KR100320125B1 - Driving system - Google Patents

Abstract

The present invention provides a driving device capable of crossing an obstacle or climbing a staircase in a step driving method when it is blocked by an obstacle or a stairway while driving a moving means. The drive device includes a drive gear 16 mounted to the main shaft 14 of the power generator 12; A ring gear 22 meshed with the drive gear 16, first and second planetary gears 26; 30 meshed with the ring gear 22 and rotatably supported by the support shafts 24 and 28, respectively; And a planetary gear carrier 32 connecting each of the support shafts 24 and 28 and a longitudinal shaft 36 fitted between the planetary gears 26 and 30 and having a first wheel 34 mounted thereon. A first power transmission device 18 having a sun gear 38; A ring gear 42 engaged with the drive gear 16, first and second planetary gears 46; 50 engaged with the ring gear 42 and rotatably supported by the support shafts 44 and 48, respectively; And a planetary gear carrier 52 connecting each of the support shafts 44 and 48 and a longitudinal shaft 56 fitted between the planetary gears 46 and 50 and having a second wheel 54 mounted thereon. A second power transmission device 20 having a sun gear 58; Variable carriers for preventing the revolution of the planetary gear and maintaining the support shaft 24, the support shaft 48 and the main shaft 14 at a predetermined angle when the respective power trains 18 and 20 are mutually stepped. And a base frame 64 to serve as a rotation axis of each power transmission device 18;

Description

Driving device {DRIVING SYSTEM}

The present invention relates to a driving device of a moving means that can be configured in various forms, and more particularly, if the moving means is blocked by an obstacle or a stairway while driving by the rotation of the wheel, the step is passed over the obstacle or stairway It relates to a drive device that can climb.

In general, a variety of means of transportation, such as a vehicle such as a passenger car or a commercial vehicle for a driver or a passenger, a wheelchair for the disabled or a patient to travel, a special vehicle such as an armored vehicle or a special vehicle such as a armored vehicle or a special vehicle such as a cargo or baggage It is widely developed and is used not only for convenience but also for special purposes.

Such various means of transportation include a vehicle body 1, which can be loaded with human or cargo and can take various forms, as schematically shown in FIG. Of course, the engine 2 is mounted at a predetermined position of the vehicle body 1 to generate power. In addition, the vehicle body 1 is provided with a drive device 4 for driving the wheel 3 in connection with the engine 2 and receiving power therefrom. Accordingly, when the engine is operated, the wheel or the vehicle can be driven or moved by rotating the wheel connected to the driving device.

Most of these means of transport, however, can only move smoothly when there are obstacles of flat or limited height, as the wheels only rotate about the axle or drive shaft, but they encounter sand, mud or high obstacles, especially stairs. When it reaches to the wheel is a problem that can not drive or can not move because the wheel can not ride or climb over the obstacles.

In addition, in recent years, a technology for overcoming an obstacle in front by installing a sensor, a power generating means, and a power generating means in a moving means such as a wheelchair, has been proposed, which is complicated in configuration and has a high incidence of failure.

Accordingly, the present invention has been invented to solve such a problem, and an object of the present invention is to provide a driving device capable of crossing the obstacle and climbing the stairs when it is restrained by the obstacle during the movement of the moving means.

Another object of the present invention is to provide a drive device that can be driven in a step method when the wheel is subjected to a load of a certain size, the configuration is simple and compact in appearance.

1 is a schematic view showing a conventional general means of transportation.

Figure 2 is a perspective view schematically showing an application state of the drive device of the present invention.

Figure 3 is a block diagram showing a half of the drive device according to an embodiment of the present invention.

4 is a partial side view showing a driving state of the first power transmission device and the second power transmission device of the drive device of FIG.

Figure 5 is a block diagram showing a half of the drive apparatus according to another embodiment of the present invention.

6 is a partial side view showing a driving state of the power transmission devices of the driving device of Figure 5, a side view similar to the side view seen from the other side of FIG.

♣ Explanation of symbols for the main parts of the drawing ♣

10: body 12, 102: power generating device

14, 104: spindle 16, 106: drive gear

18, 107: first power transmission device 20, 109: second power transmission device

32, 52, 124, 144: Planetary gear carriers 60, 150: Variable carrier

64, 156: Axis frame

These objects include a drive device capable of crossing an obstacle and climbing a staircase, comprising: a drive gear mounted to a main shaft of a power generating device for generating a rotational force; A ring gear meshed with the drive gear, a first planetary gear meshed with the inner circumferential surface of the ring gear and rotatably supported by a support shaft; and a support shaft meshed with the inner circumferential surface of the ring gear so as to face the first planetary gear. A second planetary gear rotatably supported by the second planetary gear, a planetary gear carrier interconnecting the respective support shafts, and a longitudinal shaft fitted between the first planetary gear and the second planetary gear and having a first wheel mounted at one end thereof. A first power transmission device having a fixed and fixed sun gear driving in the same direction as the drive gear; A ring gear meshed with the drive gear, a first planetary gear meshed with the inner circumferential surface of the ring gear and rotatably supported by a support shaft, and a support shaft engaged with the inner circumferential surface of the ring gear so as to face the first planetary gear. A second planetary gear rotatably supported by the second planetary gear, a planetary gear carrier connecting the respective support shafts, and a first planetary gear and a second planetary gear, which are engaged between the first planetary gear and the second wheel mounted at one end thereof A second power transmission device having a sun gear rotating in the same direction as the drive gear; In order to prevent the revolution of the planetary gear and to guide the rotation axis of the first power transmission device, the rotation axis and the main axis of the second power transmission device when moving the position in a manner crossing the first power transmission device and the second power transmission device. A variable carrier having guide grooves into which respective shafts are inserted and fixed; And a main shaft frame in which a main axis is formed at the center and a longitudinal axis of each power transmission device is rotatably fixed at both sides so that the respective power transmission devices serve as idle axes of the respective power transmission devices. Drive.

The above-mentioned objects also provide a drive device capable of crossing an obstacle and climbing a staircase, comprising: a drive gear mounted to a main shaft of a power generating device for generating a rotational force; The driven gear meshed with the drive gear, the sun gear fixed to the longitudinal axis of the driven gear, the two planetary gears respectively meshed with the sun gear, and the respective planet gears are meshed from the inside and the first tire is mounted on the outside. A first power transmission device having a ring gear, a rotation shaft to which each planetary gear is rotatably mounted, and a planetary gear carrier connecting the respective rotation shafts and preventing revolution of the planet gears; A driven gear engaged with the drive gear, a sun gear fixed to the longitudinal axis of the driven gear, two planetary gears respectively engaged with the sun gear, and a respective planetary gear engaged with the second gear and fitted with a second tire. A second power transmission device having a gear, a rotation shaft on which each planetary gear is rotatably mounted, and a planetary gear carrier connecting the respective rotation shafts to prevent the planetary gears from revolving; When the first power transmission device and the second power transmission device is rotated in such a way to cross each other to prevent the revolution of the planetary gear, one rotation axis of the first power transmission device, one rotation shaft of the second power transmission device and the A variable carrier having a guide groove rotatably inserted into each of the shafts so as to maintain and guide the central axis extending to the main shaft at an appropriate angle; And a longitudinal axis of each power transmission device is rotatably fixed at both ends so that the first power transmission device and the second power transmission device serve as a central axis when the position is changed in a stepwise manner. It can be achieved by a drive including a rotatable frame that is rotatably fixed.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings, and only half of the driving device are shown in detail for clarity. In addition, the directional terms indicated in the following description are only terms set when the front view of the accompanying drawings illustrating the present invention by way of example only, and those skilled in the art, the present invention is not limited by such directional terms Will be understood clearly.

First, as shown in Figures 2 and 3, the drive device according to the present invention is installed in the vehicle body 10, which may include a vehicle body of various moving means such as a passenger car, a commercial vehicle, a vehicle, a wheelchair, as described above do. Of course, the vehicle body 10 is equipped with a power generator 12, such as a general combustion engine or electric motor, and the power generator includes a main shaft 14, such as an axle shaft. The main shaft 14 is provided with a drive gear 16 for transmitting the rotational driving force generated by the power generating device 12.

The first power transmission device 18 and the second power transmission device 20 are assembled to the drive gear 16 so as to face each other in the same configuration. The first power transmission device 18 includes a ring gear 22 whose outer circumferential surface is meshed with the drive gear 16 and a ring gear 22 which is engaged with the inner circumferential surface of the ring gear 22 and rotatably supported by the support shaft 24. A first planetary gear 26 and a second planetary gear 30 which are meshed with the first planetary gear 26 on the inner circumferential surface of the ring gear 22 and rotatably supported by the support shaft 28; The planetary gear carrier 32 connecting the support shaft 24 and the support shaft 28 and the first planetary gear 26 and the second planetary gear 30 are engaged with the respective planetary gears at the same time. The sun gear 38 is fixed to the planetary gear carrier 32 and the other end is fixed to the longitudinal axis 36 on which the first wheel 34 is mounted.

In addition, the second power transmission device 20 also has a ring gear 42 whose outer circumferential surface is meshed with the drive gear 16 and an inner circumferential surface of the ring gear 42 and is rotatably supported by the support shaft 44. The first planetary gear 46 is joined to the inner circumferential surface of the ring gear 42 so as to face the first planetary gear 46 and the second planetary gear 50 is rotatably supported by the support shaft 48. And between the planetary gear carrier 52 connecting the support shaft 44 and the support shaft 48 and the first planetary gear 46 and the second planetary gear 50 simultaneously with the respective planetary gears. One end has a sun gear 58 fixed to the planet carrier 52, the other end is fixed to the longitudinal axis 56 on which the second wheel 54 is mounted.

On the other hand, the variable carrier 60 to change the position of the first power transmission device 18 and the second power transmission device 20 in a step-wise manner in the case of being blocked by obstacles or climbing stairs while driving the vehicle as described below. ) Is installed. The variable carrier 60 is formed with a guide groove 62 in the longitudinal direction thereof. For example, the rotation shaft 24 and the second power transmission device 20 of the first planetary gear 26 of the first power transmission device 18 are formed. The rotation shaft 48 of the second planetary gear 50 of () is accommodated to be movable in a certain range. Of course, the main shaft 14 is inserted without interference between the respective rotation shafts 24, 48 accommodated in the guide groove 62 of the variable carrier 60.

In addition, the first wheel 34 and the second wheel 54 includes a base frame 64 that serves as a central axis when the position is converted to the step method. At the center of the main frame 64, the main shaft 14 is supported at both ends, and the longitudinal axes 36 and 56 of the respective power transmission devices 18 and 20 are rotatably supported, for example, by bearings.

Of course, although not shown, the driving device according to the present invention is compactly configured, and as shown by a dotted line, most components may be shielded from the outside by a cover.

As shown in FIG. 5, a driving device according to another embodiment of the present invention basically includes a power generating device 102, a main shaft 104 connected to the power generating device, and a drive gear 106 connected to the main shaft 104. ). In addition, the drive gear 106 is operated in conjunction with the first power transmission device 107 and the second power transmission device 109.

The first power transmission device 107 is engaged with the driven gear 108, the sun gear 112 fixed to the longitudinal axis 110 formed on the driven gear 108, and the sun gear 112, respectively. Two planetary gears 114 and 116, and ring gears 118 to which respective planetary gears 114 and 116 are engaged. Here, each of the planetary gears 114 and 116 is rotatably installed by the rotation shafts 120 and 122, and each of the rotation shafts 120 and 122 meets obstacles or climbs stairs as described below, that is, a driving device. Is connected to each other by the planetary carrier 124 and the variable carrier 150 so that each planetary gear is fixed when it is operated in a stepwise manner. Of course, the tire wheel 126 is rotatably mounted on the longitudinal axis 110 at one side of the ring gear 118, and the first tire 128 is mounted on the tire wheel 126 in contact with the ground.

The second power transmission device 109 corresponding to the first power transmission device 107 includes a driven gear 129 meshed with the drive gear 106 and a sun gear fixed to the longitudinal axis 130 formed on the driven gear 129. 132, two planetary gears 134 and 136 meshed with the sun gear 132, and a ring gear 138 meshed with the respective planetary gears 134 and 136, respectively. Here, each of the planetary gears 134 and 136 is rotatably installed by the rotation shafts 140 and 142, and each of the rotation shafts 140 and 142 meets obstacles or climbs stairs as described below, that is, a driving device. Is connected to each other by the planetary carrier 144 and the variable carrier 150 so that each planetary gear is fixed when it is operated in a stepwise manner. Of course, the tire wheel 146 is rotatably mounted on the longitudinal axis 130 at one side of the ring gear 138, and the second tire 148 is mounted on the tire wheel 146 in contact with the ground.

On the other hand, the variable carrier 150 is provided in order to guide the first power transmission device 107 and the second power transmission device 109 in a step manner when the vehicle is blocked by obstacles or climbs stairs as described below. . The variable carrier 150 is formed with a guide groove 152 in the longitudinal direction thereof. For example, one rotation shaft 122 of the first power transmission device 107 and one rotation shaft of the second power transmission device 109 ( 140 is movably received in a certain range. Of course, the central shaft 154 is inserted from the main shaft 104 without interference between the respective rotation shafts 122 and 140 accommodated in the guide groove 152 of the variable carrier 150.

In addition, when the position of the first power transmission device 107 and the second power transmission device 109 is shifted in a step manner, the main frame 156 serving as a central axis of each of the power transmission devices 107 and 109. It is installed between the driven gear (108; 129) and the tire wheel (126; 146). At the center of the main frame 156, the main shaft 104, and at both side ends, the longitudinal axes 110 and 130 of the respective power transmission devices 107 and 109 are rotatably supported by, for example, bearings.

Hereinafter, the operation of the driving apparatus according to the present invention and its operation mode will be described.

First, in the case where the vehicle equipped with the driving apparatus according to the present invention shown in FIG. 3 passes through a flat or low obstacle, for example, when the power generator 12 such as a motor operates, the driving gear 16 mounted on the main shaft 14 is operated. ) Rotates forward, the ring gear 22 of the first power unit 18 and the ring gear 42 of the second power unit 20 engaged with the drive gear 16 are reversed, and each ring Rotation of each of the first planetary gears 26, 30; 46, 50 engaged with the gears 22; 42 causes the sun gears 38; 58 of each power unit 18; 20 to rotate forward. do. Accordingly, the wheels 34 and 54 mounted on the longitudinal axes 36 and 56 of the respective sun gears 38 and 58 are rotated forward, so that the vehicle is driven forward, for example.

During such a movement, for example, when the first wheel 34 is stopped by an obstacle of relatively high height or encounters a staircase, the sun gear 38 connected to the first wheel 34 and the respective planetary gears 26 and 30 are stopped. And the ring gear 22 is stopped. However, since the drive gear 16 connected to the power generator 12 is continuously rotated, the drive gear 16 rides over in a state of being engaged to the outer periphery of the ring gear 22 is stopped. At this time, the second power transmission device 20 is a step operation by passing the first power transmission device 18 together with the main shaft 14 as the main frame 64 is rotated about the longitudinal axis 36 as a central axis. This is done.

On the other hand, the support shaft 24 of the planetary gear 26 of the first power transmission device 18 and the support shaft 48 of the planetary gear 50 of the second power transmission device 20 rotate during this step operation. The sliding variable carrier 60, which is possibly cross-connected, prevents the revolving of the respective planetary gears 26, 30; 46, 50. In addition, each of the planetary gear carriers 32 and 52 and the main shaft 14 are variable carriers 60 while the second power generator 20 moves forward with respect to the first power generator 18. Slide in a limited range in the guide groove (62). As a result, they can perform a stable step operation by maintaining an appropriate angle and distance from each other.

As such, when the second power transmission device 20 steps with respect to the first power transmission device 18, the second wheel 54 crosses the first wheel 34, thereby overcoming an obstacle. The same step operation is performed continuously so that the stairs can be climbed.

On the other hand, according to the operation of the vehicle is equipped with a drive device as shown in Figure 5, when the vehicle passes through a flat or low obstacle, for example, if the power generator 102, such as a motor is mounted on the main shaft 104 The drive gear 106 rotates forward, and the driven gear 108 of the first power unit 107 and the driven gear 129 of the second power unit 109 meshed with the drive gear 106 reversely rotate. Each sun gear 112; 132 connected to each driven gear 108; 129 also rotates in reverse, and is rotated by the rotation of each planetary gear 114. 116; 134, 136 engaged to the sun gear 112; 132. When the ring gears 118 and 138 meshed with the planetary gears rotate forward, each of the tires 128 and 148 rotates to drive the vehicle.

When the first tire 128 is caught and stops by meeting obstacles or stairs during such movement, the ring gear 118, the planetary gears 114 and 116, and the sun gear 112 which are connected to the first tire 128 are stopped and At the same time, the driven gear 108 is stopped. However, since the power generating device 102 is continuously operated and the drive gear 106 is continuously rotated, the drive gear 106 rides over in a state of being engaged with the outer periphery of the driven gear 108. At this time, the second power transmission device 109 is stepped by moving beyond the first power transmission device 107 with the main shaft 104 as the main frame 156 is rotated about the longitudinal axis 110. This is done.

On the other hand, the support shaft 122 of the planetary gear 116 of the first power transmission device 107 and the support shaft 140 of the planetary gear 134 of the second power transmission device 109 rotate during this step operation. The sliding variable carrier 150, which is possibly cross-connected, prevents each planetary gear 114, 116, 134, 136 from revolving. In addition, each of the planetary gear carriers 124 and 144 and the central axis 154 are variable carriers while the second power generator 109 is moved forward with respect to the first power generator 107. It slides in a limited range in the guide groove 152 of 150. As a result, they can perform a stable step operation by maintaining an appropriate angle and distance from each other.

As such, when the second power transmission device 109 is stepped with respect to the first power transmission device 107, the second tire 148 may pass over the first tire 128, thereby overcoming an obstacle. The same step operation is performed continuously so that the stairs can be climbed.

In the above-described embodiment, only the case in which the vehicle moves forward has been described. However, when the power generator is reversely rotated, the operation as described above is reversed so that the vehicle is reversed and the step operation backward can be performed.

As described above, when the driving device according to the present invention is installed in a moving vehicle such as a vehicle, a wheelchair, a transport vehicle, and the like, when the obstacle is caught during the movement of the vehicle, the rotational driving may be converted into a step driving and the obstacle may be exceeded. It is possible to climb the stairs by performing step driving, and the convenience is improved, and it is possible to stably perform the step driving by the variable carrier, which improves the stability, and also the configuration and operation of the driving device can be simplified and the appearance can be made compact. There is an effect of improving the productability.

While a preferred embodiment according to the present invention has been described above, it will be understood by those skilled in the art that various modifications and changes can be made without departing from the scope of the appended claims.

Claims (5)

In a drive that can overcome obstacles and climb stairs, A drive gear 16 mounted to the main shaft 14 of the power generator 12 for generating rotational force; A ring gear 22 engaged with the drive gear 16, a first planetary gear 26 engaged with the inner circumferential surface of the ring gear 22 and rotatably supported by a support shaft 24, and the ring A second planetary gear 30 engaged with the inner circumferential surface of the gear 22 so as to face the first planetary gear 26 and rotatably supported by the support shaft 28, and the respective support shafts 24 and 28; The planetary gear carrier 32 and the first planetary gear 26 and the second planetary gear 30 are interconnected to each other and are fixed to a longitudinal axis 36 having a first wheel 34 mounted at one end thereof. A first power transmission device (18) having a sun gear (38) for driving in the same direction as the drive gear (16); A ring gear 42 meshing with the drive gear 16, a first planetary gear 46 meshing with an inner circumferential surface of the ring gear 42 and rotatably supported by a support shaft 44, and the ring A second planetary gear 50 engaged with the inner circumferential surface of the gear 42 so as to face the first planetary gear 46 and rotatably supported by the support shaft 48, and the respective support shafts 44 and 48; The planetary gear carrier 52 connecting the first planetary gear 46 and the first planetary gear 46 and the second planetary gear 50 and fixed to a longitudinal axis 56 having a second wheel 54 mounted at one end thereof. A second power transmission device having a sun gear 58 that rotates in the same direction as the drive gear 16; When moving the position in such a way that the first power transmission device 18 and the second power transmission device 20 cross each other to prevent the revolution of the planetary gear and the rotary shaft 24, the second of the first power transmission device 18 A variable carrier (60) having guide grooves (62) into which the respective shafts (24, 14, 48) are inserted and fixed to guide the rotating shaft (48) and the main shaft (14) of the power transmission device (20); And The main shaft 14 is at the center, and both side ends of the respective power trains 18 and 20 so that the respective power trains 18 and 20 act as idle axes of the respective power trains when they are mutually repositioned. And a main frame (64) in which the longitudinal axes (36; 36) are rotatably fixed. According to claim 1, wherein the guide groove 62 of the variable carrier 60 is formed in the longitudinal direction, the respective shafts 24, 14, 48 are movable in a certain range, the first power transmission device And a rotation shaft 24 of the second power transmission device 20 intersects each other. In a drive that can climb over stairs and climb stairs A drive gear 106 mounted to the main shaft 104 of the power generating device 102 for generating a rotational force; A driven gear 108 meshed with the drive gear 106, a sun gear 112 fixed to the longitudinal axis 110 of the driven gear 108, and two planetary gears meshed with the sun gear 112, respectively. 114; 116, each of the planetary gears (114; 116) is engaged on the inside and the ring gear 118, the first tire 128 is mounted on the outside, and each of the planetary gears (114; 116) is rotated A first power transmission device (107) having a planetary gear carrier (124) for connecting the respective rotating shafts and the planetary gears to prevent revolving of the planetary gears; A driven gear 129 meshed with the drive gear 106, a sun gear 132 fixed to the longitudinal axis 130 of the driven gear 129, and two planetary gears meshed with the sun gear 132, respectively. 134 and 136, ring gears 138 to which respective planetary gears 134 and 136 are engaged, and a second tire 148 is mounted, and each planetary gear 134 and 136 are rotatable. A second power transmission device having a planetary gear carrier 144 connecting the respective rotation shafts 140 and 142 and the respective rotation shafts 140 and 142 to prevent revolving of the planetary gears; When the first power transmission device 107 and the second power transmission device 109 is rotated in a way that crosses each other to prevent the rotation of the planetary gear and one rotary shaft 122 of the first power transmission device 107 Each of the shafts 122, 140, and 104 is rotatably inserted to maintain and guide one rotation shaft 140 of the second power transmission device 109 and the central shaft 154 extending to the main shaft 104 at an appropriate angle. A variable carrier 150 in which guide grooves 152 are formed; And Longitudinal axis 110 of each of the power trains 107 and 109 at both ends such that the first power train 107 and the second power train 109 act as a central axis when the position is shifted in a stepwise manner. A main frame (156) rotatably fixed therebetween and the main shaft (104) rotatably fixed therebetween. According to claim 3, The guide groove 152 of the variable carrier 150 forms a single groove formed in the longitudinal direction, characterized in that the respective shafts (122, 140, 154) are inserted to be movable within a certain range. Drive system. 4. The shaft frame 156 is installed between the driven gears 108 and 129 of the respective power transmission devices 107 and 109 and the tire wheels 126 and 146, respectively. 104,110,130 drive device characterized in that the rotatably fixed by the bearing.