotational force and rotational speed transmitted from the input rotor 200 to the output rotor 300.

That is, the speed ratio control means 500 performs a seesaw motion of the ball shaft 410 of the speed change ball 400 to determine a turning radius at which the one end of the outer peripheral surface of the speed change ball 400 and the inner end of the input rotor 200 roll, The speed ratio of the input rotor 200 to the output rotor 300 and the speed ratio of the output rotor 300 to the output rotor 300 are different from each other, .

For example, if the ball shaft 410 of the speed change ball 400 is seesawed in the same direction as in FIG. 4, the turning radius of the outer peripheral surface of the speed change ball 400 and the inner end of the input rotor 200, Becomes the maximum and the rotation radius (the dotted line on the left side) in which the other side of the outer peripheral surface of the transmission ball 400 and the inner side of the output rotor 300 rolls becomes the minimum, thereby becoming the maximum speed increase state.

5, the turning radius at which one side of the outer side of the shifting ball 400 and the inner side of the input rotor 200 rolls is minimized, The rotation radius of the other side of the outer surface of the ball 400 and the inner end of the output rotor 300 is maximum, and the maximum deceleration state is obtained.

When the ball shaft 410 of the speed change ball 400 is maintained in a horizontal state as shown in FIG. 1, the turning radius of the outer side of the speed change ball 400 and the inner side of the input rotor 200, The input rotor 200 and the output rotor 300 are rotated at the same rotational force and at the same rotational speed as the other side of the outer surface of the output rotor 300 and the inner end of the output rotor 300 are rolling.

Here, the transmission ratio control means 500 may include a guide arm 510, a seesaw motion derivative 520, a control shaft 530, and a control motor (not shown).

The guide arm 510 is provided at both ends of the ball shaft 410 to protrude toward the center of the housing 100 and is provided with a moving roller 511 that rotates along the direction in which the ball shaft 410 seesaw .

The seesaw motion derivative 520 is horizontally movable along the inner center of the housing 100 and has a guide surface 522 on both ends of which a moving roller 511 of the guide arm 510 contacts and rolls And the guide flange 521 protrudes outward.

That is, in the seesaw motion derivative 520, the moving rollers 511 of the guide arm 510 at both ends of the ball shaft 410 roll along the guide surfaces 522 at both ends of the guide flange 521, The guide arm 510 of the other end moves down along the guide flange 521 of the other end when the guide arm 510 of one end of the guide arm 510 moves upward along the guide flange 521 of one end, .

For example, when the seesaw motion derivative 520 is horizontally moved in one direction toward the output rotor 300 as shown in FIG. 4, the guide arm 510 is lowered to the lowest level and the guide arm 510 The rotational radius at which one side of the outer side of the shifting ball 400 and the inner side of the input rotor 200 rolls is maximized while the other side of the outer side of the shifting ball 400 and the inner side of the output rotor 300 are rotated The maximum turning speed is achieved by minimizing the turning radius of motion.

5, when one end of the guide arm 510 ascends to the highest level and the other end of the guide arm 510 moves to the lowest position The turning radius at which one side of the outer side of the shifting ball 400 and the inner side of the input rotor 200 roll is minimized while the other side of the outer side of the shifting ball 400 and the inner side of the outputting rotor 300 are rotated And the maximum decelerating state is obtained by maximizing the turning radius of motion.

As shown in FIG. 1, when the seesaw motion derivative 520 is horizontally moved to an intermediate position between the two horizontal movements, the guide arm 510 and the guide arm 510 at the other end are equal in height, And the inner side of the output rotor 300 and the inner side of the output rotor 300 are equal to each other in the radial direction of rotation of the input rotor 200, 200 and the output rotor 300 rotate at the same rotational force and rotational speed.

The control shaft 530 is screwed into the center of the seesaw motion derivative 520 to allow horizontal movement of the seesaw motion derivative 520. The control motor is connected to one end of the control shaft 530 to rotate the control shaft 530 in both directions to control the horizontal movement of the seesaw motion derivative 520.

That is, the speed ratio control means 500 controls the speed ratio control means 500 such that the control shaft 530 is rotated in one direction or the other direction in accordance with the operation of the control motor and the seesaw motion derivative 520 is driven by the input rotor 200 The input rotor 200 and the output rotor 300 are moved horizontally toward the output rotor 300 to induce the seesaw motion of the ball shaft 410 while vertically moving the guide arms 510 at both ends of the ball shaft 410 in different directions, Thereby controlling the speed ratio.

A guide roller 523 is provided on the outer surface of the seesaw motion derivative 520 to guide the rotational movement of the speed change ball 400 while supporting the center of the speed change ball 400 to be fixed between the guide flanges 521 .

Meanwhile, the continuously variable transmission for a robot according to the preferred embodiment of the present invention may further include a speed change state sensing unit 600 and a motor control unit (not shown).

The speed change state sensing means 600 senses the maximum speed increase state and the maximum deceleration state between the input rotor 200 and the output rotor 300 through the position of the seesaw motion derivative 520, .

To this end, the speed change state detecting means 600 includes a horizontal movement bar 610 installed at one side of the seesaw motion derivative 520 and equipped with a magnetic body 611 at an end thereof, (The position of the maximum movement of the horizontal movement bar 610 to the output rotor side and the position of the maximum movement of the input rotor side) from the magnetic force of the magnetic body 611 through the magnetic sensor 611 to detect the maximum acceleration state and the maximum deceleration state, And a sensing sensor 620 for generating a sensing signal.

That is, the shift state detecting means 600 detects the gear position from the magnetic body 611 of the horizontally moving bar 610 horizontally moving together with the seesaw motion derivative 520 through the sensing sensor 620 formed of two hole lines, 520 detect the maximum speed increase state and the maximum deceleration state by sensing the position of the maximum movement toward the output rotor 300 and the position of the maximum movement toward the input rotor 200, respectively.

The motor control means receives the sensing signal from the speed change state sensing means 600 and outputs the sensed signal to the motor control means in the maximum speed increase state and the maximum motor deceleration state in the maximum deceleration state and the maximum deceleration state, And controls the control motor.

That is, when controlling the control motor for the speed increase or deceleration of the continuously-variable transmission, the motor control means controls the rotation speed of the control motor in accordance with the maximum speed increase state and the maximum deceleration state, The control motor is controlled to be operated between the maximum speed increase state and the maximum deceleration state by automatically stopping the control motor when the target speed is reached or the maximum speed increase state is reached.

The above-described embodiments are merely illustrative, and various modifications may be made by those skilled in the art without departing from the scope of the present invention.

Therefore, the true technical protection scope of the present invention should include not only the above embodiments but also various other modified embodiments according to the technical idea of the invention described in the following claims.

100: Housing
110: Boss
120: Support bearing
200: input rotor
210: input rotor shaft
300: output rotor
310: Output rotor shaft
400: Variable speed ball
410:
500: speed ratio control means
510: guide arm
511: Transfer roller
520: Seesaw motion derivative
521: Guide flange
522: guide face
523: guide roller
530: Control shaft
600: Transmission state detecting means
610: Horizontal movement bar
611:
620: Detection sensor
700: Interval retaining frame
710: Rotational induction bearing

Claims

housing; An input rotor rotatably installed in one side of the housing; An output rotor rotatably installed in the other side of the housing; The input rotor and the output rotor are annularly arranged between the input rotor and the output rotor so that one side and the other side of the outer surface of the housing are in rolling contact with the inner ends of the input rotor and the output rotor, A plurality of shift balls for transmitting the rotational force and rotational speed of the input rotor to the output rotor while rotating together with the output rotor; And a ball shaft provided in the housing and seated in a direction orthogonal to the center of rotation of the input rotor or the output rotor with the center of the variable speed ball as a center so that the inner end of the input rotor and the output rotor are in rolling contact with each other And controlling a rotational force and a rotational speed, which are transmitted from the input rotor to the output rotor,
The speed ratio control means includes a guide arm provided at both ends of the ball shaft and provided with a moving roller at an end thereof; A seesaw motion inducing unit horizontally movably installed on an inner center of the housing and formed with guide flanges formed on outer sides thereof with guide surfaces for rolling contact of the guide rolls on both ends thereof, A control shaft which is inserted through the center of the seesaw motion derivative by a screw fastening type; And a control motor for rotating the control shaft to horizontally move the seesaw motion derivative,
Further comprising shift state detecting means for detecting a maximum speed increase state and a maximum deceleration state between an input rotor and an output rotor through a position of the seesaw motion derivative to generate a detection signal,
The shifting state detecting means includes a horizontal shifting bar provided at one side of the seesaw motion derivative and having a magnetic body at an end thereof; And a detection sensor installed on an inner surface of the housing to detect a position of the horizontal movement bar from the magnetic force of the magnetic body and generate a sensing signal according to a maximum speed increase state and a maximum deceleration state. .

delete

The method according to claim 1,
Further comprising motor control means for controlling the control motor between a maximum speed increase state in accordance with a sensing signal of the speed change state sensing means and a control motor rotational speed in a maximum deceleration state and a maximum speed increase state and a maximum deceleration state through a rotation direction Wherein the robot is a continuously variable transmission.

The method according to claim 1,
On the outer surface of the seesaw motion derivative
A guide roller is provided for guiding the rotational movement of the speed change ball while supporting the speed change ball between the guide flanges,
Between the shift balls
And a gap holding frame for supporting the variable transmission balls to maintain the spacing and arrangement of the variable transmission balls and to guide the rotary motion of the input rotor and the rotary rotor.