KR100426333B1 - Traction drive continuously various transmission having a four bar linkage and spherical rotors - Google Patents

Abstract

The present invention relates to a power transmission and speed conversion apparatus using a friction difference, and more particularly, to a friction transmission continuously variable transmission apparatus using a trimming mechanism and a concrete rotor. The input power is transmitted to an input side driving rotor and the rotational force of the driving rotor is It is transmitted to the output side driven rotor through the interlocking device relayed by friction transmission, the linkage device is configured to be transmitted to the driven rotor by the angular speed of the drive rotor is continuously shifted by the position is adjusted by the trimming mechanism. In particular, the contact portion in which the driving rotor, the interlocking device and the driven rotor are friction-driven, respectively, may be spherical-spherical contact so that the contact area may be wide and stable, while the interlocking device is more precisely adjusted by the trimming mechanism. This has the effect of enabling precise positioning.

Description

TRACTION DRIVE CONTINUOUSLY VARIOUS TRANSMISSION HAVING A FOUR BAR LINKAGE AND SPHERICAL ROTORS}

The present invention relates to a power transmission and speed conversion apparatus using a friction difference, and more particularly, to a continuously variable transmission (CVT) using a trimmer or / and a concrete rotor. The present invention also relates to a transmission system in which a power diverter means consisting of a planetary gear unit is coupled to the continuously variable transmission.

In general, the continuously variable transmission using friction has an advantage of easy speed control and simple structure, and thus excellent fuel economy, running performance, and ride comfort. However, due to the limited power transmission capacity, there is a problem that it is difficult to put practical use for a vehicle system requiring high power. Various researches and developments have been made to expand the power transmission capacity of the continuously variable transmission, and have recently reached the practical stage.

Background Art [0002] Conventional continuously variable transmissions using friction include a belt pulley (variable pulley-belt type) and a rotor (friction car) that frictionally transfer a friction type to each other (traction drive type).

The variable pulley-belt system is configured to be movable by separating one side of the pulley to change the rotation radius of the belt by varying the pulley, and thus the speed is continuously changed. This variable pulley-belt system has the advantage of simple structure and easy positioning of the pulley. This type of system has recently been commercialized as a transmission device for passenger cars mainly on small cars. However, there is a problem that the transmission range is narrow, such as 0.7 to 1.5, and the belt must be specially manufactured. In particular, the greater the transmission power, that is, there is a limit that the technical need to be supplemented in order to be employed in more than the medium-large passenger car class.

On the other hand, there are various types of friction transmission methods, among which spherical spherical continuously variable transmissions utilizing the advantages of spheres capable of freely using three degrees of freedom are being developed. Examples of the spherical continuously variable transmission include (1) a toroidal type, (2) an offset sphere type, (3) a spool type, and the like. The torque capacity, shift range and transmission efficiency vary depending on the geometry of the spherical contact portion where friction occurs and the positioning method of the intermediate linkage.

The toroidal method is a method in which the outer spherical surface of the interlocking device formed with spherical ends at the inner curved surface of the trumpet cone is contacted. This toroidal continuously variable transmission has the advantage of a wide speed range of 0.5 to 2.0 and a simple speed control device. In this type of continuously variable transmission, a product for a passenger vehicle such as Extroid developed by Jatco / Nissan has been released. In the Offset sphere method, the outer sphere of the linkage is in contact with the outer sphere of the rotor located on the parallel axis, and the spool method is the outer sphere of the linkage in contact with the inner sphere of the rotor. I can't.

In general, in a friction transmission continuously variable transmission, the torque capacity must be increased under a constant rotational speed (rated speed) in order to increase the power transmission capacity. In order to increase the torque capacity, the transmission force of the rotor contact must be increased. In order to increase the transmission force of the contact portion, the static friction generated in the contact portion must be increased. Static friction is proportional to the vertical drag of the contact. Therefore, to increase the power transmission capacity, the vertical drag of the contact must be increased. However, there is a limit that the contact surface is broken when subjected to excessive vertical force.

The breakage of the contact surface is a phenomenon in which the surface is scratched. In addition, the membrane of the lubricating oil between the contact portions, that is, the oil film is destroyed, so that the solid rotor and the solid rotor are in direct contact with each other, so that excessive frictional heat is generated and the contact portions burn and stick. Factors influencing such breakage of the contact portion include the nature of the lubricating oil, the material of the rotor, the conditions of motion, and the geometry of the contact surface. Therefore, in order to increase the power transmission capacity, it is necessary to develop suitable special lubricants, materials for rotors resistant to wear, suitable movement conditions, and / or proper geometry of contacts.

Considerations for the development of continuously variable transmissions suitable for high power are as follows. First, the contact surface should be designed to be advantageous in power transmission, second, it should be designed to have sufficient reliability to enable accurate and reliable movement, and third, it should be designed to be simple and inexpensive to manufacture. It should be designed so that the user can easily adjust the speed.

1 shows a basic structure of a conventional toroidal friction transmission continuously variable transmission 10. The toroidal continuously variable transmission 10 includes an input rotor 12 and an output rotor 18, interlocking devices 14 and 16 relaying the two. When power is input and the input rotor 12 rotates, this rotational force rotates the interlocking devices 14 and 16 by friction transfer, and is then transmitted to the output rotor 18 which is frictionally driven with 14 and 16. . There may be a plurality of interlocks between the input rotor 12 and the output rotor 18.

At this time, the relationship of the force in the contact between the rotors and the linkage (eg F in FIG. 1) is illustrated as a general example in FIG. 2A. That is, the interlocking device 4 and the rotor 2 forming the contact portion are in contact with each other through a traction oil 3 which is a kind of lubricating oil. The frictional force is defined by the vertical force perpendicular to the contact, which can be thought of as the static frictional force, ie the tangential force, generated at the tangent of the linkage 4 against the drive torque of the rotor 2. If this tangential force is greater than the drive torque, the linkage device 4 transmits power while moving by the rolling contact with respect to the rotor 2. When this tangential force becomes smaller than the drive torque, a sliding motion that negatively affects power transmission occurs.

As shown in FIG. 2B, the contact portion of the toroidal continuously variable transmission, such as the toroidal friction transmission continuously variable transmission shown in FIG. 1, has a trumpet-shaped cone edge curve of the rotor 2 of the spherical linkage of the linkage 4. It has a geometric shape in contact with an arc. Accordingly, the curved surface near the contact portion is a shape in which the spherical surface of the interlocking device 4 and the saddle-shaped curved surface of the rotor 2 are in contact with each other, and the shape of the contact surface is not an circular shape but an elongated elliptical shape f. As a result, the contact state is likely to be poor due to deformation of the shape during manufacturing, assembly, and operation of the continuously variable transmission, and in such a poor contact state, the flow of lubricating oil present in the contact portion may become unstable. Has

The shape of the contact portion in the contact method of most conventional spherical rotors is a small circle f ', as shown in Fig. 2c, which means that the contact portion of the rotor 2 and the outer spherical surface of the linkage 4, for example. This is because the outer spherical surface is in contact with each other in a contact manner. In such a manner that the outer spherical surface and the outer spherical surface are in contact with each other, the contact interval increases rapidly from the center of the contact portion to the outside, resulting in a small contact area. Therefore, this type of contact is limited to use as a structure for large transmission power capacity such as a vehicle.

The most preferred form of contact of the spherical rotor is, for example, the inner spherical surface of the interlocking device 4 and the outer spherical surface of the rotor 2, as shown in FIG. 2D. Since the gap is gradually widened, the actual contact area is large. Thus, there is an advantage that the flow of lubricating oil between the contacts can be made relatively stable. In addition, since the contact pressure can be distributed over a large contact area, the maximum contact stress can be relatively small compared to the elliptical or small circular contact area. In addition, since the film of the lubricating oil can be widely distributed, there is an effect that the life of the lubricating oil flowing between the contact portions is longer. Therefore, it is preferable that the contact portion in the friction-driven continuously variable transmission is designed such that the outer spherical surface and the inner spherical surface are in contact with each other.

In general, in the friction transmission method, since the speed ratio (ratio of the output side rotational speed to the input side rotational speed) is adjusted by adjusting the position of the linkage, it is important to accurately adjust the position of the linkage. In FIG. 3 (a), the adjustment of the interlock device in the conventional offset embodiment is simply shown, and in FIG. 3 (b), the adjustment of the interlock device in the conventional spool method is simply shown. In the conventional manner shown, the linkages 4 are linear or rotated about a central axis, whereby the axis of rotation of the linkage itself moves directly. At this time, in the contact portion with the rotors 2 and 8, there is a possibility that slipping is likely to occur, and therefore, speed adjustment may not be made precisely.

The object of the present invention is to improve the torque capacity by implementing the problems of the conventional frictionless continuously variable transmission as described above, to implement a precise speed adjustment function, and to have a wide range of speed ratios suitable for the power diverter means. It is to provide a friction transmission continuously variable transmission.

In particular, the present invention by adopting a trimmer mechanism for adjusting the position of the linkage device interlocking device is precisely transported to the desired position and the contact state can be stably maintained at the position to facilitate the device to achieve the desired speed ratio It has a purpose to provide.

In addition, the present invention is configured so that the contact portion of the rotor and the interlock spherical surface can be in contact with the outer sphere and the inner sphere, or the inner sphere and the outer sphere so as to increase the area of the contact portion, the flow of the oil film is stable and the torque capacity can be increased Has the purpose.

Furthermore, the present invention, by combining the power diverter, the trimming mechanism and the friction-driven continuously variable transmission using the concrete rotor to form a power divergent continuously variable transmission system, firstly, by extending the speed range of the continuously variable transmission to the maximum Minimize the power transmitted to the transmission, and secondly, by implementing the range of speed of the continuously variable transmission from negative to positive and infinity through the trimming mechanism, it is easy to configure the infinite variable transmission (Infinite Variable Transmission) The purpose is to provide a system.

Accordingly, the present invention provides a continuously variable transmission and a shifting system having the flexibility to implement the above objects and, as a result, increase the power transmission capacity, have a desired transmission power capacity, and have a desired speed ratio. Have

1 is a schematic view showing the basic structure of a conventional toroidal friction transmission continuously variable transmission.

2A to 2D are exemplary views for explaining the state of the force in the frictional contact surface and various forms of the contact surface.

Figure 3 is a schematic diagram for explaining the position adjustment of the linkage of the conventional frictional power CVT.

4A and 4B are kinematic diagrams showing the structure and dynamics of a preferred embodiment according to the present invention.

FIG. 5 is a kinematic diagram for explaining the operation of the embodiment shown in FIG. 4A.

6-10 are kinematic diagrams of various embodiment structures in accordance with the present invention.

Figure 11 is a schematic diagram for explaining the adjustment of the crank for speed regulation of the continuously variable transmission according to the present invention.

12A and 12B are block diagrams illustrating a connection structure of the continuously variable transmission according to the present invention.

13A and 13B are kinematic diagrams showing an example of connection of a power branch means and a continuously variable transmission in accordance with the present invention.

Description of the main parts of the drawing

100: continuously variable transmission 120: drive rotor

140: linkage device 142: drive interlocking rotor

144: connecting shaft 146: driven interlocking rotor

F ₁ , F ₂ : contact 150: trimming mechanism

151 and 157: first and second pivots 153 and 155: first and second joints

152: stator 154: crank

156: Connector 158: Follower

180: driven rotor

According to an aspect of the present invention to achieve the above object, a friction transmission continuously variable transmission for continuously converting and transmitting an input rotational force, the drive rotor to rotate by the input rotational force; A driven rotor rotating by receiving rotational force from the driving rotor; An interlock device having a drive linked rotor frictionally driven with the drive rotor and a driven linked rotor frictionally driven with the driven rotor, in order to relay the rotational force between the drive rotor and the driven rotor; And the interlock device is rotatably fixed and includes a trimming mechanism for adjusting the position of the interlock device.

Wherein the thread trimming mechanism, the stator fixed to the frame of the continuously variable transmission; A crank for positioning, having a first pivot rotatably fixed to one end of said stator and having a first joint at another end thereof; A connector rotatably fixed to the first joint of the crank and having a second joint at the other end thereof, wherein the linkage is rotatably fixed; And a second pivot rotatably fixed to the second joint of the connector and rotatably fixed to the other end of the stator, the follower moving in dependence on the movement of the crank. The interlock device includes a connecting shaft for connecting the driving interlocking rotor and the driven interlocking rotor together; Here, the connecting shaft is formed of a hollow shaft, the connector of the trimming mechanism is arranged to be rotatably fixed inside the hollow shaft.

Thus, in the present invention, by adjusting the position of the interlock device by the trimming mechanism, the force can be applied to the contact between the rotors in various directions instead of one direction, so that the state of the contact portion can be remarkably stabilized. . The speed ratio can be uniquely adjusted as a function of the rotation angle of the crank of the trimmer, so that the speed ratio can be easily adjusted. Furthermore, there is an advantage that the linkage can be moved to a desired position more precisely and accurately than the conventional simple straight type and rotary type adjusting device.

According to another preferred aspect of the present invention, a friction transmission continuously variable transmission for continuously converting and transmitting an input rotational force, the drive rotor for rotating by the input rotational force, having a first spherical surface on at least a portion of the surface; A driven rotor which rotates by receiving the rotational force from the driving rotor and has a second spherical surface on at least a part of its surface; In order to relay the rotational force between the drive rotor and the driven rotor, a drive interlocking rotor having a third spherical surface frictionally driven with the spherical surface of the drive rotor and at least a portion of the surface of the driven rotor and frictionally driven with the spherical surface of the driven rotor An interlock having a driven interlocking rotor having four spherical surfaces on at least part of its surface; And the interlock device is rotatably fixed and includes a trimming mechanism for adjusting the position of the interlock device.

Here, the trimming mechanism and the interlock device have a configuration similar to that described above. In particular, in the trimming mechanism, the first pivot is located at the center of the spherical surface of the drive rotor; The second pivot is located at the center of the driven rotor sphere; The first joint is located at the center of the spherical surface of the driving interlocking rotor; And the second joint is located at the center of the driven interlocking rotor spherical surface, and in another way, the position of the first pivot and the first joint and the position of the second pivot and the second joint may be opposite to each other. The spherical surface of the drive rotor and the drive interlocking rotor is in contact with one another of the inner-outer side, the outer-inner side, and the outer-outer side spherical contact. The same applies to the driven rotor and the driven interlocking rotor.

According to this aspect of the present invention, in addition to the above-described advantages and effects of adjusting the linkage by the trimming mechanism, there is an advantage that it is possible to easily configure a structure in which the concrete rotors are in contact with the inner sphere and the outer sphere. . Therefore, the shape of the contact portion can form a wide circle, so that the oil film between the contacts can be stabilized and the transmission power can be maximized. In addition, since the outer spherical surface and the outer spherical surface can be included as needed, it has the flexibility to develop various types of transmissions according to various requirements.

According to another preferred aspect of the present invention, there is provided a transmission system of a power converter. The shift system includes a continuously variable transmission for continuously converting and transmitting an input rotational force; And a power branch means composed of one planetary gear unit including at least two elements of the components, or a power branch means composed of two or more planetary gear units. Here, the continuously variable transmission is a friction-driven continuously variable transmission having a concrete rotor, a trimming mechanism, and an interlock device having the above-described configuration. The planetary gear unit of the power branch means is connected to a power source providing the input rotational force, a load outputting the shifted rotational force, the driving rotor, and the driven rotor, respectively, so that only a part of the rotational force provided from the power source is provided. It is input to the driving rotor and shifted.

Here, the planetary gear unit of the power branch means consisting of one planetary gear unit including at least one element of two or more of the components, the form having a carrier, two sun gear and pinion gear, or the carrier, two ring gear and pinion gear With a carrier, with two carriers and two sun gears and two pinion gears, with a carrier with two ring gears and two pinion gears, or with a carrier, ring gear, two sun gears and two pinion gears. One, and the power source, the load, the drive rotor, and the driven rotor is connected to three elements except the pinion gear of the planetary gear unit. Then, the power branch means consisting of two or more planetary gear units is composed of first and second planetary gear units each having a sun gear, a ring gear, and a carrier as components; Two elements of the first planetary gear unit are respectively connected to two elements of the second planetary gear unit; The power source is connected to the first planetary gear unit, the load is connected to the second planetary gear unit, and at least one of the driving rotor and the driven rotor is a connection portion of the first and second planetary gear units. Is connected to.

The shift system according to the present invention has a structure in which a part of the input power is bypassed to the planetary gear unit which is the power branch means, and only the remaining part is input to the continuously variable transmission. In particular, the power branch means, characterized in that the larger the speed ratio range for the speed change of the continuously variable transmission increases the amount of power bypassed. Therefore, the wider the speed ratio range of the continuously variable transmission can be used for a device that requires a larger power transmission even with a very small torque capacity.

The present invention also provides a motorcycle, a vehicle as a vehicle or vehicle, an industrial machine, a bicycle, a toy, a robot, and the like, including a continuously variable transmission or / and a power diverter means having the above characteristics.

The above and other possible embodiments according to the present invention will be apparent from the following description with reference to the accompanying drawings.

Hereinafter, the present invention will be described with reference to a friction-driven continuously variable transmission having a spherical rotor and a spherical rotor in contact with each other. However, the present invention is not limited thereto, and a general flat friction car, a conical friction car, a cylindrical friction car, etc. It should be pointed out that by using a friction difference having a contact surface of the same various types in place of the concrete rotor, the interlocking device and the driving rotor and the driven rotor using the trimming mechanism according to the present invention can be configured. In such conventional friction difference transmission, the advantage of the continuously variable transmission according to the present invention, which uses a trimming mechanism as the linkage, is that the position adjustment of the linkage can be stably and precisely controlled. Therefore, it is clear that a more reliable transmission can be obtained by using the continuously variable transmission according to the present invention.

4A and 4B show kinematic diagrams showing the structure and dynamics of a friction-driven continuously variable transmission in which a sphere is in contact with a sphere according to an embodiment of the present invention, and FIGS. 5A and 5B are FIGS. A kinematic diagram for illustrating the operation of the embodiment of FIG. 4A is shown. As shown in the drawing, a preferred embodiment of the present invention is a friction-driven continuously variable transmission 100 for continuously converting and transmitting an input rotational force, and a driving rotor 120 on an input side, a driven rotor 180 on an output side, and relaying them. It comprises an interlock device 140, and a trimmer 150 for adjusting the interlock device.

The drive rotor 120 rotates by the input rotational force. This input torque can be provided by the engine, motor or manpower. At least a part of the surface of the drive rotor 120 has a spherical shape, the spherical surface is enough to exist only to the extent necessary for friction transmission. In FIG. 4 and later, it is expressed as a kinematic diagram, and the driving rotor and the like have a shape corresponding to the contour of the spherical surface, but this is only for simplifying the drawing.

In other words, the shape of each rotor according to the present invention does not necessarily need to be the shape of the illustrated form. For example, in the case of using the outer sphere may be in the form of a full sphere, in the case of using the inner sphere may be formed in a generally rectangular shape. What the present invention requires is that a spherical surface of a degree necessary for the contact portion for frictional power transmission is required. In other parts, it can take various forms as needed. This various form of deformation also applies to the rotors at both ends of the driven rotor and the interlock, as well as the drive rotor.

The driven rotor 180 is a rotor in which the rotational force from the driving rotor 120 is transmitted through the interlocking device, and is outputted. Like the driving rotor 120, at least a part of the surface has a spherical shape with an area necessary for friction transmission. . The sphere may be on the inside or on the outside as in the following embodiments.

It is the linkage device 140 to transmit the rotational force between the drive rotor 120 and the driven rotor 180. The interlock device 140 includes a drive interlocking rotor 142 and a driven interlocking rotor 146. The driving interlocking rotor 142 is a portion that is frictionally driven by the rolling contact with the driving rotor 120, the driven interlocking rotor 146 is a portion that is frictionally driven by the rolling contact with the driven rotor 180. At least a part of each surface of the drive interlocking rotor 142 and the driven interlocking rotor 146 is provided with a spherical surface necessary to the degree of friction. The position of the interlock is adjusted by the trimming mechanism 150. As such, the spherical surfaces of the driving and driven rotors and the spherical surfaces of the interlocking rotors of the interlocking apparatus come into contact with each other, and the rolling force is transmitted by the frictional force while rolling.

In the present embodiment, in addition to what has been described with reference to FIG. 2A, the mechanism at the contact portions F ₁ between the spheres will be described with reference to FIG. 4B as follows. Since the radiuses of the inner spherical surface of the driving rotor 120 and the outer spherical surface of the driving interlocking rotor of the interlocking device 140 which are in contact with each other are different from each other, in theory, the contact portion is point contact. In practice, however, local elastic deformation occurs due to the normal force of the contact, resulting in a circular contact region. The contact stress is then distributed as described by Hertz's theory, ie, with the greatest pressure in the center and zero at the edges. A tangential force is formed at the contact portion according to the "law of action-reaction" by the drive torque of the drive rotor 120, and the power is transmitted to the drive interlocking rotor side of the interlocking device 140 due to the tangential force and the tangential speed of the contact portion. do. At this time, if the contact tangential force is within the maximum stop friction force (the value of the contact vertical vertical force multiplied by the friction coefficient), the absolute speed of both contact rotors (drive rotor and drive interlocking rotor) at the center of the contact is coincided with the rolling motion. On the other hand, when the tangential force exceeds the maximum stop friction force, the absolute speeds of both sides are different from each other, thereby causing a sliding motion that adversely affects power transmission. Preferred embodiments of the present invention have the advantage that such sliding motion is minimized by implementing a continuously variable transmission using a trimmer or / and a concrete rotor.

Referring again to FIG. 4A, on the basis of the principle of the speed shift of friction transmission, the driving rotor 120 is driven from the condition that the rotors of the interlocking devices that are friction-transferred with the driving rotor 120 and the driven rotor 180 are only non-slip. The speed ratio ρ between the rotational speed of 120 and the rotational speed of the driven rotor 180 is defined as follows:

Here, ω ₁ is the rotational speed of the drive rotor 120, ω ₂ is the rotational speed of the driven rotor 180, r ₁ is the vertical distance from the contact point (F ₁ ) to the axis of rotation of the drive rotor 120, r ₂ Is the vertical distance from the contact point F ₁ to the axis of rotation of the drive interlocking rotor of the interlocking device 140, r ₃ is the vertical distance from the contact point F ₂ to the axis of rotation of the driven interlocking rotor of the interlocking device 140, r ₄ Is the vertical distance from the contact point F ₂ to the axis of rotation of the driven rotor 180. According to Equation 1, the speed ratio is varied by varying the positions of the contact points F ₁ and F ₂ relative to the rotation axis of the driving rotor 120 and the driven rotor 180 which are fixed to the frame of the continuously variable transmission. You can see that you can.

Position change of the contact point (F ₁ , F ₂ ) is made by varying the position of the linkage device 140, the position of the linkage device 140 is made by the trimming mechanism 150.

In particular, referring to (a) of FIG. 5, the trimmer 150 may include a stator 152, a crank 154, a connector 156, and a follower 158, respectively. The joint 153, the second joint 155, and the second pivot 157 are connected to each other. The stator 152 is fixed to the frame of the continuously variable transmission to provide a reference of the movement to the trimmer. Both ends of the stator 152 are fixed connection points in which the crank 154 and the follower 158 are rotatably fixedly connected as the first pivot 151 and the second pivot 157, respectively. One end of the crank 154 is rotatably fixed to the stator 152 by the first pivot 151, and the other end is rotatably connected to the connector 156 by the first joint 153. Like the second joint 155, the first joint 153 is a freely movable connection point.

The crank 154 is connected to a device for position adjustment (see FIG. 11) to adjust the position of the interlock device 140. The apparatus for adjusting this position may be a linear drive unit 170 connected to the middle of the crank 154, as shown in Figure 11, alternatively the first pivot 151 of the crank 154 as the rotation axis It may be a connected rotary drive 180. Both the linear drive device 170 or the rotary drive device 180 is a device that makes the crank 154 to rotate with the first pivot 151 as the axis. When the crank 154 rotates, the first joint 153 rotates accordingly, and the connector and the follower connected and rotated move the interlock device 140 fixed to the connector as a whole. The contact moves. Therefore, the speed ratio is changed.

Referring again to FIGS. 4A and 5A and 5B, the connector 156 of the trimmer 150 has both ends connected to the first joint 153 and the second joint 155 to interlock. The same movement as the overall movement of the 140, and also as a link to which the linkage device 140 is rotatably connected, also serves as a rotation axis of the linkage device 140. A follower 158 is connected to the second joint 155 side of the connector 156, and the movement of the follower 158 corresponds to the movement of the crank 154.

The speed ratio relationship is described in detail with reference to FIGS. 5A and 5B as follows. In the case of FIG. 5A, the driving side contact point F ₁ comes to a position A close to the rotation axis of the drive rotor 120, and the driven side contact point F ₂ is far from the rotation axis of the driven rotor 180. Come to position (C). Accordingly, since r ₁ and r ₃ have minimum values, and r ₂ and r ₄ have maximum values, the speed ratio becomes a minimum value according to Equation 1 above. This case will correspond to the case of shifting the output rotation speed to be smaller than the input rotation speed. On the contrary, in the case of FIG. 5B, the driving side contact point F ₁ is located at a position B far from the rotational axis of the driving rotor 120, and the driven side contact point F ₂ is located at the driven rotor 180. Comes to position D close to the axis of rotation. Accordingly, since r ₁ and r ₃ have a maximum value, and r ₂ and r ₄ have a minimum value, the speed ratio becomes a maximum value according to Equation 1 above. This case may correspond to a case in which the output rotation speed is shifted to the maximum relative to the input rotation speed. Therefore, when operating the continuously variable transmission according to the present embodiment, by moving the position of the interlock device 140 to reciprocate between two extreme states as shown in (a) and (b) of FIG. As a result, it can be seen that the speed ratio can be continuously changed.

5 (a) and 5 (b), the ranges of the rotation angles θ ₁ and θ _{2 of the} crank 154 and the follower 158 are limited to the first and third quadrants, respectively. In this case, as can be seen in the above equation, the speed ratio has only a positive value. As a structure of a different manner, when the rotation angle fluctuation range of the crank spans the first and second quadrants (that is, the driving side contact point F ₁ may be located to the left of the rotation shaft of the driving rotor 120) and There may be a case in which the rotation angle fluctuation range of the follower spans the third and fourth quadrants (that is, the driven side contact point F ₂ may be located to the right of the rotation axis of the driven rotor). In this case, the speed ratio may range from negative to positive. A negative speed ratio actually means that the rotational speeds of the driving rotor and the driven rotor are opposite to each other, that is, they rotate in the opposite direction compared to the case where the speed ratio is positive. In this case, there may be a case where the contact points of the crank 154 or the follower 158 come to the driving rotor rotary shaft or the driven rotor rotary shaft (that is, the rotation angles θ ₁ and θ ₂ are 0). When the rotation angle θ ₁ of the crank 154 is zero, r ₁ = 0, and thus the speed ratio is zero. This actually means that even when the driving rotor 120 rotates, the interlocker 140 and the driven rotor 180 are stopped. When the rotation angle θ ₂ of the follower 158 is 0, r ₄ = 0, and therefore the speed ratio becomes infinite. This actually means that even if the driven rotor 180 rotates, the co-operator 140 and the driving rotor 120 are in a stopped state.

As is apparent from FIGS. 5A and 5B, the movement of the interlock device 150 corresponds to the case where the crank 154 moves in the positioning rotation angle range θ ₁ . As the crank 154 moves, the follower 158 also moves within the corresponding rotation angle range θ ₂ . At this time, even if the range of the rotation angle of the crank 154 is constant, depending on the shape of the contactable sphere for friction transfer and the relative size of the contacting sphere, r ₁ , r ₂ , which are variables of the equation , r ₃ and r ₄ can be variously determined. In this way, the speed ratio range may also be determined to be wide enough or narrow enough in the desired range according to various values of r ₁ , r ₂ , r ₃ and r ₄ . Therefore, in theory, the continuously variable transmission according to the present invention has the advantage that the speed change range, that is, the range in which the speed ratio can vary, can be sufficiently large as desired.

Here, the linkage device 140 may include a connecting shaft 144 connecting the driving interlocking rotor 142 and the driven interlocking rotor 146 to rotate together. At this time, by forming the connecting shaft 144 in the hollow shaft, the connector 156 of the trimming mechanism 150 can be configured to be rotatably fixed to the inside of the hollow shaft. According to this embodiment, it is possible to design as far apart as desired between the rotors on both ends of the interlock device 140, and has the advantage of designing a more compact device.

Alternatively, the connecting shaft 144 may be formed in a shape other than the hollow shaft. In this case, the connecting shaft 144 may be formed in any shape since it is sufficient to satisfy only the function of allowing the rotors 142 and 146 of both ends to rotate together with each other.

In a preferred embodiment of the present invention, the first pivot 151 of the trimming mechanism 150 is located at the center of the spherical surface formed in the drive rotor 120, the second pivot 157 is of the spherical surface formed in the driven rotor 180 Located in the center, the first joint 153 is located in the center of the sphere formed in the drive interlocking rotor 142, and the second joint 155 is located in the center of the sphere formed in the driven interlocking rotor 146. Alternatively, the first pivot 151 and the first joint 153 may be located toward the output side driven rotor, and the second pivot 157 and the second joint 155 may be located toward the input side driving rotor. As such, in the case where the positions of the pivots of the trimmer and the center of the rotors coincide with each other, the contact portion can be stably maintained regardless of the position of the crank.

In this case, by appropriately adjusting the size of the radius of curvature of each sphere, the relative position of the centers, and the length of each link of the trimming mechanisms, a structure that can precisely control the motion of the trimming mechanism can be easily configured. Have In addition, since the movement of the trimmer is made by adjusting the rotation angle of the crank, various speed ratio ranges can be realized depending on how the range of the rotation angle of the crank is achieved, and the speed ratio according to the rotation range of the crank is appropriately maximized. The shape of each part can be modified.

6 to 10 show a kinematic diagram showing the structure of continuously variable transmissions according to various embodiments of the present invention shown in FIG. 4A. These embodiments can be distinguished according to the spherical shape of the contact rotors and are summarized in Table 1. They take into account that the spherical shape of the contact portion can be formed inward-outward, outward-inward and outward-outward, respectively, and that there are nine combinations thereof. These various embodiments are similar in that they all utilize a spherical rotor and a trimmer, except that the spherical contact forms are different, and share the advantages and operate in a similar manner.

Driving rotor Drive Interlocking Rotor Follower Interlocking Rotor Driven rotor Contact Example Number Medial spherical surface Outer spherical surface Outer spherical surface Medial spherical surface Large One Medial spherical surface Outer spherical surface Medial spherical surface Outer spherical surface Large 2 Medial spherical surface Outer spherical surface Outer spherical surface Outer spherical surface Large, small 3 Outer spherical surface Medial spherical surface Medial spherical surface Outer spherical surface Large 4 Outer spherical surface Medial spherical surface Outer spherical surface Medial spherical surface Large 5 Outer spherical surface Medial spherical surface Outer spherical surface Outer spherical surface Large, small 6 Outer spherical surface Outer spherical surface Medial spherical surface Outer spherical surface Cattle 7 Outer spherical surface Outer spherical surface Outer spherical surface Medial spherical surface Cattle 8 Outer spherical surface Outer spherical surface Outer spherical surface Outer spherical surface Cow 9

Example 1 of Table 1 above is an example (inner spherical-outer spherical contact and outer spherical-inner spherical contact) described above with reference to the kinematic diagrams shown in FIGS. 4A and 5A and 4B. .

6 is a structure corresponding to Embodiment No. 2 of Table 1, the spherical surface for contact of the drive rotor 120 is the inner spherical surface and the contact of the drive interlocking rotor 142 of the linkage device 140 The sphere for is the outer sphere. On the other hand, the spherical surface for the contact of the driven interlocking rotor 146 of the linkage device 140 is the inner spherical surface and the spherical surface for the contact of the driven rotor 180 is the outer spherical surface. This structure results in a relatively large circle with both contact areas. In this embodiment in which both of the contact areas are shown in a wide circle (large), that is, an embodiment in which all of the spherical contact parts are formed outside-inside and inside-outside, the second embodiment in which the kinematic diagram is shown in FIG. Example 1 (inner spherical-outer) described above with reference to the kinematic diagrams shown in FIGS. Example 4 (outer spherical-inner spherical contact and inner spherical-outer spherical contact) with its kinematic diagrams shown in FIG. 8, including spherical contact and outer spherical-inner spherical contact) There may be further burns (outer spherical-inner spherical contact and outer spherical-inner spherical contact).

In addition, Example 3 (inner spherical-outer spherical contact and outer spherical-outer spherical contact) in which the kinematic diagram is shown in FIG. 7 and in Example 7 (outer spherical-inward) whose kinematic diagram is shown in FIG. Outer spherical contact and inner spherical-outer spherical contact) and not shown Example 8 (outer spherical-outer spherical contact and outer spherical-inner spherical contact) one contact part is in the form of outer-outer spherical contact One contact is in contact with the outer-inner or inner-outer spheres. The form in which the outer-outer spherical surface contacts is characterized by a narrow (small) contact region. Therefore, in the present embodiments, such a narrow contact portion has an advantage that the contact region can be used together with a wide form, so that it can be designed for more various motion conditions.

Finally, in the case of Example 9 (outer spherical-outer spherical contact and outer spherical-outer spherical contact) shown in FIG. 10, the drive rotor 120 and the drive interlocking rotor 142, The spherical surfaces of the driven interlocking rotor 146 and the driven rotor 180 are both outer spherical surfaces, all of which have an outer-outer contact form. This type of contact is similar to the conventional one, but the embodiment according to the present invention is characterized by adjusting the position of the interlock using a trimming mechanism, and still has the advantage of more stable and accurate speed adjustment than the conventional have.

12A shows a simple structure for connecting the continuously variable transmission having the above-described configuration to a power source and a load, and FIG. 12B shows a structure coupled with a power branch means, and FIGS. 13A and 13B show a planetary gear unit. Examples of specific power branch means made are illustrated.

Although the torque capacity is improved in the frictionless continuously variable transmission according to the present invention as described above, there is a limit in transmitting power beyond the power required for a passenger car. However, if a transmission system combining power branch means with a continuously variable transmission is provided as another aspect provided by the present invention, it is possible to use a frictionless continuously variable transmission having a low power transmission capacity even for a high power machine more than a passenger car. have.

The continuously variable transmission system provided by the present invention includes a frictionless continuously variable transmission having a trimming mechanism and a concrete rotor having the above-described configuration in the transmission system of the power converter. Further, there is further included a power branch means, the power branch means is an embodiment consisting of one planetary gear unit containing at least one element of two or more, and an embodiment consisting of two planetary gear units. Here, each of the planetary gear units of the power branch means is connected to a power source for providing the input rotational force, a load for outputting the shifted rotational force, a drive rotor, and a driven rotor, so that only a part of the rotational force provided from the power source is supplied to the drive rotor. It is input and shifted.

The power branch means used in the shifting system provided by the present invention is a power branch type shifting system using a multiple planetary gear unit, which is already filed by the applicant of the present invention and pending patent application No. 10-2001-00029266. It is the same as the power branch means disclosed in "apparatus using the same" and "power branch type shifting system using a planetary gear unit and apparatus using the same", which is Patent Application No. 10-2001-0041222. The type and operation of the detailed embodiment are described in detail in the above two patent applications, and will be readily understood by reference to the specifications. Therefore, for the sake of simplicity, a detailed description is omitted here, and only a minimal description will be given with reference to FIGS. 12 (b) and 13.

The planetary gear unit of the power branch means consisting of a planetary gear unit, in particular, is characterized in that any one element of the two elements. The two here means the minimum number, and the multiples are four, six, ..., and so on. They may again have odd or even pinion gears. Specifically, it may be in the form of a carrier, two sun gears and a pinion gear. Alternatively, it may be in the form of a carrier, two ring gears and a pinion gear. It may also be of a type having two carriers, two sun gears and two pinion gears, or a type having two carriers, two ring gears and two pinion gears. And a carrier, ring gear, sun gear and pinion gear. Here, the power source, the load, the drive rotor, and the driven rotor may be connected to three elements other than the pinion gear of the planetary gear unit, optionally through an accessory such as a deceleration gear. have.

For example, in Fig. 13A, an example in which a planetary gear unit consisting of two sun gears, a carrier and a pinion gear is used as the power branch means is shown as a kinematic diagram. In FIG. 13A, only one half of the planetary gear unit is illustrated, and since the other half is symmetrical with the illustrated portion, a person skilled in the art may easily understand the structure. The shifting means included in this shifting system is a friction transmission continuously variable transmission apparatus 100 using a trimming mechanism and a concrete rotor as described above with reference to FIGS. 4 to 10. The first sun gear 103 is connected to the power source i. The second sun gear 102 is connected to the load o. In addition, the first sun gear 103 is connected to a power input side of the continuously variable transmission 100, that is, a driving rotor. The carrier 101 is connected to an output side of the continuously variable transmission 100, that is, a driven rotor. Looking at the flow of power in this shifting system, power is first input from the power source i to the first sun gear 103, and some power flows to the pinion gear 104 connected to the first sun gear 103, and some It flows into the input side drive rotor of the continuously variable transmission 100 connected to the first sun gear 103. Power output after shifting in the continuously variable transmission 100 is combined in the pinion gear 104 and transmitted to the load o through the second sun gear 102. Accordingly, it can be seen that the input power from the power source is branched through the planetary gear unit so that only a part thereof is input to the continuously variable transmission, which is then combined in the planetary gear unit and output to the load.

Similarly, it can be easily seen with reference to the specification of Patent Application No. 10-2001-0041222 that various embodiments having various coupling methods between the above-described planetary gear unit and the continuously variable transmission are possible.

In another embodiment of the shifting system according to the invention, the power branch means consisting of two planetary gear units comprises first and second planetary gear units each having a sun gear, a ring gear and a carrier as components. At this time, two elements of the first planetary gear unit are connected to two elements of the second planetary gear unit, respectively. Looking at the connection relationship, the power source is connected to the first planetary gear unit, the load is connected to the second planetary gear unit, and at least one of the driving rotor and the driven rotor is the first and second planetary Various connection relationships are possible which are connected to the connection part of the gear unit, which are listed and described in detail in patent application No. 10-2001-0029266.

As an exemplary example, referring to FIG. 13B, the ring gear 102 of the first planetary gear unit and the sun gear 123 of the second planetary gear unit are connected to the first connecting shaft 118 and the first planetary gear unit is connected. The sun gear 103 and the ring gear 122 of the second planetary gear unit is connected to the second connecting shaft 119, the power source i is connected to the carrier 101 of the first planetary gear unit, the second The load o is connected to the carrier 121 of the planetary gear unit, the input side of the continuously variable transmission 100 is connected to the carrier 101 of the first planetary gear unit, and continuously variable to the first connecting shaft 118. The output side of the device 100 is connected. In this example, power is input from the power source i to the carrier 101. The input power is branched and a part thereof is transmitted to the sun gear 103 and the ring gear 102 through the pinion gear 104, and the other part is transmitted to the input side driving rotor of the continuously variable transmission 100. The power shifted through the continuously variable transmission 100 is transferred to the ring gear 122 through the first connecting shaft 118 and combined, and then the ring gear 122 and the pinion gear 124 of the second planetary gear unit. It is transmitted through the sun gear 123, and finally to the load (o) through the carrier 121. Therefore, it can be seen that the input power from the power source is branched through the combination of the planetary gear units so that only a part of them are input to the continuously variable transmission, and are combined in the planetary gear unit combination and outputted to the load.

A characteristic of the power split type transmission system as described above is that the speed ratio range of the continuously variable transmission used first is required to be wider than at least the speed ratio range of the required transmission. And, the wider the speed ratio range of the continuously variable transmission is characterized in that the amount of power bypassed increases. Therefore, it can be seen that the effect can be seen more greatly when using a device that greatly widens the speed ratio range, such as a continuously variable transmission using a trimming mechanism and a concrete rotor according to the present invention.

In addition, as described above, since the speed change range of the continuously variable transmission 100 can be realized from negative to positive and infinity through the trimming mechanism, so-called infinite speed shifting, stationary, and forward operation is possible without a clutch or torque converter. Has the effect of configuring the device (IVT: Infinite Variable Transmission). Infinite transmission is known as the most advanced type of continuously variable transmission. In particular, in the current electric vehicle industry, efforts are being made to develop IVT, which greatly reduces the weight of a transmission and has great advantages in constructing an integrated electronic control system. The IVT system can be easily implemented using the continuously variable transmission and the power divergent continuously variable transmission system according to the present invention.

The continuously variable transmission and the power divergent continuously variable transmission system according to the present invention as described above are applicable to a wide variety of fields, and generally can be mounted on any mechanical device requiring a shift function. As conceptually shown in Figs. 12A and 12B, in the case of the continuously variable transmission, a human power (in the case of a bicycle), an engine (in the case of a motorcycle, a vehicle, etc.) or a motor (industrial machinery, robots, toys, etc.) is used as a power source. The output of the s) may be connected to the input side drive rotor of the continuously variable transmission, for example, via accessories such as a clutch, a torque converter, a deceleration gear, or the like. In addition, the output side driven rotor of the continuously variable transmission is connected directly to a load such as a wheel, a propeller shaft, an axis moving the robot arm, or via an accessory such as a differential or a decelerator. In the power split type continuously variable transmission system, the power source and the load are connected to a power branch means consisting of a planetary gear unit, and the input / output rotors of the continuously variable transmission will also be connected to the power branch means. Some of these types of connectable accessories are shown in Table 2.

Kinds Power source Attachment Load bicycle Manpower, pedal Sprockets-Chain Pulleys-Belts Rear wheel hub vehicle Engine, Fuel Cell, Inverter Clutch, Torque Converter, Increment Accelerator Propeller shaft robot Motor, inverter - Robot arm Industrial machinery Engine, motor, battery Clutch, Torque Converter, Increment Accelerator Load power shaft

The names of the parts shown in Table 2 indicate some of the most commonly used parts in the field. Thus, it is noted that the present invention is not limited thereto, and that similar types of mechanically connectable types of power sources, accessories and loads may be used. The continuously variable transmission or the power divergent continuously variable transmission system according to the present invention can be used for a device that requires high power, such as a vehicle, an industrial machine, or a large robot.However, a medium-sized motorcycle, a robot or a bicycle needs intermediate power. One of the advantages of the present invention is that it can be used in a device and also in the case of a radio-controlled vehicle or a toy such as a normal doll having a relatively small power. It is because the continuously variable transmission of various specifications can be comprised by combining various forms of the trimmer and the concrete rotor according to the present invention.

In the above, the present invention has been described as being mainly applied to a vehicle or a mechanical device requiring a shift function, but the present invention is not limited thereto, and it can be used even when used in toys such as dolls. For example, the structure of the continuously variable transmission of the present application can be easily applied to a device for connecting a joint such as an arm or a leg of a doll. It can also be used as a speed control device for an engine or a motor, so that the engine or motor can be used as a power source, and can be used for any industrial machinery requiring speed control.

As described above, the continuously variable transmission according to the present invention improves the conventional frictional transmission continuously variable transmission to increase torque capacity, implement an accurate speed regulation function, and have a wide range of speed ratios suitable for power diverter means. There is.

In particular, the continuously variable transmission according to the present invention employs a trimming mechanism to adjust the position of the linkage, so that the linkage can be accurately transported to a desired position and maintain a stable contact state at that position to achieve a desired speed ratio. There is an effect to facilitate. By matching the position of the pivot point of the trimming mechanism with the position of the center of the rotors, the contact can always be stably maintained regardless of the position of the crank of the trimming mechanism.

In addition, the contact portion of the rotor and the interlocking device sphere can be configured to be in contact with the outer sphere and the inner sphere, or the inner sphere and the outer sphere, so as to increase the area of the contact portion, the flow of the oil film is stable, and can maximize the viscosity of the fluid, Torque capacity can be increased. In addition, it is possible to design the spherical surface of the rotor of the driving rotor, the driven rotor and the interlock device freely in the inner and outer shape. In addition, since the relative size of the sphere can be selected as desired, a desired shift range can be realized. Thus, the continuously variable transmission according to the present invention has the advantage of having design flexibility to easily meet the specifications of the desired machine.

In addition, according to the present invention, in the case of using a friction-driven continuously variable transmission according to the present invention to a power divergent transmission system, firstly, the power transmitted to the continuously variable transmission is widened by maximizing the speed range of the continuously variable transmission. Secondly, the speed range of the continuously variable transmission is changed from negative to positive and infinity through the trimming mechanism, so that the so-called infinitely variable speed gear that can operate backward, stationary, and forward without a clutch or torque converter is possible. It has the effect of configuring (Infinite Variable Transmission).

Claims (39)

In the friction transmission continuously variable transmission for continuously converting and transmitting the input rotational force, A driving rotor rotating by the input rotational force; A driven rotor rotating by receiving rotational force from the driving rotor; An interlock device having a drive linked rotor frictionally driven with the drive rotor and a driven linked rotor frictionally driven with the driven rotor, in order to relay the rotational force between the drive rotor and the driven rotor; And The interlock device is rotatably fixed, and a trimming mechanism for adjusting the position of the interlock device Characterized in that, the friction transmission continuously variable transmission. The method of claim 1, wherein the trimming mechanism, A stator fixed to the frame of the continuously variable transmission; A crank for positioning, having a first pivot rotatably fixed to one end of said stator and having a first joint at another end thereof; A connector rotatably fixed to the first joint of the crank and having a second joint at the other end thereof, wherein the linkage is rotatably fixed; And A second pivot rotatably fixed to the second joint of the connector and rotatably fixed to the other end of the stator, the follower moving in dependence on the movement of the crank; Characterized in that, the friction transmission continuously variable transmission. Claim 3 was abandoned upon payment of a set-up fee. The method of claim 2, wherein the linkage device, A connecting shaft connecting the driving interlocking rotor and the driven interlocking rotor together; Wherein the connecting shaft is formed of a hollow shaft, the connector of the trimming mechanism is arranged to be rotatably fixed inside the hollow shaft Characterized in that the friction transmission continuously variable transmission. In the friction transmission continuously variable transmission for continuously converting and transmitting the input rotational force, A drive rotor rotating by the input rotational force and having a first spherical surface on at least a portion of its surface; A driven rotor which rotates by receiving the rotational force from the driving rotor and has a second spherical surface on at least a part of its surface; In order to relay the rotational force between the drive rotor and the driven rotor, a drive interlocking rotor having a third spherical surface frictionally driven with the spherical surface of the drive rotor and at least a portion of the surface of the driven rotor and frictionally driven with the spherical surface of the driven rotor An interlock device having a driven interlocking rotor having four spherical surfaces at least part of the surface thereof; And The interlock device is rotatably fixed, and a trimming mechanism for adjusting the position of the interlock device Characterized in that, the friction transmission continuously variable transmission. The method of claim 4, wherein the trimming mechanism, A stator fixed to the frame of the continuously variable transmission; A crank for positioning, having a first pivot rotatably fixed to one end of said stator and having a first joint at another end thereof; A connector rotatably fixed to the first joint of the crank and having a second joint at the other end thereof, wherein the linkage is rotatably fixed; And A second pivot rotatably fixed to the second joint of the connector and rotatably fixed to the other end of the stator, the follower moving in dependence on the movement of the crank; Characterized in that, the friction transmission continuously variable transmission. Claim 6 was abandoned upon payment of a set-up fee. According to claim 5, The linkage device, A connecting shaft connecting the driving interlocking rotor and the driven interlocking rotor together; Wherein the connecting shaft is formed of a hollow shaft, the connector of the trimming mechanism is arranged to be rotatably fixed inside the double coaxial Characterized in that the friction transmission continuously variable transmission. Claim 7 was abandoned upon payment of a set-up registration fee. 6. The trimming mechanism according to claim 5, wherein in said trimming mechanism, said first pivot is located at the center of said drive rotor sphere; The second pivot is located at the center of the driven rotor sphere; The first joint is located at the center of the spherical surface of the driving interlocking rotor; And the second joint is located at the center of the spherical driven rotor spherical surface. Characterized in that the friction transmission continuously variable transmission. Claim 8 has been abandoned upon payment of a registration fee. 6. The trimming mechanism according to claim 5, wherein in said trimmer, said second pivot is located at the center of said drive rotor sphere; The first pivot is located at the center of the driven rotor sphere; The second joint is located at the center of the spherical surface of the driving interlocking rotor; And the first joint is positioned at the center of the driven interlocking rotor spherical surface. Claim 9 was abandoned upon payment of a set-up fee. The spherical surface of the driving rotor is an inner spherical surface and the spherical surface of the driving interlocking rotor is an outer spherical surface, the spherical surface of the driven interlocking rotor is an outer spherical surface, the spherical surface of the driven rotor is an inner spherical surface, Friction transmission continuously variable transmission. Claim 10 was abandoned upon payment of a set-up fee. The spherical surface of the driving rotor is an inner spherical surface and the spherical surface of the driving interlocking rotor is an outer spherical surface, the spherical surface of the driven interlocking rotor is an inner spherical surface, the spherical surface of the driven rotor is an outer spherical surface, Friction transmission continuously variable transmission. Claim 11 was abandoned upon payment of a set-up fee. The spherical surface of the driving rotor is an inner spherical surface and the spherical surface of the driving interlocking rotor is an outer spherical surface, the spherical surface of the driven interlocking rotor is an outer spherical surface, the spherical surface of the driven rotor is an outer spherical surface, Friction transmission continuously variable transmission. Claim 12 was abandoned upon payment of a set-up fee. The spherical surface of the driving rotor is an outer spherical surface, the spherical surface of the driving interlocking rotor is an inner spherical surface, the spherical surface of the driven interlocking rotor is an inner spherical surface, the spherical surface of the driven rotor is an outer spherical surface, Friction transmission continuously variable transmission. Claim 13 was abandoned upon payment of a set-up fee. The spherical surface of the driving rotor is an outer spherical surface, the spherical surface of the driving interlocking rotor is an inner spherical surface, the spherical surface of the driven interlocking rotor is an outer spherical surface, the spherical surface of the driven rotor is an inner spherical surface, Friction transmission continuously variable transmission. Claim 14 was abandoned upon payment of a set-up fee. The spherical surface of the driving rotor is an outer spherical surface, the spherical surface of the driving interlocking rotor is an inner spherical surface, the spherical surface of the driven interlocking rotor is an outer spherical surface, the spherical surface of the driven rotor is an outer spherical surface, Friction transmission continuously variable transmission. Claim 15 was abandoned upon payment of a set-up fee. The spherical surface of the driving rotor is an outer spherical surface, the spherical surface of the driving interlocking rotor is an outer spherical surface, the spherical surface of the driven interlocking rotor is an inner spherical surface, the spherical surface of the driven rotor is an outer spherical surface, Friction transmission continuously variable transmission. Claim 16 was abandoned upon payment of a set-up fee. The spherical surface of the driving rotor is an outer spherical surface, the spherical surface of the driving interlocking rotor is an outer spherical surface, the spherical surface of the driven interlocking rotor is an outer spherical surface, the spherical surface of the driven rotor is an inner spherical surface, Friction transmission continuously variable transmission. Claim 17 was abandoned upon payment of a set-up fee. The spherical surface of the driving rotor is an outer spherical surface, the spherical surface of the driving interlocking rotor is an outer spherical surface, the spherical surface of the driven interlocking rotor is an outer spherical surface, the spherical surface of the driven rotor is an outer spherical surface, Friction transmission continuously variable transmission. In a transmission system of the power converter, the transmission system is: A continuously variable transmission for continuously converting and transmitting an input rotational force; And A power diverter means consisting of one planetary gear unit including at least two elements of at least two of the components and branching the power to transmit only a part of the components to the continuously variable transmission as an input rotational force. Including, Wherein the continuously variable transmission is: A driving rotor connected to one element of the planetary gear unit of the power branch means to rotate, the driving rotor having a first spherical surface on at least a part of its surface; A driven rotor which rotates by receiving the rotational force from the driving rotor and has a second spherical surface on at least a part of its surface; In order to relay the rotational force between the drive rotor and the driven rotor, a drive interlocking rotor having a third spherical surface frictionally driven with the spherical surface of the drive rotor and at least a portion of the surface of the driven rotor and frictionally driven with the spherical surface of the driven rotor An interlock having a driven interlocking rotor having four spherical surfaces on at least part of its surface; And The interlock is rotatably fixed, and includes a trimmer for adjusting the position of the interlock, Here, the planetary gear unit of the power diverter means is connected to a power source for providing the power, a load from which the power is output, the drive rotor, and the driven rotor, so that only a part of the rotational force provided from the power source is used as the drive rotor. Input and shifted Friction transmission continuously variable system, characterized in that. The method of claim 18, wherein the trimming mechanism, A stator fixed to the frame of the continuously variable transmission; A crank for positioning, having a first pivot rotatably fixed to one end of said stator and having a first joint at another end thereof; A connector rotatably fixed to the first joint of the crank and having a second joint at the other end thereof, wherein the linkage is rotatably fixed; And A second pivot rotatably fixed to the second joint of the connector and rotatably fixed to the other end of the stator, the follower moving in dependence on the movement of the crank; Friction transmission continuously variable system comprising a. Claim 20 was abandoned upon payment of a set-up fee. The method of claim 19, wherein the linkage device, A connecting shaft connecting the driving interlocking rotor and the driven interlocking rotor together; Wherein the connecting shaft is formed of a hollow shaft, the connector of the trimming mechanism is arranged to be rotatably fixed inside the hollow shaft Characterized in that the friction transmission stepless transmission system. Claim 21 was abandoned upon payment of a set-up fee. 20. The system of claim 19, wherein the trimming mechanism comprises: the first pivot positioned at a center of the drive rotor spherical surface; The second pivot is located at the center of the driven rotor sphere; The first joint is located at the center of the spherical surface of the driving interlocking rotor; And the second joint is located at the center of the spherical driven rotor spherical surface. Friction transmission continuously variable system, characterized in that. Claim 22 was abandoned upon payment of a registration fee. 20. The system of claim 19, wherein the trimming mechanism comprises: the second pivot positioned at a center of the drive rotor spherical surface; The first pivot is located at the center of the driven rotor sphere; The second joint is located at the center of the spherical surface of the driving interlocking rotor; And the first joint is located at the center of the spherical driven rotor spherical surface. Friction transmission continuously variable system, characterized in that. Claim 23 was abandoned upon payment of a registration fee. 19. The planetary gear unit of the power diverter means according to claim 18, wherein the planetary gear unit of the power branch means has a carrier and two sun gears and a pinion gear, a carrier and two ring gears and a pinion gear, or a carrier and two sun gears and two pinion gears. Either in the form of or with a carrier, two ring gears and two pinion gears, or a carrier, ring gear, sun gear and two pinion gears, Herein, the power source, the load, the drive rotor, and the driven rotor are connected to three elements except for the pinion gear of the planetary gear unit. Friction transmission continuously variable system, characterized in that. Claim 24 was abandoned upon payment of a set-up fee. 19. The method according to claim 18, wherein at least one of the contact form between the drive rotor spherical surface and the drive interlocking rotor spherical surface and the contact form between the driven rotor spherical surface and the driven interlocking rotor spherical surface are in contact with an inner spherical surface and an outer spherical surface or an outer spherical surface and an inner spherical surface. Friction transmission continuously variable system, characterized in that the form. Claim 25 was abandoned upon payment of a set-up fee. 19. The contact form of the spherical surface of the drive rotor and the spherical surface of the drive interlocking rotor is a form in which the outer spherical surface and the outer spherical surface are in contact with each other, and also the contact form of the spherical surface of the driven interlocking rotor and the spherical surface of the driven rotor. Friction transmission continuously variable system, characterized in that the outer sphere and the outer sphere in contact form. In a transmission system of the power converter, the transmission system is: A continuously variable transmission for continuously converting and transmitting an input rotational force; And A power branch means consisting of two or more planetary gear units, for branching power and transmitting only a part of the planetary gear unit to the continuously variable transmission as an input rotational force. Including, Wherein the continuously variable transmission is: A drive rotor rotating by the input rotational force and having a first spherical surface on at least a portion of its surface; A driven rotor which rotates by receiving the rotational force from the driving rotor and has a second spherical surface on at least a part of its surface; In order to relay the rotational force between the drive rotor and the driven rotor, a drive interlocking rotor having a third spherical surface frictionally driven with the spherical surface of the drive rotor and at least a portion of the surface of the driven rotor and frictionally driven with the spherical surface of the driven rotor An interlock having a driven interlocking rotor having four spherical surfaces on at least part of its surface; And The interlock is rotatably fixed, and includes a trimmer for adjusting the position of the interlock, Here, each of the planetary gear units of the power branch means is connected to a power source for providing the power, a load from which the power is output, the drive rotor, and the driven rotor, so that only a part of the rotational force provided from the power source is used as the drive rotor. Input and shifted Friction transmission continuously variable system, characterized in that. The method of claim 26, wherein the trimming mechanism, A stator fixed to the frame of the continuously variable transmission; A crank for positioning, having a first pivot rotatably fixed to one end of said stator and having a first joint at another end thereof; A connector rotatably fixed to the first joint of the crank and having a second joint at the other end thereof, wherein the linkage is rotatably fixed; And A second pivot rotatably fixed to the second joint of the connector and rotatably fixed to the other end of the stator, the follower moving in dependence on the movement of the crank; Friction transmission continuously variable system comprising a. Claim 28 was abandoned upon payment of a set-up fee. The method of claim 27, wherein the linkage device, A connecting shaft connecting the driving interlocking rotor and the driven interlocking rotor together; Wherein the connecting shaft is formed of a hollow shaft, the connector of the trimming mechanism is arranged to be rotatably fixed inside the double coaxial Characterized in that the friction transmission stepless transmission system. Claim 29 was abandoned upon payment of a set-up fee. 28. The system of claim 27, wherein in said trimmer, said first pivot is located at the center of said drive rotor sphere; The second pivot is located at the center of the driven rotor sphere; The first joint is located at the center of the spherical surface of the driving interlocking rotor; And the second joint is located at the center of the spherical driven rotor spherical surface. Friction transmission continuously variable system, characterized in that. Claim 30 was abandoned upon payment of a set-up fee. 28. The system of claim 27, wherein in said trimmer, said second pivot is located at the center of said drive rotor sphere; The first pivot is located at the center of the driven rotor sphere; The second joint is located at the center of the spherical surface of the driving interlocking rotor; And the first joint is located at the center of the spherical driven rotor spherical surface. Friction transmission continuously variable system, characterized in that. Claim 31 has been abandoned upon payment of a set-up fee. 27. The apparatus of claim 26, wherein the power branch means comprises first and second planetary gear units each having a sun gear, a ring gear, and a carrier as components; Two elements of the first planetary gear unit are respectively connected to two elements of the second planetary gear unit; The power source is connected to the first planetary gear unit, the load is connected to the second planetary gear unit, and at least one of the driving rotor and the driven rotor is a connection portion of the first and second planetary gear units. Connected to Friction transmission continuously variable system, characterized in that. Claim 32 was abandoned upon payment of a set-up fee. 27. The method according to claim 26, wherein at least one of the contact form between the drive rotor spherical surface and the drive interlocking rotor spherical surface and the contact form between the driven rotor spherical surface and the driven interlocking rotor spherical surface are in contact with an inner spherical surface and an outer spherical surface or an outer spherical surface and an inner spherical surface. Friction transmission continuously variable system, characterized in that the form. Claim 33 was abandoned upon payment of a set-up fee. The contact form of the spherical surface of the drive rotor and the spherical surface of the drive interlocking rotor is a form in which the outer spherical surface and the outer spherical surface are in contact with each other, and also the contact form of the spherical surface of the driven interlocking rotor and the spherical surface of the driven rotor. Friction transmission continuously variable system, characterized in that the outer sphere and the outer sphere in contact form. Claim 34 was abandoned upon payment of a set-up fee. A motorcycle comprising a continuously variable transmission or shifting system as described in any one of claims 1 to 33. Claim 35 was abandoned upon payment of a set-up fee. 34. A vehicle comprising a continuously variable transmission or shifting system as described in any one of claims 1 to 33. Claim 36 has been abandoned upon payment of a set-up fee. An industrial machine comprising a continuously variable transmission or shifting system as described in any one of claims 1 to 33. Claim 37 has been abandoned upon payment of a set registration fee. A bicycle comprising a continuously variable transmission or shifting system as described in any one of claims 1 to 33. Claim 38 was abandoned upon payment of a set-up fee. 34. A toy comprising a continuously variable transmission or shifting system as described in any one of claims 1 to 33. Claim 39 has been abandoned upon payment of a set-up fee. 34. A robot comprising a continuously variable transmission or shifting system as described in any one of claims 1 to 33.