WO2019156362A1 - Appareil de transmission de puissance - Google Patents

Appareil de transmission de puissance Download PDF

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Publication number
WO2019156362A1
WO2019156362A1 PCT/KR2019/000191 KR2019000191W WO2019156362A1 WO 2019156362 A1 WO2019156362 A1 WO 2019156362A1 KR 2019000191 W KR2019000191 W KR 2019000191W WO 2019156362 A1 WO2019156362 A1 WO 2019156362A1
Authority
WO
WIPO (PCT)
Prior art keywords
piston
cylinder
power transmission
chamber
drive unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2019/000191
Other languages
English (en)
Korean (ko)
Inventor
유지환
김용준
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industry Academy Collaboration Foundation of Korea University
Industry University Cooperation Foundation of Korea University of Technology and Education
Original Assignee
Industry Academy Collaboration Foundation of Korea University
Industry University Cooperation Foundation of Korea University of Technology and Education
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Industry Academy Collaboration Foundation of Korea University, Industry University Cooperation Foundation of Korea University of Technology and Education filed Critical Industry Academy Collaboration Foundation of Korea University
Publication of WO2019156362A1 publication Critical patent/WO2019156362A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • 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
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
    • F16H21/16—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and reciprocating motion

Definitions

  • the present invention relates to a power transmission device, and more particularly, is configured to linearly move a heavy object connected to a piston by using a movement of a piston that is twisted or unwound to vary in length and a linear movement by receiving a driving force from the string. It relates to a power train.
  • a power transmission device for generating mechanical force using energy for various purposes is used in various industrial fields.
  • Such a power transmission device is one of power transmission methods for transmitting a rotational force transmitted from a driver such as an actuator that converts physical force mechanically to a series of parts (shaft, chainring, crank, gear).
  • a minimum output torque is required for a drive system including a small actuator and a reducer in order to secure more than a certain amount of stretching force or grip force required by a body-driven upper limb movement device or a robot hand.
  • the present invention has been invented to improve the above problems, the problem to be solved by the present invention, while having a high driving force can minimize the volume and weight, and provides a power transmission device configured to have a simple structure. It is.
  • a power transmission device for linearly moving a heavy object, the drive unit for providing a rotational force; An operating piston connected to the driving unit to linearly move by the rotational force of the driving unit; A driven piston connected to the working piston in a fixed state and linearly moving the heavy material while being interlocked by a linear motion of the working piston; An interlocking member for interlocking the actuating piston and the driven piston together; And a power transmission member which connects the driving unit and the working piston and reciprocates the working piston in a linear direction while the length thereof is stretched in accordance with the rotational direction of the driving unit.
  • the power transmission member is composed of a plurality of connecting strings having a length, both ends of which are connected to the driving unit and the operation piston, respectively, being twisted with each other by one-way rotation of the driving unit to move the operation piston toward the driving side while being contracted in length. Characterized in that it comprises a string.
  • the power transmission member is coupled to the outer circumferential surface of the string in the longitudinal direction, and both ends thereof are elastically compressed by contraction of the string while supporting the driving unit and the operation piston, respectively, and restored to the original state by the opposite rotation of the driving unit. While it is characterized in that it further comprises a restoring spring for moving the operation piston in the opposite direction of the drive unit.
  • the interlocking member may include: a first cylinder configured to linearly reciprocate the operating piston thereinto; a second cylinder configured to linearly move in conjunction with movement of the working fluid; And a connecting pipe installed between the cylinder and the first and second cylinders to connect the working fluid in the first and second cylinders to move with each other.
  • the connector is characterized in that formed of a flexible (flexible) material.
  • a first chamber and a second chamber are provided in the first and second cylinders, respectively, and the volume of the first chamber and the second chamber is varied by the movement of the first and second pistons, respectively. do.
  • the first cylinder is configured in pairs and is connected to the driving unit, respectively, and the second chamber of the first cylinder is connected to each other by the connecting pipe, respectively, the first chamber and the second chamber of the second cylinder. It is done.
  • a regulator installed in the first and second cylinders to control the flow rates of the working fluids of the first and second cylinders, respectively.
  • the diameter of the first cylinder is larger than the diameter of the second cylinder, the volume in the first cylinder and the second cylinder is characterized in that the same.
  • the weight connected to the piston can be linearly moved by using the movement of the piston which is twisted or unwound and whose length is variable and the piston moves linearly. Therefore, it is possible to minimize the volume and weight while having a high driving force, it can have a simple structure has the effect of improving the utilization where a small actuator is applied.
  • the working fluid flowing by the operating piston receiving power from the string and the driven piston operating in conjunction with the operating piston is a straight line heavy weight with little friction loss Since it can reciprocate, it also has the effect of minimizing energy loss.
  • FIG. 1 is a schematic view showing the configuration of a power transmission device according to an embodiment of the present invention.
  • FIG 2 and 3 is an operating state diagram showing the operation of the power transmission device according to an embodiment of the present invention.
  • Figure 4 is a schematic diagram showing the configuration of a power transmission device according to another embodiment of the present invention.
  • Figure 5 is a schematic diagram showing the configuration of a power transmission device according to another embodiment of the present invention.
  • a power transmission device for linearly moving a heavy object, the drive unit for providing a rotational force; An operating piston connected to the driving unit to linearly move by the rotational force of the driving unit; A driven piston connected to the working piston in a fixed state and linearly moving the heavy material while being interlocked by a linear motion of the working piston; An interlocking member for interlocking the actuating piston and the driven piston together; And a power transmission member connecting the driving unit and the operation piston and reciprocating the operating piston in a linear direction while the length thereof is stretched and contracted in the rotational direction of the driving unit.
  • FIG. 1 is a schematic diagram of a configuration of a power transmission device according to an embodiment of the present invention.
  • the power transmission device 10 includes a driving unit 100.
  • the drive unit 100 serves to provide rotational force to the operation piston 200 to be described below.
  • the driving unit 100 is a small motor, but is not necessarily limited thereto.
  • an operation piston 200 is connected to the driving unit 100.
  • the working piston 200 is linearly moved by the rotational force of the drive unit 100.
  • the actuating piston 200 serves to linearly move the weight M while interlocking with the driven piston 200 to be described below.
  • the actuating piston 200 is installed in the first cylinder 400 to be described below to enable a linear reciprocating motion.
  • the driven piston (300) is connected to the driven piston (300).
  • the driven piston 300 is connected to the working piston 200 in a state where the weight (M) is fixed.
  • the driven piston 300 serves to linearly move the weight M while interlocking by the linear movement of the working piston 200.
  • the driven piston 300 is installed in the second cylinder 500 to be described below to enable a linear reciprocating motion.
  • the operation piston 200 and the driven piston 300 is connected by an interlocking member.
  • the linkage member serves to link the operating piston 200 and the driven piston 300 while connecting.
  • the linkage member is composed of a first cylinder 400, a second cylinder 500 and a connecting pipe 600.
  • the first cylinder 400 has a substantially cylindrical shape, the working fluid (U) is provided inside.
  • the working fluid U may be discharged to the outside of the first cylinder 400 or flowed back into the inside by the working piston 200.
  • the working piston 200 is installed inside the first cylinder 400 to enable a straight reciprocating motion. At this time, the working piston 200 is a linear reciprocating motion in the first cylinder 400 by the rotational force of the drive unit 100 as shown in Figure 2 and 3 and the working fluid (U) It may be discharged to the outside of the first cylinder 400 or introduced again into the inside.
  • the first chamber 410 and the second chamber 420 may be provided inside the first cylinder 400.
  • the first chamber 410 and the second chamber 420 may be partitioned by the working piston 200.
  • the volume of the first chamber 410 and the second chamber 420 may be varied by the movement of the working piston 200.
  • the second cylinder 500 may have a substantially cylindrical shape, and in the present embodiment, may have the same volume as the first cylinder 400.
  • a working fluid U is provided inside the second cylinder 500.
  • the working fluid U may be discharged or reintroduced to the outside of the second cylinder 500 by the driven piston 300.
  • the driven piston 300 is installed to reciprocate linear movement.
  • the driven piston 300 is shown in Figures 2 and 3, the working fluid (U) to the outside of the second cylinder 500 while interlocking by the linear movement of the working piston (200). It may be discharged or introduced again inside.
  • first chamber 510 and the second chamber 520 may be provided inside the second cylinder 500.
  • the first chamber 510 and the second chamber 520 may be partitioned by the driven piston 300.
  • the volume of the first chamber 510 and the second chamber 520 may be varied by the movement of the driven piston 300.
  • the connecting pipe 600 is installed between the first and second cylinder (400, 500).
  • the connecting pipe 600 serves as a passage to move the working fluid U in the first and second cylinders 400 and 500 to each other.
  • the connecting pipe 600 includes a second chamber 420 of the first cylinder 400 and a first chamber 410 of the second cylinder 500. Installed to be connected to each other.
  • the connector 600 may be molded of a flexible material.
  • the connecting tube 600 may be formed of a fluorine resin, and in particular, may be formed of PTFE (Polytetrafluoroethyilene) having an extremely low coefficient of friction and excellent wear resistance.
  • PTFE Polytetrafluoroethyilene
  • a regulator 700 may be installed in the first and second cylinders 400 and 500.
  • the regulator 700 serves to control the flow rate and pressure of the working fluid (U) of the first and second cylinders 400 and 500.
  • the power transmission device 10 is provided with a power transmission member (800).
  • the power transmission member 800 is connected to the driving unit 100 and the working piston 200, respectively.
  • the power transmission member 800 serves to reciprocate the working piston 200 in a linear direction while the length thereof is stretched and contracted in the rotational direction of the driving unit 800.
  • the power transmission member 800 may include a string 810 and a restoring spring 820.
  • the string 810 is composed of a plurality of connecting strings having a length, both ends are connected to the driving unit 100 and the working piston 200, respectively. As shown in FIG. 3, the string 810 is twisted with each other by one-way rotation of the driving unit 100 to contract the length of the string 810 to move the working piston 200 toward the driving unit 100. In this case, the weight M moves linearly in the direction of the driving unit 100.
  • the string 810 is made of, but is not necessarily limited to, a connecting string formed of a material comprising yarn or woven fabric or spun twisted-spun yarn.
  • the string 810 may be formed of carbon nanotubes (CNTs) having excellent mechanical strength.
  • the restoration spring 820 is coupled to the outer circumferential surface of the string 810 along the longitudinal direction. Both ends of the restoring spring 820 are elastically compressed by contraction of the string 810 while supporting the driving part 100 and the working piston 200, respectively. The restoration spring 820 may also prevent the string 810 from deviating outward while being twisted or loosened.
  • the restoring spring 820 is restored to its original state by the opposite direction rotation of the drive unit 100 to move the operating piston 200 in the opposite direction of the drive unit 100 Move to.
  • the weight M is restored to its original position.
  • the restoration spring 820 is restored to its original state by the opposite rotation of the drive unit 100, but is not necessarily limited thereto.
  • the rotating shaft of the driving unit 100 may be in a free state while being constrained with respect to rotation. Accordingly, when the string 810 twisted by the rotation of the driving unit 100 in the state in which the driving unit 100 is stopped is pulled in the direction of the weight M, the rotation shaft of the driving unit 100 freely rotates to loosen the string 810. As a result, the length of the string 810 may be increased to restore the weight M to its original position.
  • the first cylinder 400 may be configured in a pair.
  • the first cylinder 400 may be connected to the driving unit 100, respectively. Therefore, the operation piston 200 installed in the first cylinder 400 is connected to the driving unit 100 by the power transmission member 800, respectively.
  • the second chamber 420 of the first cylinder 400 is in communication with the first chamber 510 and the second chamber 520 of the second cylinder 500 by the connecting pipe 600, respectively. Accordingly, the first chamber 510 and the second chamber 520 of the second cylinder 500 from the second chamber 420 of the first cylinder 400 according to the moving direction of each of the working piston 200.
  • the flow rate of the working fluid (U1, U2) flowing into the variable is variable, the driven piston 300 is linear to move the weight (M) in conjunction with this.
  • the diameter (R1) of the first cylinder 400 is larger than the diameter (R2) of the second cylinder 500, the first cylinder 400 and the second cylinder (
  • the volumes of 500 may be the same as each other.
  • the diameter (R1) of the first cylinder 400 is twice as large as the diameter (R2) of the second cylinder 500
  • the length (L2) of the second cylinder (500) ) Should be twice as long as the length L1 of the first cylinder 400.
  • the area A1 of the first cylinder 400 is ⁇ ⁇ R1
  • the area A2 of the second cylinder 500 is ⁇ ⁇ R2
  • the area A1 of the first cylinder 400 is 2 times larger than the area A2 of the second cylinder 500.
  • the force and speed for linearly moving the weight M can be adjusted according to the diameters and lengths of the first and second cylinders 400 and 500.
  • the power transmission device 10 configured as described above uses the movement of the actuating piston 200 and the driven piston 300 that are linearly moved by receiving the driving force from the string 810 and the string 810 having a variable length by twisting or loosening.
  • the working string flowing by the working piston 200 and the driven piston 300 although frictional loss may occur as the connection string constituting the string 800 is twisted or unrolled with each other.
  • (U) can linearly reciprocate the weight (M) with almost no such frictional losses, thereby minimizing energy loss.
  • the driving unit 100 may be connected to both sides of the first cylinder 400, respectively. Therefore, both ends of the operation piston 200 installed in the first cylinder 400 are connected to the driving unit 100, respectively.
  • the first chamber 410 and the second chamber 420 of the first cylinder 400 are connected to the connection pipe 600 with the first chamber 510 and the second chamber 520 of the second cylinder 500, respectively. By communicating with each other. Therefore, according to the moving direction of the operation piston 200 of the first cylinder 400, the first of the second cylinder 500 from the first chamber 410 and the second chamber 420 of the first cylinder 400, respectively.
  • the flow rates of the working fluids U1 and U2 introduced into the chamber 510 and the second chamber 520 are variable, and the driven piston 300 linearly moves the weight M in association with this.
  • a regulator 700 is installed in the first and second cylinders 400 and 500.
  • the regulator 700 serves to control the flow rate and pressure of the working fluid (U1, U2) of the first and second cylinder (400, 500).
  • the diameter R1 of the first cylinder 400 is larger than the diameter R2 of the second cylinder 500, and the first cylinder 400 and the second cylinder ( The volumes of 500 may be the same as each other.
  • the diameter (R1) of the first cylinder 400 is twice as large as the diameter (R2) of the second cylinder 500
  • the length (L2) of the second cylinder (500) ) Should be twice as long as the length L1 of the first cylinder 400.
  • the area A1 of the first cylinder 400 is ⁇ ⁇ R1
  • the area A2 of the second cylinder 500 is ⁇ ⁇ R2
  • the area A1 of the first cylinder 400 is 2 times larger than the area A2 of the second cylinder 500.
  • the force and speed for linearly moving the weight M may be adjusted.
  • the working piston 200 is the force When applied from the second chamber 420 of the first cylinder 400 toward the second chamber 520 of the second cylinder 500, the working fluid U1 is applied to the second chamber 420 of the first cylinder 400.
  • the pressure (P) is increased while moving to the second chamber 520 of the second cylinder (500) is reduced in speed, the force received by the driven piston 300 to linearly move the weight (M) is reduced Therefore, it is possible to reduce the moving speed of the weight (M).
  • the force and speed for linearly moving the weight M can be adjusted according to the diameters and lengths of the first and second cylinders 400 and 500.
  • the power transmission device 10 configured as described above uses the movement of the actuating piston 200 and the driven piston 300 that are linearly moved by receiving the driving force from the string 810 and the string 810 having a variable length by twisting or loosening.
  • the present invention relates to a power transmission device configured to linearly move a weight connected to a piston by using a movement of a piston that is twisted or unwound and whose length is variable and a linear motion is received by a driving force from the string.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Transmission Devices (AREA)

Abstract

La présente invention concerne un appareil de transmission de puissance. L'appareil de transmission de puissance (10) selon la présente invention est pourvu d'une unité d'entraînement (100) destinée à fournir une force de rotation. Un piston d'entraînement (200), qui se déplace linéairement sous l'action de la force de rotation de l'unité d'entraînement (100), est relié à l'unité d'entraînement (100). Un piston entraîné (300) est relié, avec un poids (M) fixé à celui-ci, au piston d'entraînement (200). Le piston entraîné (300) déplace linéairement le poids (M) conjointement avec le mouvement linéaire du piston d'entraînement (200). Le piston d'entraînement (200) et le piston entraîné (300) sont reliés au moyen d'un élément de liaison (600). L'élément de liaison (600) assure la liaison du piston d'entraînement (200) et du piston entraîné (300). L'unité d'entraînement (100) et le piston d'entraînement (200) sont reliés par un élément de transmission de puissance (800). L'élément de transmission de puissance (800) a pour fonction d'animer le piston d'entraînement d'un mouvement de va-et-vient dans des directions linéaires lorsque sa longueur augmente et diminue selon le sens de rotation de l'unité d'entraînement (100).
PCT/KR2019/000191 2018-02-07 2019-01-07 Appareil de transmission de puissance Ceased WO2019156362A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2018-0014950 2018-02-07
KR20180014950 2018-02-07

Publications (1)

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WO2019156362A1 true WO2019156362A1 (fr) 2019-08-15

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PCT/KR2019/000191 Ceased WO2019156362A1 (fr) 2018-02-07 2019-01-07 Appareil de transmission de puissance

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WO (1) WO2019156362A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108058815A (zh) * 2017-10-31 2018-05-22 中航通飞研究院有限公司 一种简单灵活可实现收放起落架的操纵机构

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008079371A (ja) * 2006-09-19 2008-04-03 Nippon Densan Corp ねじれ紐式アクチュエータ
KR20130098671A (ko) * 2012-02-28 2013-09-05 현대중공업 주식회사 유체 동력 전달형 풍력 발전 시스템
KR101340332B1 (ko) * 2009-05-14 2014-01-02 혼다 기켄 고교 가부시키가이샤 5지형 핸드 장치
KR101717158B1 (ko) * 2015-02-24 2017-03-16 한국기술교육대학교 산학협력단 선형출력유도요크를 포함하는 관절 어셈블리
KR20170042921A (ko) * 2015-10-12 2017-04-20 한국기술교육대학교 산학협력단 액추에이터 및 이를 포함하는 동적 구조물

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008079371A (ja) * 2006-09-19 2008-04-03 Nippon Densan Corp ねじれ紐式アクチュエータ
KR101340332B1 (ko) * 2009-05-14 2014-01-02 혼다 기켄 고교 가부시키가이샤 5지형 핸드 장치
KR20130098671A (ko) * 2012-02-28 2013-09-05 현대중공업 주식회사 유체 동력 전달형 풍력 발전 시스템
KR101717158B1 (ko) * 2015-02-24 2017-03-16 한국기술교육대학교 산학협력단 선형출력유도요크를 포함하는 관절 어셈블리
KR20170042921A (ko) * 2015-10-12 2017-04-20 한국기술교육대학교 산학협력단 액추에이터 및 이를 포함하는 동적 구조물

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108058815A (zh) * 2017-10-31 2018-05-22 中航通飞研究院有限公司 一种简单灵活可实现收放起落架的操纵机构

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