KR101946193B1 - Apparatus for outputting inputted multiple forces as accumulated single force or outputting inputted multiple displacements as accumulated single displacement - Google Patents

Abstract

The present invention relates to an apparatus for outputting inputted multiple force into accumulated single force or outputting inputted multiple displacement into accumulated single displacement. The apparatus for outputting inputted multiple force into accumulated single force or outputting inputted multiple displacement into accumulated single displacement according to the present invention includes: a ring gear rotatably mounted on a support shaft by a first drive unit; a first carrier rotatably mounted on the support shaft by a second drive unit, and provided at both side surfaces thereof with a pair of first planetary gears rotated while interlocking to each other, one first planetary gear is rotated while being gear-engaged with the ring gear; a sun gear rotatably mounted on the support shaft and gear-engaged with the other first planetary gear; a second carrier rotatably mounted on the support shaft by a third drive unit, and provided at both side surfaces thereof with a pair of second planetary gears rotated while interlocking to each other, in which one second planetary gear is rotated while being gear-engaged with the sun gear; and an output ring gear rotatably mounted on the support shaft and gear-engaged with the other second planetary gear and rotated, wherein the output ring gear is rotated by accumulating multiple forces applied to the ring gear, the first carrier, and the second carrier by the first drive unit, the second drive unit, and the third drive unit, respectively, or the output ring gear is rotated by accumulating multiple displacements applied to the ring gear, the first carrier, and the second carrier by the first drive unit, the second drive unit, and the third drive unit, respectively.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus for accumulating multiple forces and outputting them as a single force or accumulating multiple displacements and outputting them as a single displacement. [0002]

The present invention relates to an apparatus for accumulating multiple forces and outputting them with a single force or accumulating multiple displacements and outputting them as a single displacement. More particularly, the present invention relates to an apparatus for accumulating multiple forces (torques) (Torque) of a plurality of driving units or accumulating multiple displacements (velocities) generated by a plurality of driving units and outputting them at a single displacement (speed) To output a single displacement.

Soft linear actuators such as Shape Memory Alloy (SMA) actuator, Twisted and Coiled soft Actuator (TCA) actuator and Dielectric Elastomer Actuator (DEA) actuator deform their body to make displacement. Therefore, to make large displacements, long actuators should be used or mechanical devices such as gears should be used.

However, when a long actuator is used, it takes up a lot of space, and when a gear is used, there is a limit that the displacement increases but the generated force decreases.

It is possible to increase the force of the output stage by simultaneously driving several actuators, but it can not increase the displacement. In the case of a rotary motor, the torque and the rotational speed can be adjusted by using the gear shift, but the torque and the rotational speed are inversely proportional to each other according to the speed ratio. Also, when multiple rotary motors are driven simultaneously through a transmission medium such as a gear, the torque can be accumulated but the rotational speed can not be accumulated.

Therefore, multiple actuators are used to improve the force or displacement (torque or speed) of the actuator and selectively accumulate forces or displacements (torque or velocity) generated from the actuators to produce a single accumulated force or displacement Torque or speed).

U.S. Published patent US20130172139A1

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to solve such conventional problems, and it is therefore an object of the present invention to provide a torque control apparatus and a torque control method thereof, There is provided an apparatus for accumulating multiple displacements (velocities) and outputting them in a single cumulative displacement (velocity), accumulating them in a single force or accumulating multiple displacements and outputting them as a single displacement have.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

The above object is achieved by a ring gear according to the present invention, comprising: a ring gear rotatably mounted on a support shaft by a first drive; A first planetary gear set rotatably mounted on the support shaft and rotatable on both sides of the first planetary gear set, the first planetary gear set on one side being gear- ; A sun gear rotatably mounted on the support shaft and gear-engaged with the first planetary gear on the other side and rotating; A second planetary gear set rotatably mounted on the support shaft and rotatable on both sides of the second planetary gear set, the second planetary gear set on one side being gear- ; And an output ring gear rotatably mounted on the support shaft and rotated in gear engagement with the second planetary gear on the other side, wherein the first ring gear, the second ring gear, The ring gear, the first carrier, and the second carrier by rotating the output ring gear by accumulating multiple forces applied to the ring gear, the first carrier, and the second carrier, And accumulating multiple displacements applied to the first carrier and the second carrier to accumulate multiple forces for rotating the output ring gear and outputting them as a single force or accumulating multiple displacements and outputting them as a single displacement Lt; / RTI >

Here, the first driving unit and the third driving unit rotate the ring gear and the second carrier in the same direction, respectively, and when the second driving unit rotates the first carrier in the other opposite direction, , The second driving unit, and the third driving unit accumulate the multiple displacements applied to the ring gear, the first carrier, and the second carrier to rotate the output ring gear.

Here, the ring gear, the first carrier, and the second carrier are fixed by a fixing pin, and the first driving portion, the second driving portion, and the third driving portion are fixed to the ring gear, the first carrier, Accumulating multiple forces applied to the ring gear, the first carrier, and the second carrier by the first driving unit, the second driving unit, and the third driving unit, respectively, when rotating the carrier in the same direction, The output ring gear can be rotated.

The ring gear, the first carrier, and the second carrier may further include a hole formed in an outer peripheral surface thereof, and a fixing pin inserted into the hole to fix the ring gear, the first carrier, and the second carrier There is a number.

Here, the first planetary gear pair may be formed at least two or more symmetrically in the first carrier, and the second planetary gear pair may be formed at least two or more symmetrically in the second carrier.

The above object can also be achieved according to the present invention by a first ring gear rotatably mounted on a support shaft by a first drive unit; A first planetary gear set rotatably mounted on the support shaft and rotatable on both sides of the first planetary gear set, the first planetary gear set on one side being gear- 1 carrier; A first sun gear rotatably mounted on the support shaft and gear-engaged with the first planetary gear on the other side and rotating; A second planetary gear set rotatably mounted on the support shaft and rotatable on both sides of the first planetary gear set, the second planetary gear set on one side being gear- 2 carriers; A second ring gear rotatably mounted on the support shaft and gear-engaged with the second planetary gear on the other side, a third ring gear rotatably mounted on the support shaft by a fourth drive unit, A third carrier which gears and rotates with the second ring gear; A second sun gear rotatably mounted on the support shaft and gear-engaged with the third planetary gear on the other side and rotating; A fourth planetary gear set rotatably mounted on the support shaft and rotatably coupled to both sides of the fourth planetary gear set, the fourth planetary gear set on one side being gear- 4 carriers; And an output ring gear rotatably mounted on the support shaft and rotated in gear engagement with the fourth planetary gear on the other side, wherein the first drive unit, the second drive unit, the third drive unit, , Accumulating multiple forces applied to the ring gear, the first carrier, the second carrier, the third carrier, and the fourth carrier by the fifth driving unit to rotate the output ring gear, The first carrier, the second carrier, the third carrier, the fourth carrier, and the fourth carrier by the first drive section, the second drive section, the third drive section, the fourth drive section, A device for cumulatively multiplying a plurality of forces for rotating the output ring gear by accumulating a plurality of applied displacements and outputting them as a single force or accumulating multiple displacements and outputting them as a single displacement It can be achieved.

Here, the first driving unit, the third driving unit, and the fifth driving unit respectively rotate the first ring gear, the second carrier, and the fourth carrier in the same direction, and the second driving unit and the fourth driving unit rotate The third carrier, and the third carrier are rotated in opposite directions, the first carrier, the third carrier, and the third carrier are rotated by the first drive unit, the second drive unit, the third drive unit, the fourth drive unit, The output ring gear can be rotated by accumulating multiple displacements applied to the first carrier, the second carrier, the third carrier, and the fourth carrier.

Here, the ring gear, the first carrier, the second carrier, the third carrier, and the fourth carrier are fixed by a fixing pin, and the first driving portion, the second driving portion, the third driving portion, The first carrier, the second carrier, the third carrier, and the fourth carrier are rotated in the same direction, the first drive unit, the second drive unit, and the fifth drive unit rotate the ring gear, the first carrier, Accumulating multiple forces applied to the ring gear, the first carrier, the second carrier, the third carrier, and the fourth carrier by the third driving unit, the fourth driving unit, and the fifth driving unit, The output ring gear can be rotated.

Here, the first planetary gear pair is formed at least two or more symmetrically in the first carrier, the second planetary gear pair is formed at least two or more symmetrically in the second carrier, and the third planetary gear pair And the fourth planetary gear pair may be formed symmetrically with respect to the fourth carrier at least two or more symmetrically with respect to the third carrier.

At least one pair of gear pairs corresponding to the second ring gear, the third carrier, the second sun gear, and the fourth carrier may be formed between the fourth carrier and the output ring gear.

According to the apparatus for accumulating multiple forces of the present invention as described above and outputting them as a single force or accumulating multiple displacements and outputting them as a single displacement, a plurality of forces or displacements (torque or speed) Can be selectively accumulated and output as a single force or displacement (torque or speed).

FIG. 1 is an exploded perspective view of an apparatus for accumulating multiple forces according to an embodiment of the present invention and outputting them as a single force or accumulating multiple displacements to output a single displacement. FIG.
2 is an assembled perspective view of FIG.
FIG. 3 is a block diagram of an apparatus for accumulating multiple displacements and outputting a plurality of displacements in a single displacement by accumulating multiple displacements according to an embodiment of the present invention, Fig.
FIG. 4 is a diagram illustrating a method of accumulating multiple forces and outputting them in a single force by an apparatus for accumulating multiple forces according to an embodiment of the present invention and outputting them as a single force or accumulating multiple displacements and outputting them as a single displacement Fig.
5 is an exploded perspective view of an apparatus for accumulating multiple forces according to another embodiment of the present invention and outputting them as a single force or accumulating multiple displacements to output a single displacement.

The details of the embodiments are included in the detailed description and the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the drawings for explaining an apparatus for accumulating multiple forces by a single force or accumulating multiple displacements and outputting a single displacement according to embodiments of the present invention .

FIG. 1 is an exploded perspective view of an apparatus for accumulating multiple forces according to an embodiment of the present invention to output a single force or accumulating multiple displacements and outputting a single displacement, and FIG. 2 is an assembled perspective view of FIG. 1 . ,

The apparatus for accumulating multiple forces according to an embodiment of the present invention in a single force or accumulating multiple displacements and outputting them as a single displacement includes a ring gear 110, a first carrier 120, a sun gear 130, a second carrier 140, and an output ring gear 150.

The ring gear 110, the first carrier 120, the sun gear 130, the second carrier 140, and the output ring gear 150 are coupled in this order on the support shaft 100 as shown, A bearing (not shown) is mounted between each of the members 110, 120, 130, 140 and 150 and the support shaft 100 so that the respective members can be rotatably mounted on the support shaft 100.

The ring gear 110 is rotatably mounted on the support shaft 100 and is capable of rotating on the support shaft 100 by receiving a force from a first drive unit (not shown).

The first carrier 120 is rotatably mounted on the support shaft 100 and is capable of rotating on the support shaft 100 by receiving a force from a second drive unit (not shown). At this time, the first planetary gears 125a formed on the first carrier 120 are gear-engaged with gears formed in the inner direction of the ring gear 110. [ More specifically, the first planetary gear pair 125 is formed on both sides of the first carrier 120 and rotates together with the first planetary gear pair 125. The first planetary gear pair 125 is disposed on one side (left side in the figure) 125a can be gear-engaged with the ring gear 110. The first planetary gear 125b formed on the other side of the first carrier 120 can be gear-engaged with the later-described sun gear 130. [

It is preferable that the first planetary gear pairs 125 are symmetrically formed on a plurality of side surfaces of the first carrier 120. Since the first planetary gear pairs 125 are symmetrically formed in a plurality of pairs, the stability of the entire apparatus can be enhanced by the balance of the forces.

The sun gear 130 is rotatably mounted on the support shaft 100 and includes a first planetary gear 125b of the first carrier 120 and a second planetary gear 125b of the second carrier 140, 145a. At this time, the sun gear 130 can be gear-engaged with the first planetary gear 125b formed on the other side of the first carrier 120 (right side of the drawing).

The second carrier 140 is rotatably mounted on the support shaft 100 and is capable of rotating on the support shaft 100 by receiving a force from a third drive unit (not shown). The second planetary gear 145a formed on the second carrier 140 is formed on one side of the sun gear 130 and gear-coupled with the sun gear 130. [ More specifically, like the first carrier 120, a second planetary gear pair 145 that rotates in conjunction with both sides of the second carrier 140 is formed, and one side of the second carrier 140 And the second planetary gear 145a formed on the first planetary gear 145a can be gear-engaged with the sun gear 130. [

It is preferable that the second planetary gear pairs 145 are symmetrically formed on the side surface of the second carrier 140 in the same manner as the first planetary gear pair 125.

The output ring gear 150 is rotatably mounted on the support shaft 100 and rotates in gear engagement with the second planetary gear 145b of the second carrier 140. More specifically, the second planetary gear 145b is gear-engaged with the second planetary gear 145b formed on the other side (the right side in the drawing) of the second carrier 140 and rotated.

As described above, the ring gear 110, the first carrier 120, and the second carrier 140 are each an active gear that rotates by receiving a force from an external driving unit, The output ring gear 150 is a passive gear that transmits power without receiving any force separately. The output ring gear 150 finally accumulates the forces input from the multiple driving units, accumulates the displacements inputted from the multiple driving units, To the output gear. At this time, it is possible to adjust the accumulation amount of displacement according to the direction of the force applied to the active gear by the multiple driving parts, and to fix the respective driving parts with the fixing pin, The force can be accumulated.

Hereinafter, an apparatus for accumulating multiple forces according to an embodiment of the present invention, which is described with reference to FIGS. 1 and 2, to output a single force or accumulating multiple displacements to output a single displacement, Will be described with reference to a case in which the displacements inputted from the output gears are outputted to the output gears with a single displacement.

FIG. 3 is a block diagram of an apparatus for accumulating multiple displacements and outputting a plurality of displacements in a single displacement by accumulating multiple displacements according to an embodiment of the present invention, Fig.

3, the ring gear 110 and the second carrier 140 are moved in the same direction (in the same direction) by the first drive unit and the third drive unit in the case of accumulating multiple displacement inputs with a single displacement according to the present invention, The first carrier 120 is rotated in a direction opposite to the rotation direction of the ring gear 110 and the second carrier 140 (for example, clockwise ).

The first planetary gear pair 125 that couples the ring gear 110 and the first carrier 120 to each other as the ring gear 110 and the first carrier 120 rotate in opposite directions can be made faster and cumulative . The rotation of the first planetary gear pair 125 is transmitted to the sun gear 130 and the sun gear 130 and the second carrier 140 are rotated in the opposite directions in the same manner, The second planetary gear pair 145 that couples the second carriers 140 to each other can be rotated faster and more cumulatively.

Accordingly, the output ring gear 150, which is finally engaged with the second planetary gear 145b, is rotated. The displacement generated from the first, second, and third driving units is accumulated, (150).

 The first driving unit, the second driving unit, and the third driving unit may be formed of any one of a Shape Memory Alloy (SMA) driver, a Twisted and Coiled soft Actuator (TCA) driver, a Dielectric Elastomer Actuator (DEA) But is not limited thereto.

When the ring gear 110 and the second carrier 140 are rotated in one direction by the first driving unit and the third driving unit and the first carrier 120 is rotated in the other direction by the second driving unit, , The input from the first driving unit, the second driving unit, and the third driving unit is separately transmitted to the output ring gear 150, and the gear ratio is calculated as follows.

(1) First, when the rotation is inputted to the ring gear 110 by the first driving unit and the rotation is not inputted from the second driving unit and the third driving unit to the first carrier 120 and the second carrier 140, rotation of the ring gear (R) (110) is a first planetary gearset (P ₁₎ 125, the first planetary gearset (P ₁₎ rotation of 125 is the sun gear (S), (130), rotation of the sun gear (S) (130) is a second planetary gearset (P ₂₎ 145, the second planetary gearset (P ₂₎ rotation of 145 the output ring gear (O) (150) . Accordingly, the input of the first driving unit is transmitted to the output ring gear 150 in the order of R-> P ₁ ->S-> P ₂ -> O.

(2) Next, when the rotation is inputted to the first carrier 120 by the second driving unit and the rotation is not inputted from the first driving unit and the third driving unit to the ring gear 110 and the second carrier 140, respectively, the first carrier (C ₁₎ rotation of 120 is a first planetary gearset (P ₁₎ 125, the first planetary gearset (P ₁₎ rotation of 125 is the sun gear (S), (130) , the rotation of the sun gear (S) (130) of the second planetary gearset (P ₂₎ 145, the second planetary gearset (P ₂₎ rotation of 145 the output ring gear (O) (150 ). Accordingly, the input of the second driving unit is transmitted to the output ring gear 150 in the order C ₁ -> P ₁ -> S -> P ₂ -> O.

(3) Finally, the rotation is inputted to the second carrier 140 by the third driving part, and the rotation is not inputted from the first driving part and the second driving part to the ring gear 110 and the first carrier 120, respectively The rotation of the second carrier C ₂ 140 is transmitted to the second planetary gear pair P ₂ 145 and the rotation of the second planetary gear pair P ₂ 145 is transmitted to the output ring gear O, Lt; / RTI > Accordingly, the input by the third driving unit is transmitted to the output ring gear 150 in the order of C ₂ -> P ₂ -> O.

At this time, the number of gears Zc of the first carrier 120 and the second carrier 140 is Z _C = Z _R + Z _S where Z _R is the number of gears of the ring gear 110 and Z _S is the number of gears of the sun gear 130. For example, Z _R = 60, Z _S = 20 Z _C = 80. Further, let's say the number of gears of the first planetary gear (125a, 125b) and the second planetary gear _{(145a, 145b) Z P =} 20.

When the rotation is transmitted only to the ring gear 110 by the first driving unit according to the equation (1), the gear ratio is Z _R -> Z _p1 -> Z _S -> Z _P2 -> Z _O So that they have a relationship of 60 -> 20 -> 20 -> 20 -> 60. Therefore, the final gear ratio between the ring gear 110 and the output ring gear 150 has a 1: 1 relationship.

When the rotation is transmitted only to the first carrier 120 by the second driving unit according to the equation (2), Z _C1 -> Z _P1 -> Z _S -> Z _P2 -> Z _O Since the gears are transmitted in this order, they have a relationship of 80 -> 20 -> 20 -> 20 -> 60. Thus, the final gear ratio between the first carrier 120 and the output ring gear 150 has a 4: 3 relationship.

When rotation is transmitted only to the second carrier 140 by the third driving unit according to the equation (3), Z _C2 -> Z _P2 -> Z _O So that the relationship of 80- > 20- > 60 is obtained. Therefore, the final gear ratio between the second carrier 140 and the output ring gear 150 has a relationship of 4: 3.

As described above, the gear ratio when the input generated from the first driver, the second driver, and the third driver is separately transmitted to the output ring gear 150 is calculated, and the gear ratio of the first driver, the second driver, 3/4 => 3: 10/4 when the inputs from the three drive units are summed together. Further, the displacement / rotation amount has a relationship of 1 + 1 + 1: 1 + 4/3 + 4/3 => 3: 11/3.

Accordingly, when the ring gear 110, the first carrier 120, and the second carrier 140 are rotated by 45 degrees by the inputs of the first driver, the second driver, and the third driver, A rotation of 165 degrees is generated in the rotating shaft 150.

Next, referring to FIG. 4, an apparatus for accumulating multiple forces according to an embodiment of the present invention as described with reference to FIGS. 1 and 2 to output a single force or accumulating multiple displacements to output a single displacement A case in which forces input from a plurality of driving units are accumulated and outputted to the output gear with a single force will be described.

FIG. 4 is a diagram illustrating a method of accumulating multiple forces and outputting them in a single force by an apparatus for accumulating multiple forces according to an embodiment of the present invention and outputting them as a single force or accumulating multiple displacements and outputting them as a single displacement Fig.

As shown in FIG. 4, the ring gear 110, the first carrier 120, and the second carrier 140 are provided with holes 111, 121, and 141, respectively, and holes 111, 121, The ring gear 110, the first carrier 120, and the second carrier 140 are fixed by inserting a fixing pin (not shown) in the ring gear 141, The plurality of forces input to the gear 110, the first carrier 120, and the second carrier 130 can be accumulated and output through the output ring gear 150. [ At this time, when the multiple force inputs are accumulated with a single force, each of the driving parts rotates the ring gear 110, the first carrier 120, the second carrier 140 in the same one direction (for example, .

Assuming that the torques generated in the ring gear 110, the first carrier 120 and the second carrier 140 by the inputs of the first driver, the second driver and the third driver are respectively 1 Nm, 150), a torque of 3 Nm is generated.

According to the apparatus for accumulating multiple forces according to the present invention in a single force or accumulating multiple displacements and outputting them as a single displacement, It is possible to accumulate the generated forces and output them with a single force, or to accumulate the displacements occurring in a plurality of the driving units and output them as a single displacement.

Hereinafter, an apparatus for accumulating multiple forces according to another embodiment of the present invention and outputting them as a single force or accumulating multiple displacements and outputting them as a single displacement will be described.

5 is an exploded perspective view of an apparatus for accumulating multiple forces according to another embodiment of the present invention and outputting them as a single force or accumulating multiple displacements to output a single displacement.

In this embodiment, the first ring gear 210, the first carrier 220, the first sun gear 230, the second carrier 240, the second ring gear 250, the third carrier 260, Two sun gears 270, a fourth carrier 280, and an output ring gear 290.

The first ring gear 210, the first carrier 220 and the first sun gear 230 provided on the support shaft 200 are connected to the ring gear 110, The second carrier 260, the second sun gear 270, the fourth carrier 280, and the output ring gear 290 (see FIG. 3) are the same as those of the first carrier 120 and the first sun gear 130, Is the same as that of the first carrier 120, the sun gear 130, the second carrier 140, and the output ring gear 150 described above with reference to Figs.

The second ring gear 250 is formed between the second carrier 240 and the third carrier 260 so that the first ring gear 210, the first carrier 220, the second carrier 220 to the rear end. Therefore, in this embodiment, the number of input terminals can be expanded as compared with the above-described embodiment.

That is, the first ring gear 210, the first carrier 220, the second carrier 240, the third carrier 260, and the fourth carrier 270 are active gears, ), The second ring gear 250 and the second sun gear 270 are passive gears, and the output ring gear 290 corresponds to the output gear.

The first ring gear 210 and the second carrier 240 are connected to the first ring gear 210, the first carrier 220 and the second carrier 240 in one direction When the first carrier 220 is rotated and the first carrier 220 is rotated in the other direction, the cumulative displacement by the respective driving portions is transmitted to the second ring gear 250 so that the second ring gear 250 also rotates in one direction. At this time, when the third carrier 260 rotates the fourth carrier 280 in one direction in the other direction by each of the driving units connected to the third carrier 260 and the fourth carrier 280, The displacement of the first carrier 250, the third carrier 260 and the fourth carrier 280 can be cumulatively output to the output ring gear 290.

When the first ring gear 210, the first carrier 220, the second carrier 240, the third carrier 260, and the fourth carrier 280 are rotated in the same direction by the respective driving portions, The force generated from the driving unit can be accumulated and output through the output ring gear 290. [

At this time, although not shown, the second ring gear 250, the third carrier 260, the second sun gear 270, the fourth carrier 280, and the third carrier 280 are interposed between the fourth carrier 280 and the output ring gear 290, The number of input terminals may be further expanded by adding a gear-coupled pair corresponding to the number of input terminals.

The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms of embodiments within the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

100: Support shaft 110: Ring gear
120: first carrier 125: first planetary gear pair
125a, 125b: first planetary gear 130: sun gear
140: second carrier 145: second planetary gear pair
145a, 145b: second planetary gear 150: output ring gear
200: support shaft 210: first ring gear
220: first carrier 230: first sun gear
240: second carrier 250: second ring gear
260: third carrier 270: second sun gear
280: fourth carrier 290: output ring gear

Claims (11)

A ring gear rotatably mounted on the support shaft by a first drive unit;
A first planetary gear set rotatably mounted on the support shaft and rotatable on both sides of the first planetary gear set, the first planetary gear set on one side being gear- ;
A sun gear rotatably mounted on the support shaft and gear-engaged with the first planetary gear on the other side and rotating;
A second planetary gear set rotatably mounted on the support shaft and rotatable on both sides of the second planetary gear set, the second planetary gear set on one side being gear- ; And
And an output ring gear rotatably mounted on the support shaft and rotated in gear engagement with the second planetary gear on the other side,
The first ring gear, the first carrier, and the second carrier by the first driving unit, the second driving unit, and the third driving unit, respectively, to rotate the output ring gear, Accumulating multiple displacements applied to the ring gear, the first carrier, and the second carrier by the first drive section, the second drive section, and the third drive section to accumulate multiple forces for rotating the output ring gear A device that outputs a single force or accumulates multiple displacements and outputs them as a single displacement. The method according to claim 1,
Wherein the first driving unit and the third driving unit respectively rotate the ring gear and the second carrier in the same direction and the second driving unit rotates the first carrier in the other opposite direction, Accumulating multiple displacements applied to the ring gear, the first carrier, and the second carrier by the second driving unit and the third driving unit to accumulate multiple forces for rotating the output ring gear, Or outputting a single displacement by accumulating multiple displacements. The method according to claim 1,
Wherein when the first driving unit, the second driving unit, and the third driving unit respectively rotate the ring gear, the first carrier, and the second carrier in the same direction, the first driving unit, the second driving unit, Accumulating multiple forces applied to the ring gear, the first carrier, and the second carrier by the first, second, and third driving units, respectively, so as to cumulatively output multiple forces for rotating the output ring gear, And outputs the resultant signal as a single displacement. The method of claim 3,
Holes are formed in outer peripheral surfaces of the ring gear, the first carrier, and the second carrier,
And a fixing pin inserted into the hole to fix the ring gear, the first carrier, and the second carrier are cumulatively outputted as a single force, or multiple displacements are accumulated and output as a single displacement . The method according to claim 1,
Wherein the first planetary gear pair is formed at least two or more symmetrically in the first carrier,
Wherein the second planetary gear set accumulates a plurality of forces cumulatively formed in at least two or more symmetrical positions in the second carrier to output a single force or accumulates multiple displacements to output as a single displacement. A first ring gear rotatably mounted on the support shaft by a first drive;
A first planetary gear set rotatably mounted on the support shaft and rotatable on both sides of the first planetary gear set, the first planetary gear set on one side being gear- 1 carrier;
A first sun gear rotatably mounted on the support shaft and gear-engaged with the first planetary gear on the other side and rotating;
A second planetary gear set rotatably mounted on the support shaft and rotatable on both sides of the first planetary gear set, the second planetary gear set on one side being gear- 2 carriers;
A second ring gear rotatably mounted on the support shaft and gear-engaged with the second planetary gear on the other side,
A third planetary gear set rotatably mounted on the support shaft and rotatable relative to both sides of the first planetary gear unit, the third planetary gear unit being gear- 3 carriers;
A second sun gear rotatably mounted on the support shaft and gear-engaged with the third planetary gear on the other side and rotating;
A fourth planetary gear set rotatably mounted on the support shaft and rotatably coupled to both sides of the fourth planetary gear set, the fourth planetary gear set on one side being gear- 4 carriers; And
And an output ring gear rotatably mounted on the support shaft and rotated in gear engagement with the fourth planetary gear on the other side,
Wherein the first carrier, the second carrier, the third carrier, the fourth carrier, and the third carrier are separated by the first drive unit, the second drive unit, the third drive unit, the fourth drive unit, And the ring gear is rotated by the first driving unit, the second driving unit, the third driving unit, the fourth driving unit, and the fifth driving unit, respectively, Accumulating multiple displacements applied to the first carrier, the second carrier, the third carrier, and the fourth carrier so as to cumulatively output multiple forces for rotating the output ring gear, or outputting a plurality of displacements And outputs the resultant signal as a single displacement. The method according to claim 6,
Wherein the first driving unit, the third driving unit, and the fifth driving unit respectively rotate the first ring gear, the second carrier, and the fourth carrier in the same direction, and the second driving unit and the fourth driving unit rotate the first ring gear, The first carrier, the third carrier, and the third carrier are rotated in opposite directions, the ring gear, the ring gear, and the ring gear are rotated by the first drive unit, the second drive unit, the third drive unit, the fourth drive unit, Accumulating multiple displacements applied to one carrier, the second carrier, the third carrier, and the fourth carrier so as to accumulate multiple forces for rotating the output ring gear and output them as a single force or accumulating multiple displacements Thereby outputting a single displacement. The method according to claim 6,
Wherein the first driving unit, the second driving unit, the third driving unit, the fourth driving unit, and the fifth driving unit respectively drive the ring gear, the first carrier, the second carrier, the third carrier, The first carrier, the second carrier, the second carrier, and the third carrier by the first driving unit, the second driving unit, the third driving unit, the fourth driving unit, and the fifth driving unit, Accumulating multiple forces applied to the third carrier, the fourth carrier, and accumulating a plurality of forces for rotating the output ring gear and outputting them as a single force or accumulating multiple displacements to output as a single displacement. 9. The method of claim 8,
Holes are formed in outer peripheral surfaces of the ring gear, the first carrier, the second carrier, the third carrier, and the fourth carrier,
And a fixing pin inserted into the hole to fix the ring gear, the first carrier, the second carrier, the third carrier, and the fourth carrier, And outputs the resultant signal as a single displacement. The method according to claim 6,
Wherein the first planetary gear pair is formed at least two or more symmetrically in the first carrier,
Wherein the second planetary gear pair is formed at least two or more symmetrically in the second carrier,
Wherein the third planetary gear pair is formed symmetrically with at least two or more third carriers,
Wherein the fourth planetary gear set cumulatively outputs a plurality of forces that are formed symmetrically to at least two of the fourth carriers in a single force or accumulates multiple displacements to output a single displacement. The method according to claim 6,
Between the fourth carrier and the output ring gear
The plurality of forces, which are formed by at least one gear-coupled pair corresponding to the second ring gear, the third carrier, the second sun gear, and the fourth carrier, are cumulatively output as a single force, or multiple displacements are accumulated A device for outputting with a single displacement.

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