Linkage structure and universal driving device using same
A gear train includes at least four gears sequentially engaged, multiple links configured to support the rotation shafts of the gears, and pins configured to fix the rotation shafts of the gears to the link, wherein the pins are installed such that, among the rotation shafts of the gears, two non-adjacent rotation shafts have both ends fixed to the link and one of adjacent rotation shafts has only one end fixed to the link.
1. A linkage structure comprising:
a gear train comprising at least four gears sequentially engaged;
a plurality of links configured to support rotation shafts of each of the at least four gears;
pins configured to fix the rotation shafts of each of the at least four gears to the link;
wherein the pins are installed such that, among the rotation shafts of each of the at least four gears, two non-adjacent rotation shafts have both ends fixed to one of the plurality of links, and one of adjacent rotation shafts has only one end fixed to one of the plurality of links.
2. The linkage structure of claim 1 , wherein the rotation shafts of each of the at least four gears constituting the gear train are formed by alternately arranging a rotation shaft having both ends fixed to the one of the plurality of links with the pins, and the rotation shaft having only one end fixed to the one of the plurality of links with the pins.
3. The linkage structure of claim 1 , wherein the plurality of links comprise at least two links connected to be rotatable about a rotation shaft of one of the at least four gears.
4. The linkage structure of claim 3 , wherein one of the at least four gears having a rotation shaft to which two of the plurality of links are connected to be rotatable is a joint gear; and
when only one end of the rotation shaft of the joint gear is fixed to the one of the plurality of links with the pins, rotation shafts of the at least four gears connected to the joint gear disposed therebetween have both ends fixed to the one of the plurality of links with the pins.
5. The linkage structure of claim 3 , wherein one of the at least four gears having the rotation shaft to which two of the plurality of links are connected to be rotatable is a joint gear; and
when both ends of the rotation shaft of the joint gear are fixed to the one of the plurality of links with the pins, one of rotation shafts of the at least four gears connected to the joint gear has both ends fixed to the one of the plurality of links with the pins.
6. The linkage structure of claim 3 , wherein when only one end of a rotation shaft among the rotation shafts of each of the at least four gears to which two of the plurality of links are connected to be rotatable is fixed to the one of the plurality of links with the pins, at least one of rotation shafts of the at least four gears for every two of the plurality of links has both ends fixed with the pins.
7. The linkage structure of claim 3 , wherein when both ends of a rotation shaft among the rotation shafts of each of the at least four gears to which two of the plurality of links are connected to be rotatable are fixed to the one of the plurality of links with the pins, only one of the two of the plurality of links is fixed to both ends of one of the rotation shafts of one of the at least four gears with the pins.
8. The linkage structure of claim 3 , wherein the plurality of links are arranged in pairs at both ends of the at least four gears.
9. The linkage structure of claim 1 , wherein the gear train is configured to implement a continuous power transmission state between a sun gear and a ring gear in a planetary gear device equipped with the sun gear and the ring gear which form a variable inter-axis distance therebetween.
10. The linkage structure of claim 9 , wherein first ends of each of the plurality of links are configured to support a rotation shaft of the sun gear such that one end of the gear train is engaged with the sun gear; and
second ends of each of the plurality of links are configured to support a rotation shaft of a final gear forming an other end of the gear train.
11. The linkage structure of claim 10 , wherein the rotation shaft of the final gear is supported by a carrier constrained in relative motion with the ring gear.
12. The linkage structure of claim 11 , wherein the plurality of links comprise a first link and a second link connected to be rotatable with respect to each other;
a gear having a rotation shaft configured to support the first link and the second link to be rotatable is a joint gear; and
the gear train comprises a first intermediate gear connecting the sun gear to the joint gear, a second intermediate gear connecting the joint gear to the final gear, the joint gear, and the final gear.
13. The linkage structure of claim 12 , wherein a number of teeth of the sun gear, joint gear, and final gear are identical.
14. A universal driving device comprising:
a ring gear;
a sun gear configured to have a variable inter-axis distance with respect to a rotation shaft of the ring gear;
a gear train configured to connect the sun gear and the ring gear; and
a plurality of links configured to accommodate a change in an inter-axis distance between the sun gear and the ring gear, and connected to be rotatable with respect to each other to continuously maintain a power transmission state between the sun gear and the ring gear, the plurality of links supporting rotation shafts of gears constituting the gear train;
wherein the rotation shafts of the gears constituting the gear train are formed by alternately arranging a rotation shaft among the rotation shafts of the gears having both ends fixed to one of the plurality of links and a rotation shaft among the rotation shafts of the gears having only one end fixed to one of the plurality of links along a power transmission path of the gear train.
15. The universal driving device of claim 14 , wherein the plurality of links comprise:
a first link, one end of which supports a rotation shaft of the sun gear; and
a second link rotatably connected to the first link.
16. The universal driving device of claim 15 , wherein the gear train comprises:
a first intermediate gear engaged with the sun gear;
a joint gear engaged with the first intermediate gear, a rotation shaft of the joint gear serving as a rotation shaft between the first link and the second link;
a second intermediate gear engaged with the joint gear; and
a final gear engaged with the second intermediate gear and engaged with the ring gear.
17. The universal driving device of claim 16 , wherein a rotation shaft of the first intermediate gear and a rotation shaft of the joint gear are fixed to the first link;
the rotation shaft of the joint gear, a rotation shaft of the second intermediate gear, and a rotation shaft of the final gear are fixed to the second link; and
the rotation shaft of the final gear is supported by a carrier constrained in relative motion with the ring gear.
18. The universal driving device of claim 17 , wherein a number of teeth of each of the sun gear and the joint gear is identical to a number of teeth of the final gear.
19. The universal driving device of claim 18 , wherein only one end of the rotation shaft of the joint gear is fixed to one of the plurality of links with a pin;
each of the rotation shaft of the first intermediate gear and the rotation shaft of the second intermediate gear has both ends fixed to the one of the plurality of links with pins; and
only one end of the final gear is fixed to one of the plurality of links with the pin.
20. The universal driving device of claim 18 , wherein each of the rotation shaft of the joint gear and the rotation shaft of the final gear has both ends fixed to one of the plurality of links with pins; and
each of the rotation shaft of the first intermediate gear and the rotation shaft of the second intermediate gear has only one end fixed to one of the plurality of links with a pin.