WO2012036426A2 - 두 개의 입력 특성을 이용한 유성 기어 시스템, 이의 기어 모듈 및 이의 제어방법 - Google Patents
두 개의 입력 특성을 이용한 유성 기어 시스템, 이의 기어 모듈 및 이의 제어방법 Download PDFInfo
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- WO2012036426A2 WO2012036426A2 PCT/KR2011/006696 KR2011006696W WO2012036426A2 WO 2012036426 A2 WO2012036426 A2 WO 2012036426A2 KR 2011006696 W KR2011006696 W KR 2011006696W WO 2012036426 A2 WO2012036426 A2 WO 2012036426A2
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
- F16H37/0806—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts
- F16H37/0826—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts with only one output shaft
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/55—Rider propelled cycles with auxiliary electric motor power-driven at crank shafts parts
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/72—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/065—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with a plurality of driving or driven shafts
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
- F16H37/0806—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19014—Plural prime movers selectively coupled to common output
Definitions
- a planetary gear system using two input characteristics a gear module having the same, and a control method thereof. More specifically, a planetary gear system using two input characteristics having a gear shifting effect using two motor characteristics, a gear module having the same, and a control method thereof are disclosed.
- actuators driving robots and mechanical systems must be capable of high speed, low torque and low speed, high torque motion. If the actuator can generate high torque even at high speed, it can satisfy all of these driving requirements, but this requires the use of a high capacity motor.
- the use of high capacity motors increases the weight and size of the system. In addition, it becomes an element that makes it difficult to manufacture the system small.
- the transmission gear system is used to satisfy the characteristics of high speed-low torque and low speed-high torque in the process of transmitting engine rotational force to the driving wheels.
- the use of a shift gear system is more efficient because it allows the engine to run at an energy efficient engine speed.
- a planetary gear system using two input characteristics for receiving respective driving forces from two driving units having different characteristics and outputting the combined force of the two driving forces, a gear module having the same, and a control method thereof This is provided.
- a planetary gear system using two input characteristics a gear module having the same, and a control method thereof, which can combine the two input characteristics to produce a high-low torque or low-high torque output as needed.
- a planetary gear system using two input characteristics which can be effectively employed in a small system using a small motor, and easily modularized to enable cost reduction and mass production, and a gear module having the same and a control method thereof are provided.
- the gear system is a third gear formed to mesh with at least one of the first gear portion, the second gear portion formed to engage with the first gear portion, the first gear portion or the second gear portion.
- a gear source, and a driving source for generating a driving force wherein two gear parts of the first to third gear parts are input parts to receive respective driving force from the driving source, and the other gear part is the respective driving force. It becomes the output part that exports the combined force.
- the gear module is to engage with at least one of the first gear portion to which the first driving force is transmitted, the second gear portion to which the second driving force is transmitted, and the first gear portion or the second gear portion. It includes a third gear portion formed, the output force of the driving force input to the first gear portion and the second gear portion through the third gear portion.
- the gear system receives the driving force from two drive units having different characteristics and outputs the combined force, thereby providing output of various speed and torque combinations as necessary. This can achieve the effect of gear shifting.
- the combination of the two input characteristics can produce a high-low torque or low-high torque output as needed, so that even a small robot can freely change the output characteristics.
- the maximum speed and the maximum torque can be increased compared to the size and weight of the motor used, and the energy use can be adjusted according to the load of the motor, thereby improving energy efficiency.
- FIG. 1 is a perspective view showing a schematic view of a gear system according to an embodiment of the present invention
- FIG. 2 is an exploded perspective view schematically showing the gear system of FIG.
- 3 to 5 are perspective views schematically showing the input-output relationship of the planetary gear system using two input characteristics
- FIG. 9 is a view schematically showing a state in which a configuration for preventing a back drive is mounted on one drive unit of a gear system according to a second embodiment of the present invention.
- FIG. 10 is a view schematically showing a state in which a flywheel for preventing a back drive is mounted on one drive unit of a gear system according to a third embodiment of the present invention.
- FIG. 11 is a diagram illustrating a state in which one driving source for inputting driving force is applied as a manual input in a gear system according to a fourth exemplary embodiment of the present invention.
- FIG. 12 is a view showing a state in which a differential gear is applied to the gear system according to the fifth embodiment of the present invention.
- Gear system 100 is a system that can produce a variety of output by synthesizing the characteristics of two different drive units.
- the gear system 100 may be utilized in various fields that require a change in output characteristics according to a situation. In other words, the output of the high-low torque or the output of the low-high torque can be freely converted through one gear system 100.
- the gear system 100 includes a first gear unit 110, a second gear unit 120, and a third gear unit 130. Particularly, two gear parts are input parts to which driving force is input, and the other gear part is output part to which the combined force of the driving force is output.
- FIG. 1 is a perspective view showing a schematic view of a gear system according to a first embodiment of the present invention
- Figure 2 is an exploded perspective view schematically showing the gear system of FIG.
- the first gear part 110 and the second gear part 120 are positioned to mesh with each other.
- the third gear unit 130 is formed to mesh with at least one of the first gear unit 110 or the second gear unit 120.
- the first to third gear parts 110, 120, and 130 are illustrated as sun gears of planetary gears, planetary gears connected to carriers, and ring gears. That is, the planetary gear unit including sun gear, carrier, planetary gear and ring gear is used as the gear system 100 according to the first embodiment of the present invention. However, it is obvious that other gears may be used in which the two gear parts are input parts. The following description will be given by exemplifying that a planetary gear unit is used.
- the first gear unit 110 may include a sun gear shaft 112 connected to the sun gear 111 and the sun gear 111 to transmit the driving force to the sun gear 111 or to receive the driving force from the sun gear 111.
- the second gear unit 120 is connected to the carrier 122 and at least one planetary gear 121 capable of rotating in a state seated on one side of the carrier 122, and the other side of the carrier 122 is formed It may include a carrier shaft 123 for transmitting a driving force.
- the sun gear 111 is placed between the planetary gears 121 and has a shape in which each meshes with each other. Therefore, in general, the rotational direction of the sun gear 111 and the rotational direction of the planetary gear 121 is reversed.
- the second gear unit 120 may rotate and revolve the planetary gear 121 due to the rotation of the carrier 122.
- the third gear unit 130 becomes a ring gear.
- a ring gear is preferably formed so that the internal gear is formed inside the ring shape.
- the third gear part 130 which is illustrated as a ring gear, is externally engaged with the outer side of the planetary gear of the second gear part 120. Therefore, the third gear part 130 rotates by the rotation of the second gear part 120.
- two gear parts of the first to third gear parts 110, 120, and 130 become input parts.
- two gears receive driving force from the driving unit.
- 3 to 5 are shown for more detailed description.
- 3 to 5 are perspective views schematically showing the input-output relationship of the planetary gear system using two input characteristics.
- the first gear part 110 and the second gear part 120 become input parts, and driving force is input (In1, In2) through the two gear parts 110 and 120.
- the input force of the driving force input as described above is output through the third gear unit 130. Therefore, while adjusting the gear characteristics of the first gear unit 110 and the second gear unit 120 or the characteristics of the driving force transmitted to the gear unit (110, 120) while varying the output of the third gear unit 130 Can be generated.
- the first gear part 110 and the third gear part 130 become input parts to input driving force (In1, In2), and the second gear part 120 becomes an output part to increase the combined force. Output.
- the second gear part 120 and the third gear part 130 become input parts to input driving force (In1, In2), and the first gear part 110 becomes an output part. Output the force.
- the gear part corresponding to the input / output part may vary according to the characteristics of the object to which the gear system is applied and the manufacturing method, and the force transmission principle is as described above.
- the following is a third gear, which is an input part and includes a first gear unit 110 including the sun gear 111 and a second gear unit 120 including the planetary gear 121 and the carrier 122.
- a description will be given based on an example in which the unit 130 becomes an output part.
- the first gear unit 110 and the second gear unit 120 receive respective driving forces from different driving sources 140.
- the driving source may include a first driving unit 141 and a second driving unit 142.
- the driving source 140 may be used a variety of driving force transmission unit, such as a motor, a pump, a cylinder that can transfer the driving force. In the following examples it is illustrated that a motor is used.
- the first driving unit 141 inputs a driving force to the first gear unit 110.
- the first connecting gear 113 is rotated by the rotation of the first drive unit, and the sun gear 111 is rotated while the sun gear shaft 112 is rotated.
- the second driving unit 142 inputs a driving force to the second gear unit 120 through the second connecting gear 124.
- the first driving unit 141 and the second driving unit 142 preferably have different outputs.
- the first driving unit 141 and the second driving unit 142 illustrated as a motor have different capacities or different reduction ratios.
- the first driving unit 141 is set to have a low maximum driving speed but a maximum driving torque having a high characteristic (low speed-high torque), and the second driving unit 142 has a high maximum driving speed but a maximum driving torque is It can be set to have a low characteristic (high speed-low torque). That is, the characteristics of the first driving unit 141 and the second driving unit 142 may be set to be opposite to each other. Therefore, it is possible to control the characteristics of the driving force output to the third gear unit 130 by adjusting the characteristics of each driving force.
- the first driving unit 141 or the second driving unit 142 may input a driving force through the worm gears 143 and 144.
- the worm gears 143 and 144 may be connected to the first connecting gear 113 and the second connecting gear 124, respectively.
- Through such worm gears (143, 144) it is possible to prevent the back drive of the drive unit due to the interference between the two inputs. That is, when two motors are used, a back drive may be generated by a motor having a low deceleration transmission ratio by a motor having a high deceleration transmission ratio. Therefore, when the difference between the reduction ratios of the two motors is large, the worm gears 143 and 144 may be further added to prevent the back drive.
- the first gear unit 110 and the second gear unit 120 synthesizes the driving force by receiving the driving force from the first driving unit 141 and the second driving unit 142, and the synthesized driving force is the third gear unit. It is output through 130.
- the third connecting gear 131 rotates by the rotation of the third gear unit 130, and the driving force is output through the output shaft 133 while the output gear 132 meshed with the third connecting gear 131 rotates. Therefore, various robots, mechanical systems, etc. connected to the output shaft 133 may be driven.
- the encoder may be mounted on the output shaft of each drive unit.
- a bearing may be provided between each gear and the shaft, the position of the planetary gear unit is preferably fixed, but the rotation is free.
- the gear system 100 is the first gear unit 110 to which the first driving force is transmitted, the second gear unit 120 to which the second driving force is transmitted, and the first driving force and the second driving force is synthesized It may be in the form of a gear module consisting of a third gear unit 130 to output. In this case, it is preferable that the first driving force and the second driving force have different output characteristics.
- gear modules can be used by connecting various drive units (motors, etc.) as needed.
- the module may be integrally formed by including a motor having a specific gear ratio.
- the gear module may further include a worm gear to prevent the back drive of the driving unit to be connected.
- 6 to 8 illustrate a method of operating and controlling the planetary gear system 100 using two input characteristics having the above configuration.
- FIGS. 6 and 7 are schematic views for explaining the principle of the synthesis of the force of the gear system 100 according to the first embodiment of the present invention
- Figure 8 is a synthesized according to the operation of the gear system 100 Torque-speed graph.
- the first driving unit 141 and the second driving unit 142 each have a first rotational angular velocity () and a second rotational angular velocity (), and have a first gear ratio r 1 and a second.
- the reduction gears 145 and 146 may be further included in the first driving unit 141 or the second driving unit 142.
- the number of teeth of the sun gear 110 of the first gear unit 110 is referred to as z a
- the number of teeth of the third gear unit 130 illustrated as a ring gear is referred to as z c .
- FIG. 7A schematically shows an ecology in which only the first driving unit 141 is driven and the second driving unit 142 is stopped.
- the first driving unit 141 is a certain angle Rotate, and the second drive unit does not rotate.
- the rotation of the first drive unit 141 causes the sun gear 111 to rotate in a specific direction, whereby the third gear unit 130 has a specific output angle.
- the micro output angle of the third gear unit 130 with respect to the rotation angle of the first drive unit 141 is as follows.
- the output characteristic is determined by the rotational angular velocity of the first drive unit 141 and the number of gear teeth of the first and third gear units 110 and 130.
- FIG. 7B schematically shows an ecology in which only the second driving unit 142 is driven and the first driving unit 141 is stopped.
- the second driving unit 142 is a certain angle Rotate, and the first drive unit does not rotate.
- the planetary gear 121 rotates in a specific direction by the rotation of the second drive unit 142, whereby the third gear unit 130 has a specific output angle.
- the micro output angle of the third gear unit 130 with respect to the rotation angle of the second drive unit 142 is as follows.
- the output characteristic is determined by the rotational angular velocity of the second drive unit 142 and the number of gear teeth of the second and third gear parts 120 and 130.
- FIG. 7C illustrates a case in which both the first and second driving units 141 and 142 are driven.
- the output speed equations for the inputs of the two driving units 141 and 142 are as follows.
- Equation 5 the output can be obtained by synthesizing two motor characteristics.
- a graph combining the two motor characteristics can be seen through FIG. 8.
- graph (a) of FIG. 8 is a torque-speed graph of a motor having a low maximum driving speed but a high maximum driving torque due to a high reduction ratio characteristic.
- graph (b) is a torque-speed graph of a motor having a high maximum driving speed but a low maximum driving torque due to the low reduction ratio characteristic.
- Graph (c) shows a form similar to the characteristic graph of the two-speed gearbox when using a shifting gear such as an automobile. In the case of the gear system 100 according to the present invention, only two small motors can be used to obtain these characteristic results. It is.
- the robot is driven at high speed (high speed-low torque) at low load and low speed (low speed-high torque) at high load, so it usually operates mainly in the area like the graph (c). Therefore, there is no need to use complex and large gear system or high capacity motor like shift gear system of automobile, and it is effective for small robot system by producing gear shifting effect by properly combining these characteristics using only two small motors. It can provide a gear system that can be applied to.
- the output characteristics in which the two input characteristics are combined may have various characteristics by the gear ratio and the number of gear teeth of the gear in the process of transmitting the characteristics and rotational force of each driving unit to the input part.
- Such a gear system 100 or gear module can be employed in a variety of small robots, devices, systems. In addition, it can be applied to various fields that require a system that rotates at various forces or speed, such as a rotary wheel drive or joint drive.
- FIG. 9 is a view schematically showing a state in which a configuration for preventing a back drive is mounted on one drive unit of a gear system according to a second embodiment of the present invention.
- the gear system 200 of the present embodiment has a worm gear 143, 144 (see FIG. 2) that can prevent the back drive unlike the gear system 100 of the first embodiment (see FIG. 1). Not applied, other configurations are applied, thus further improving energy efficiency.
- the motor of the second drive unit 242 that outputs a relatively low torque itself Rotating backdrives can be generated. Then, the high torque characteristic may not come out of the output.
- the back drive may be suppressed by applying a reverse current to the motor of the second driving unit 242, or as shown in FIG. 9, a separate configuration of the second driving unit 242 may be used. Can be mounted on the motor.
- a brake type electromagnetic brake or a mechanical brake braking by mechanical operation may be applied, and a bearing-type one- One-way bearings or clutch bearings may be applied.
- the electromagnetic brake is a brake to which a braking method using an electromagnetic force is applied, thereby preventing the back drive.
- the one-way bearing and the clutch bearing provide rotational force in only one direction, and the rotation in the other direction freely rotates like a general bearing. Therefore, by attaching the one-way bearing to the fixed portion (the portion where rotation does not occur) and the second drive unit 242, the rotational force of the motor is transmitted to the planetary gear system 200 in one direction, and the second drive unit 242 is provided. When not driving, the rotation in the reverse direction (back drive) can be prevented when only the first driving unit 241 is driven.
- the second drive unit 242 having a relatively low torque output can be prevented from generating a back drive by attaching a configuration 243 such as a separate brake or bearing.
- a configuration 243 such as a separate brake or bearing.
- it can achieve good energy efficiency compared to other gears (general spur gear, etc.).
- FIG. 10 is a view schematically illustrating a state in which a flywheel for preventing a back drive is mounted on one drive unit of a gear system according to a third embodiment of the present invention.
- the gear system 300 of the present embodiment is equipped with a flywheel 343 having a large rotational inertia to the motor of the second drive unit 342 in order to prevent the back drive. Since the flywheel 343 tends to maintain the current movement phenomenon, the flywheel 343 has a low torque in the process of transmitting the rotation of the motor of the first drive unit 341 having a high torque to the third gear part 330 which is an output part. The phenomenon in which the second gear unit 320 coupled to the second driving unit 342 having the torque is backdriven may be reduced or prevented. Therefore, when the flywheel 343 is applied, the back drive can be prevented by applying only reverse current without a separate brake.
- the fly wheel 343 has a large rotational inertia, for example, in the case of an automobile, it is used to maintain the rotational force of the engine. Used. Therefore, when the flywheel is coupled in a general motor system (system driving a drive shaft by one motor), the inertia may be added as much as it may deteriorate the speed conversion characteristic of the motor.
- the instantaneous acceleration and the sudden speed change are the motors having excellent acceleration / deceleration characteristics, that is, the first driving unit ( Using the motor of 341, the motor having low acceleration / deceleration characteristics, that is, the motor of the second drive unit 342, accelerates once and then maintains a constant speed without rapidly changing the speed of the first drive unit 341.
- the overall output speed can be adjusted by using the speed change of the motor, thereby reducing the energy loss due to the rapid speed change of the high speed motor generated during the high speed driving.
- the gear system 300 of the present embodiment is a redundant degree of freedom system in which two inputs are output as one output, the final output is not generated by controlling the motors of the two driving units 341 and 342 at a specific speed. You may.
- the motor of the second driving unit 342 equipped with the flywheel 343 is accelerated, no load is generated on the actual output, and only the flywheel 343 may be accelerated. Acceleration of the motor of the second drive unit 342 equipped with 343 is made easier, and when the actual load is driven by using the rotational force of the flywheel 343 that has been accelerated once, the current is driven in the stationary state. Can consume less This current consumption increases the energy efficiency and the required torque for acceleration in the stationary state is small, it is possible to apply a small capacity motor.
- FIG. 11 is a diagram illustrating a state in which one driving source for inputting driving force is applied as a manual input in a gear system according to a fourth exemplary embodiment of the present invention.
- the driving unit is not coupled to the second gear unit 420 in the present embodiment, the driving force applied by the manual operation of the operator may be input to the second gear unit 420.
- the driving force applied to the second gear unit 420 may be applied by a manual device 442 such as a pedal of the bicycle.
- the output shaft can be driven only by the manual device 442, and the third gear unit 430, that is, the output shaft can be driven using the motor of the first drive unit 441 and the manual device 442 simultaneously. It may be.
- FIG. 12 is a view showing a state in which a differential gear is applied to the gear system according to the fifth embodiment of the present invention.
- the gear system 500 of the present embodiment is a differential gear system in which two inputs generated by two gear parts generate an output through one gear part, and the first gear part 510 and Each of the second gear parts 520 includes differential side gears 511 and 521 corresponding to each other, and the third gear part 530 has a differential side of the first gear part 510 and the second gear part 520. And a ring gear 532 to which a pair of differential pinion gears 531 are coupled between the gears 511 and 521. In addition, the ring gear 532 may be engaged with the drive pinion gear 551 of the drive shaft 550 to rotate the drive shaft 550 through the rotation of the ring gear 532.
- the differential side gear 511 of the first gear unit 510 and the differential side gear 521 of the second gear unit 520 become input parts that receive respective driving forces from the driving source
- the third gear unit ( 530 may be an output part for outputting the combined force of each driving force to the output.
- the present invention is not limited thereto, and the three gear units 510, 520, and 530 may be selectively two input parts and one output part.
- differential gear system 500 has three rotation shafts and one shaft provided therein, similarly to the planetary gear system 100 of the first embodiment described above, two rotation shafts are input and one rotation shaft is used. With outputs, two inputs can be combined into one output.
- the method of synthesizing the two motor characteristics presented in the above-described embodiments may be applied to the planetary gear or the differential gear according to the manufacturing method or the purpose of use, but is not limited thereto.
- the shaft can be applied to all gear systems.
- the above-described gear module that is, a gear module in which two inputs are generated as one output may be provided and used in the transportation device.
- the transport apparatus includes a gear module having a first gear portion and a second gear portion to which different input characteristics can be transmitted, and a third gear portion whose output is generated as an output, and the first gear portion or the first gear portion.
- Such a transport device may be an electric bicycle in which at least one gear part is electrically driven.
- the first driving force input to the first gear unit may be a manual input that the user can adjust and input
- the second driving force input to the second gear unit may be a driving force generated by an electric supply. Therefore, the first gear portion or the second gear portion can be selectively driven in accordance with a place such as a flat surface or a hill, and the energy efficiency can be improved. For example, when climbing a hill or the like, it is preferable to use the second gear portion driven by electricity supply rather than using the first gear portion by manual input. At this time, a motor having a low speed-high torque characteristic may be used as the second gear part.
- the transport device to which the gear module is applied is not limited to the electric bicycle, and it can be applied to other transport devices or transportation means.
- one gear unit of the two gear units for inputting the driving force is described as a gear unit for manual input and the other gear unit is a gear unit for inputting the driving force by electric supply, the present invention is not limited thereto. All may be comprised by the gear part driven by manual input, and two gear parts may be comprised by the gear part which generate
- the above-mentioned gear system that is, a gear system in which the first gear portion and the second gear portion are input parts receiving respective driving forces from the driving source, and the third gear portion is an output part for outputting the sum of the sum of the driving forces.
- the transport apparatus may include a gear system including such gear units and a controller configured to control an output by controlling driving force transmitted to selected gear units among the gear units, respectively.
- the transport apparatus may be, for example, an electric bicycle in which at least one of the first gear portion and the second gear portion, which are input parts, is electrically driven.
- the driving force input to the first gear unit may be a manual input that can be adjusted by the user
- the driving force input to the second gear unit may be a driving force generated by an electric supply. Therefore, the first gear portion or the second gear portion can be selectively driven, thereby improving energy efficiency.
- a second gear portion driven by electricity supply can be used, rather than using the first gear portion by manual input.
- a motor having a low speed-high torque characteristic may be used as the second gear part.
- the vehicle to which the above-described gear system is applicable is not limited to the electric bicycle, and it is natural that it can be applied to other transportation devices.
- the driving force input to the first gear portion and the second gear portion may be different manual inputs, or both may be driving forces generated by electricity supply.
Abstract
Description
Claims (20)
- 제 1 기어부;상기 제 1 기어부와 맞물려 돌아가도록 형성된 제 2 기어부;상기 제 1 기어부 또는 제 2 기어부 중 적어도 하나와 맞물려 돌아가도록 형성된 제 3 기어부; 및구동력을 발생시키는 구동원;을 포함하고, 상기 제 1 내지 제 3 기어부 중 두 개의 기어부가 상기 구동원으로부터 각각의 구동력을 전달 받는 입력파트가 되고, 나머지 하나의 기어부가 상기 각각의 구동력이 합성된 합력을 내보내는 출력파트가 되는 기어 시스템.
- 제1항에 있어서,상기 구동원은 서로 다른 출력을 가지는 제 1 구동유닛 및 제 2 구동유닛을 포함하는 기어 시스템.
- 제2항에 있어서,상기 제 1 구동유닛 및 제 2 구동유닛은 각각 모터를 포함하고,상기 모터는 서로 다른 용량을 갖거나 서로 다른 감속비를 갖는 기어 시스템.
- 제3항에 있어서,상기 모터 중 하나는 저속-고 토크 특성을 갖고, 다른 하나는 고속-저 토크 특성을 갖는 기어 시스템.
- 제1항에 있어서,상기 제 1 기어부는 선기어를 포함하고,상기 제 2 기어부는 유성기어 및 캐리어를 포함하고,상기 제 3 기어부는 링기어를 포함하고,상기 선기어 및 캐리어가 입력파트가 되고, 상기 링기어가 출력파트가 되는 기어 시스템.
- 제1항에 있어서,상기 제 1 기어부는 선기어를 포함하고,상기 제 2 기어부는 유성기어 및 캐리어를 포함하고,상기 제 3 기어부는 링기어를 포함하고,상기 선기어 및 링기어가 입력파트가 되고, 상기 캐리어가 출력파트가 되는 기어 시스템.
- 제1항에 있어서,상기 제 1 기어부는 선기어를 포함하고,상기 제 2 기어부는 유성기어 및 캐리어를 포함하고,상기 제 3 기어부는 링기어를 포함하고,상기 링기어 및 캐리어가 입력파트가 되고, 상기 선기어가 출력파트가 되는 기어 시스템.
- 제2항에 있어서,상기 제 1 구동유닛 또는 제 2 구동유닛 중 적어도 하나는 백드라이브를 방지하도록 웜기어를 통해 구동력을 전달하는 기어 시스템.
- 제2항에 있어서,상기 제 1 구동유닛 또는 상기 제 2 구동유닛 중 적어도 하나에는 백드라이브를 방지하도록 전자 브레이크 또는 기계 브레이크가 결합되는 기어 시스템.
- 제2항에 있어서,상기 제 1 구동유닛 또는 상기 제 2 구동유닛 중 적어도 하나에는 원-웨이(one-way) 베어링 또는 클러치 베어링이 결합되는 기어 시스템.
- 제2항에 있어서,상기 제1 구동유닛 또는 상기 제2 구동유닛 중 적어도 어느 하나에는 관성을 갖는 플라이 휠이 결합되는 기어 시스템.
- 제1항에 있어서,상기 제1 내지 제3 기어부 중 하나는 모터를 갖는 상기 구동원에 의해 구동력이 입력되고, 상기 제1 내지 제3 기어부 중 다른 하나에는 수동에 의해 발생되는 구동력이 입력되는 기어 시스템.
- 제1항에 있어서,상기 제1 기어부 및 상기 제2 기어부 각각은 상호 대응되는 차동사이드 기어를 포함하고,상기 제3 기어부는 상기 제1 기어부 및 상기 제2 기어부의 상기 차동사이드 기어의 사이에 결합되는 한 쌍의 차동피니언 기어가 결합되는 링기어를 포함하고,상기 제1 기어부의 상기 차동사이드 기어, 상기 제2 기어부의 상기 차동사이드 기어 및 상기 제3 기어부의 상기 링기어 중 두 개의 기어부가 상기 구동원으로부터 각각의 구동력을 전달 받는 입력파트가 되고, 나머지 하나의 기어부가 상기 각각의 구동력이 합성된 합력을 출력으로 내보내는 출력파트가 되는 기어 시스템.
- 제 1 구동력이 전달되는 제 1 기어부;제 2 구동력이 전달되는 제 2 기어부; 및상기 제 1 기어부 또는 제 2 기어부 중 적어도 하나와 맞물려 돌아가도록 형성된 제 3 기어부;를 포함하고,상기 제 3 기어부를 통하여 상기 제 1 기어부 및 제 2 기어부에 입력된 구동력의 합력이 출력되는 기어 모듈.
- 제14항에 있어서,상기 제 1 구동력과 제 2 구동력은 서로 다른 출력 특성을 갖는 기어 모듈.
- 제4항에 따른 두 개의 입력 특성을 이용한 유성 기어 시스템의 제어방법에 있어서,상기 기어 시스템이 저속-고 토크의 구동을 하는 경우에는, 상기 저속-고 토크 특성을 갖는 모터만이 구동되는 기어 시스템의 제어방법.
- 제4항에 따른 두 개의 입력 특성을 이용한 유성 기어 시스템의 제어방법에 있어서,상기 기어 시스템이 고속-저 토크의 구동을 하는 경우에는, 상기 고속-저 토크 특성을 갖는 모터만을 구동하거나, 상기 저속-고 토크 특성을 갖는 모터와 고속-저 토크 특성을 갖는 모터를 동시에 구동하는 기어 시스템의 제어방법.
- 제4항에 따른 두 개의 입력 특성을 이용한 유성 기어 시스템의 제어방법에 있어서,상기 기어 시스템이 상기 저속-중 토크의 구동을 하는 경우에는, 상기 저속-고 토크 특성을 갖는 모터와 고속-저 토크 특성을 갖는 모터에 동일한 전류를 공급하여 동일한 토크를 생성하도록 하는 기어 시스템의 제어방법.
- 제 1 구동력이 전달되는 제 1 기어부와, 제 2 구동력이 전달되는 제 2 기어부와, 상기 제 1 기어부 또는 상기 제 2 기어부 중 적어도 하나와 맞물려 돌아가도록 형성되어 상기 제 1 기어부 및 상기 제 2 기어부에 입력된 구동력의 합력이 출력되는 제 3 기어부를 포함하는 기어 모듈; 및상기 제1 기어부로 전달되는 상기 제1 구동력 또는 상기 제2 기어부로 전달되는 제2 구동력을 선택적으로 제어하여 상기 제3 기어부로 출력되는 구동력을 제어하는 제어부;를 포함하는 운송 장치.
- 제19항에 있어서,상기 운송 장치는 전기로 구동되는 전기 자전거이며,상기 제1 기어부로 입력되는 상기 제1 구동력은 수동 입력이고, 상기 제2 기어부로 입력되는 상기 제2 구동력은 전기 공급에 의해 생성되는 구동력인 운송 장치.
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CN201180044280.0A CN103119327B (zh) | 2010-09-14 | 2011-09-09 | 利用两个输出特性的行星齿轮系统、此系统的齿轮模具及其控制方法 |
US13/822,759 US20130184112A1 (en) | 2010-09-14 | 2011-09-09 | Planetary gear system using tow input characteristic and gear module thereof and method for controlling the same |
EP11825386.3A EP2618023A4 (en) | 2010-09-14 | 2011-09-09 | EPICYCLOIDAL GEAR SYSTEM USING TWO INPUT FEATURES, GEAR MODULE COMPRISING THE SAME, AND METHOD FOR CONTROLLING THE SAME |
JP2013529049A JP2013537290A (ja) | 2010-09-14 | 2011-09-09 | 二つの入力特性を利用した遊星歯車システム、この歯車モジュール及びこの制御方法 |
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KR1020110090272A KR101310403B1 (ko) | 2010-09-14 | 2011-09-06 | 두 개의 입력 특성을 이용한 유성 기어 시스템, 이의 기어 모듈 및 이의 제어방법 |
KR10-2011-0090272 | 2011-09-06 |
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KR101059017B1 (ko) * | 2008-12-31 | 2011-08-23 | 강명구 | 다수의 전동모터를 이용한 모터 변속장치, 이를 포함하는 동력전달장치 및 모터 변속장치를 구비한 하이브리드 자동차 |
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2011
- 2011-09-06 KR KR1020110090272A patent/KR101310403B1/ko active IP Right Grant
- 2011-09-09 US US13/822,759 patent/US20130184112A1/en not_active Abandoned
- 2011-09-09 EP EP11825386.3A patent/EP2618023A4/en not_active Withdrawn
- 2011-09-09 WO PCT/KR2011/006696 patent/WO2012036426A2/ko active Application Filing
- 2011-09-09 JP JP2013529049A patent/JP2013537290A/ja active Pending
- 2011-09-09 CN CN201180044280.0A patent/CN103119327B/zh active Active
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2013
- 2013-07-19 KR KR1020130085399A patent/KR20130089624A/ko active Application Filing
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2015
- 2015-02-03 KR KR2020150000796U patent/KR200482156Y1/ko active IP Right Grant
- 2015-02-03 KR KR20150016980A patent/KR20150023606A/ko not_active Application Discontinuation
- 2015-03-13 JP JP2015001170U patent/JP3197740U/ja not_active Expired - Lifetime
Non-Patent Citations (1)
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016502043A (ja) * | 2012-11-21 | 2016-01-21 | ハイコア カンパニ,リミテッド | 入力合成ギヤシステム |
US9657822B2 (en) | 2012-11-21 | 2017-05-23 | Hycore Co., Ltd. | Input synthesis gear system |
Also Published As
Publication number | Publication date |
---|---|
EP2618023A4 (en) | 2014-08-06 |
EP2618023A2 (en) | 2013-07-24 |
KR200482156Y1 (ko) | 2016-12-22 |
KR101310403B1 (ko) | 2013-10-08 |
KR20120028234A (ko) | 2012-03-22 |
CN103119327A (zh) | 2013-05-22 |
WO2012036426A3 (ko) | 2012-05-31 |
CN103119327B (zh) | 2015-11-25 |
KR20130089624A (ko) | 2013-08-12 |
US20130184112A1 (en) | 2013-07-18 |
KR20150023606A (ko) | 2015-03-05 |
JP2013537290A (ja) | 2013-09-30 |
JP3197740U (ja) | 2015-06-04 |
KR20150001264U (ko) | 2015-03-26 |
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