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WO2025095624A1 - Transmission à variation continue avec cordes torsadées - Google Patents

Transmission à variation continue avec cordes torsadées Download PDF

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Publication number
WO2025095624A1
WO2025095624A1 PCT/KR2024/016917 KR2024016917W WO2025095624A1 WO 2025095624 A1 WO2025095624 A1 WO 2025095624A1 KR 2024016917 W KR2024016917 W KR 2024016917W WO 2025095624 A1 WO2025095624 A1 WO 2025095624A1
Authority
WO
WIPO (PCT)
Prior art keywords
string
continuously variable
strings
twist
power transmission
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.)
Pending
Application number
PCT/KR2024/016917
Other languages
English (en)
Korean (ko)
Inventor
유지환
장재형
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.)
Korea Advanced Institute of Science and Technology KAIST
Original Assignee
Korea Advanced Institute of Science and Technology KAIST
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 Korea Advanced Institute of Science and Technology KAIST filed Critical Korea Advanced Institute of Science and Technology KAIST
Publication of WO2025095624A1 publication Critical patent/WO2025095624A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • 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
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • 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
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • 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
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H19/0654—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member using twisting movement of flexible members to modify the axial length of the mechanism

Definitions

  • the present invention relates to a continuously variable transmission, and more particularly, to an active continuously variable transmission utilizing the twisting of a plurality of strings.
  • Robots are widely used in various fields such as industrial, surgical, and military applications.
  • An essential element for implementing the movement of such robots is an actuator, and among various actuators, motors are most widely used in robots.
  • Motors are used as a power source to rotate the wheels of mobile robots that move by rotating the wheels, or are mainly used when moving the joints of manipulators.
  • a method of simply driving with a motor and gear without a special mechanism is implemented, it is difficult for most users to obtain the desired robot performance because the motor torque and speed are fixed. If this problem cannot be solved with the performance of the actuator itself, a special mechanism is required to meet the required performance depending on each application and the purpose of use of the robot.
  • a twisted string actuator mechanism that can generate a large linear driving force even with a small torque has been proposed.
  • TSA twisted string actuator
  • TR nonlinear transmission ratio
  • the present invention has been designed to solve such problems, and provides a twisted-string continuously variable transmission capable of compensating for a nonlinear gear ratio and increasing an operating range through continuous conversion of a gear ratio.
  • an object of the present invention is to provide a string twist continuously variable transmission capable of implementing various actuating operations by adjusting the rotation radius of individual twists and overlapping twists and the diameter of the string, etc.
  • a string-twisted continuously variable transmission comprises: a linear motion unit that outputs linear motion; a power transmission unit that transmits power; and at least two strings connecting the linear motion unit and the power transmission unit, and sets a transmission ratio of power transmission by controlling the ratio of individual twist of each string and overlapping twist between the plurality of strings, characterized in that the linear motion is controlled within a range where the individual twist and the overlapping twist do not become excessively twisted.
  • force can be transmitted to the linear motion unit by contraction of the strings due to individual twists of each string and overlapping twists between the plurality of strings.
  • the power transmission unit can implement a first twisting operation in which the individual twists are set by adjusting the individual rotation angles of the strings to contract the entire string, and a second twisting operation in which the overlapping twists are set by adjusting the rotation angles between the strings to contract the entire string.
  • the power transmission unit is configured to include a first power transmission unit that implements a first twisting operation and a second power transmission unit that implements a second twisting operation.
  • the power transmission unit includes a ring gear, a sun gear, and a plurality of planetary gears corresponding to each of the strings, and the first twisting operation and the second twisting operation can be implemented by controlling the rotational speeds of each of the ring gear and the sun gear.
  • each of the above strings is connected to the center of each of the above planetary gears
  • the other end of each of the above strings is connected to the linear motion unit
  • the sun gear is externally meshed with each of the above planetary gears
  • the ring gear is internally meshed with each of the above planetary gears
  • the sun gear and the ring gear can form a rotation axis on the same axis.
  • each of the above strings can be gathered and combined at one point on the linear motion unit.
  • the ring gear and the sun gear may form a rotational axis on the same axis, but form a separate rotational axis
  • the power transmission unit may include a first power unit that controls the rotational speed of the ring gear and a second power unit that controls the rotational speed of the sun gear.
  • the linear motion unit may further include a linear rail in the same direction as the rotation axis of the string.
  • first power transmission unit implementing the first twisting motion and the eccentric rotation shaft configured to be eccentrically connected to the string may be further included.
  • the rotation radius of the second twisting motion can be adjusted by controlling the position of the eccentric rotation shaft through control of the first power transmission unit.
  • multiple strings can be connected to the first power transmission unit that implements the first twisting motion to implement a multi-stage twisting motion.
  • the thickness of the string connected to the first power transmission unit can be adjusted differently to implement a pivot motion in the linear motion unit.
  • the above-described contraction step can implement the first twisting operation and the second twisting operation by controlling the rotational speed ratio of the sun gear and the ring gear, thereby controlling the rotational speed of the planetary gear to which the string is directly connected and the revolving speed centered on the rotational axis of the sun gear.
  • the relaxation step may include a first releasing operation for releasing individual twists by adjusting individual rotation angles of the strings, and a second releasing operation for releasing overlapping twists by adjusting rotation angles between the plurality of strings.
  • the relaxation step can perform the first releasing operation after the overlapping twist is completely released through the second releasing operation.
  • the relaxation step can implement the first release operation and the second release operation by controlling the rotational speed ratio of the sun gear and the ring gear, thereby controlling the rotational speed of the planetary gear and the revolving speed centered on the rotational axis of the sun gear.
  • the string twisted continuously variable transmission according to the present invention has the advantage of being able to continuously vary the transmission ratio and increase the operating range while maintaining a high contraction speed.
  • the string twisted continuously variable transmission according to the present invention has the advantage of being able to be easily implemented without performance degradation compared to conventional variable transmissions.
  • FIG. 1 is a conceptual diagram for explaining the operating mechanism of a twisted-string continuously variable transmission according to one embodiment of the present invention.
  • FIG. 3 is a conceptual diagram for explaining a rope twist range for operation of a rope twist continuously variable transmission according to one embodiment of the present invention.
  • FIG. 4 is a perspective view illustrating another embodiment of the present invention using a planetary gear.
  • FIG. 7 is a graph showing the contraction and relaxation process according to the gear ratio of a twisted-string continuously variable transmission according to an embodiment of the present invention.
  • the linear motion unit (100) is connected to one end of the plurality of strings (300) and can output power through the power transmitted from the strings (300).
  • the linear motion unit (100) can be mounted on a fixed shaft for a specific device and output power by moving in the axial direction by the strings (300).
  • the first power transmission unit (201) is connected to the other end of the plurality of strings (300) to transmit rotational power, and the second power transmission unit (202) rotates the plurality of first power transmission units (201). At this time, the first power transmission unit (201) can contract the plurality of strings (300) by implementing twisting through the rotational power, and transmit power to the linear motion unit (100) through the difference in contraction displacement.
  • Figure 1(a) illustrates a first twisting operation in which the first power transmission unit (201) sets individual twists by adjusting the individual rotation angles of the string (300), and Figure 1(b) illustrates a second twisting operation in which the second power transmission unit (202) sets overlapping twists by rotating.
  • FIG. 2 is a diagram for explaining the geometric characteristics of a twisted-string continuously variable transmission according to the present invention.
  • the d value corresponding to the illustrated string clearance affects the shrinkage length in the overlapped twist, but the effect is so small that it can be ignored.
  • the shrinkage lengths due to individual twist and overlapped twist are each based on [Equation 1], and the shrinkage lengths due to both individual twist and overlapped twist follow [Equation 2].
  • FIG. 3 is a conceptual diagram for explaining a rope twist range for operation of a rope twist continuous variable transmission according to an embodiment of the present invention. Normally, over-twist occurs when the displacement of linear motion reaches 30% of the total rope length, but in the present invention, the displacement limit for occurrence of over-twist can be controlled by adjusting the ratio of individual twist and overlapping twist.
  • FIG. 4 is a perspective view for explaining another embodiment of the present invention using a planetary gear.
  • a power transmission unit (200) for implementing individual twist and overlapping twist may include a ring gear (210), a sun gear (220), and a plurality of planetary gears (230) to which each of the strings (300) is coupled.
  • the above planetary gear module may include a planetary gear (230), a sun gear (220), and a ring gear (210) as illustrated.
  • One end of each string (300) may be connected to the center of each planetary gear (230). That is, the string (300) may implement a first twisting operation and a second twisting operation by the planetary gear (230).
  • the individual twisting of the string (300) may be implemented by the rotation of the planetary gear (230), and the overlapping twisting of the string (300) may be implemented by the revolution of the planetary gear (230).
  • the other end of each string (300) may be fixed to the linear motion unit (100).
  • the sun gear (220) may be configured to externally mesh with each of the planetary gears (230) and internally mesh with each of the planetary gears (230) through the inner surface of the ring gear (210).
  • the sun gear (220) and the ring gear (210) form a rotation axis on the same axis, but the rotation axis can be separated so that the rotation speed can be individually adjusted.
  • the first power unit (250) and the second power unit (260) are individually positioned, and the sun gear (220) and the ring gear (210) can be individually operated. That is, by individually adjusting the rotation speeds of the sun gear (220) and the ring gear (210), the rotation speed and the revolution speed of the planetary gear (230) can be adjusted, thereby adjusting the individual twist and overlapping twist ratio of the string (300).
  • each of the strings (300) can be gathered and combined at one point on the linear motion section. This is to secure driving stability by slowly twisting from one side when overlapping twists occur between the strings (300).
  • the linear motion unit (100) may further include a linear rail (110) in the same direction as the rotation axis of the string (300). This is to convert the contractile force due to the twisting of the string (300) into linear motion, and the linear motion unit (100) may be coupled with the linear rail (110) to move along at least two or more rails so as to be able to move in one direction without rotating.
  • , , , are the rotation angles of the carrier, ring gear, sun gear and planetary gear, respectively.
  • the angular velocity of the planetary gear (230) is inversely proportional to the angular velocity of the sun gear (220) when the rotational speed of the ring gear (210) is constant.
  • the angular velocity of the carrier (240) decreases linearly under the same conditions. That is, the carrier (240) has a rotational ratio corresponding to the rotational ratio of the sun gear (220) and the ring gear (210). go If the value is the same as that, it is fixed.
  • the planetary gear (230) is fixed with respect to the rotation axis of the sun gear (220) or the ring gear (210) under the conditions described above.
  • the string twisted continuously variable transmission according to the present invention is based on the rotation characteristics described above.
  • FIG. 6 is a plan view of a string-twisted continuously variable transmission according to another embodiment of the present invention.
  • a linear rail (110) in the same direction as the rotation axis of the string (300) may be further included. This is to convert the contractile force due to the twist of the string (300) into linear motion, and the driving unit (100) may be coupled with the linear rail (110) to move along at least two or more rails so as to be able to move in one direction without rotating.
  • Figure 7 is a graph showing the contraction and relaxation process according to the gear ratio of a string twisted continuously variable transmission according to one embodiment of the present invention, and the rotation ratio of the sun gear and the ring gear.
  • the rotation of the ring gear When the rotation of the ring gear is changed, it shows a continuous change in the contraction speed.
  • the slope of the contraction length decreases. This means that, than the speed when it is constant Indicates that the contraction rate is slower when increasing. Also, As decreases, the slope of the contraction length decrease is increasing. This means that, than the speed when it is constant This means that the contraction speed is faster when the pressure decreases.
  • the state where the value is 0 is the first release operation
  • the state of -3 represents the second release operation. That is, In the first release operation where the gear is 0, the rotation of the sun gear stops and the overlapping twist is released. In the second release operation of -3, the sun gear and ring gear can rotate together to implement the process of releasing individual twists.
  • FIGS. 8 and 9 are conceptual diagrams for explaining a string twist continuously variable transmission according to another embodiment of the present invention.
  • a string (300) can be connected to a first power transmission unit (201) through an eccentric rotation shaft (203).
  • the position at which the string (300) is connected to the first power transmission unit (201) varies depending on the position of the eccentric rotation shaft (203), and accordingly, the radius of the overlapping twist varies.
  • FIG. 9 is a conceptual diagram for explaining the change in the radius of rotation of the overlapping twist according to the position of the eccentric rotation axis (203).
  • the radius of each twist is constant at r0, but when the eccentric rotation axis (203) is located at the outermost side as in (a), the maximum overlapping twist radius (r1) can be implemented, when the eccentric rotation axis (203) is located at the innermost side as in (b), the minimum overlapping twist radius (r2) can be implemented, and when the eccentric rotation axis (203) is at an arbitrary position as in (c), the corresponding overlapping twist radius (r3) can be implemented.
  • FIG. 10 is a conceptual diagram for explaining a string twisting continuously variable transmission according to another modified example of the present invention, in which a plurality of strings are connected to a first power transmission unit that implements a first twisting operation so as to implement a multi-stage twisting operation.
  • the thickness of the string connected to the first power transmission unit can be adjusted differently, or the first power transmission unit can be individually controlled to implement a pivot motion in the linear motion unit.
  • the string twisting continuously variable transmission control method may include a contraction step of twisting and contracting a plurality of strings through a power transmission unit to transmit power to a driving unit.
  • the contraction step may include a first twisting operation that implements individual twisting by controlling individual rotation angles of the strings, and a second twisting operation that implements overlapping twisting by controlling rotation angles between a plurality of strings.
  • the first twisting operation and the second twisting operation may be implemented through a ratio of the rotation speed of the planetary gears to which the strings are directly connected and the orbital speed around the rotation axis of the sun gear by controlling the rotational speed ratio of the sun gear and the ring gear.
  • the first twisting operation may be implemented by rotating the sun gear and the ring gear in opposite directions and fixing the rotational speed ratio to a specific value to stop the revolution of the planetary gears around the rotation axis of the sun gear but only maintain the rotation
  • the second twisting operation may be implemented by fixing the rotational speed ratio of the sun gear and the ring gear to another specific value to only maintain the orbit.
  • the control method according to the present invention can implement the first twisting operation and the second twisting operation in a complex manner by controlling the rotational speed of the sun gear and the ring gear.
  • the power transmission unit may include a relaxation step for twisting the plurality of strings in the opposite direction to relax them.
  • the relaxation step may include a first releasing operation for releasing the individual twist by adjusting the individual rotation angles of the strings, and a second releasing operation for releasing the overlapping twist by adjusting the rotation angles between the plurality of strings.
  • the relaxation step may implement the first releasing operation and the second releasing operation by adjusting the rotational speed ratio of the sun gear and the ring gear, and the rotational speed of the planetary gear and the revolution speed centered on the rotational axis of the sun gear.
  • the first release operation can be implemented by rotating the sun gear and the ring gear in opposite directions and fixing their rotational speed ratio to a specific value so as to stop the revolution of the planetary gear about the rotational axis of the sun gear while maintaining only the rotation
  • the second release operation can be implemented by fixing the rotational speed ratio of the sun gear and the ring gear to another specific value so as to maintain only the revolution.
  • the control method according to the present invention can implement the first and second release operations in a complex manner by adjusting the rotational speeds of the sun gear and the ring gear, but the control method according to the present invention can include a process of performing the first release operation after the overlapping twist is completely released through the second release operation, taking into account the efficiency of the release step as described in FIG. 7 described above.
  • the present invention relates to a twisted-string continuously variable transmission capable of compensating for a nonlinear gear ratio and increasing an operating range through continuous conversion of a gear ratio, and has industrial applicability.

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

Abstract

La présente invention concerne une transmission à variation continue active basée sur un actionneur à corde torsadée, comprenant : une unité de mouvement linéaire pour délivrer un mouvement linéaire substantiel ; une unité de transmission de puissance pour transmettre une puissance ; et au moins deux chaînes pour relier l'unité de mouvement linéaire et l'unité de transmission de puissance, un rapport de transmission étant défini par le rapport des torsions individuelles de chaque chaîne et des torsions en chevauchement de la pluralité de chaînes, et un mouvement linéaire étant ajusté dans une plage dans laquelle les torsions individuelles et les torsions en chevauchement ne sont pas excessives.
PCT/KR2024/016917 2023-10-31 2024-10-31 Transmission à variation continue avec cordes torsadées Pending WO2025095624A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2023-0147716 2023-10-31
KR1020230147716A KR20250062585A (ko) 2023-10-31 2023-10-31 줄 꼬임 연속 가변 변속기

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Publication Number Publication Date
WO2025095624A1 true WO2025095624A1 (fr) 2025-05-08

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PCT/KR2024/016917 Pending WO2025095624A1 (fr) 2023-10-31 2024-10-31 Transmission à variation continue avec cordes torsadées

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KR (1) KR20250062585A (fr)
WO (1) WO2025095624A1 (fr)

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
KR20160072428A (ko) * 2014-12-15 2016-06-23 한국과학기술원 듀얼 모드 능동변속 줄 꼬임 액츄에이터 및 이를 구비한 로봇 핑거
KR101870733B1 (ko) * 2017-03-16 2018-06-26 한국과학기술원 줄 꼬임 기반의 듀얼 모드 트랜스미션 메커니즘
KR102129317B1 (ko) * 2018-12-31 2020-07-03 중앙대학교 산학협력단 줄 꼬임 구동기
US10967524B1 (en) * 2017-06-15 2021-04-06 James P. Morgan System and method for conversion of rotational motion into linear actuation by mechanical stacking or unstacking of connected links

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
KR20160072428A (ko) * 2014-12-15 2016-06-23 한국과학기술원 듀얼 모드 능동변속 줄 꼬임 액츄에이터 및 이를 구비한 로봇 핑거
KR101870733B1 (ko) * 2017-03-16 2018-06-26 한국과학기술원 줄 꼬임 기반의 듀얼 모드 트랜스미션 메커니즘
US10967524B1 (en) * 2017-06-15 2021-04-06 James P. Morgan System and method for conversion of rotational motion into linear actuation by mechanical stacking or unstacking of connected links
KR102129317B1 (ko) * 2018-12-31 2020-07-03 중앙대학교 산학협력단 줄 꼬임 구동기

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