Universal driving device

1. A universal driving device comprising:

a ring gear;

a sun gear positioned such that a distance between a rotation shaft of the sun gear and a rotation shaft of the ring gear is changeable; and

at least one split gear disposed between the sun gear and the ring gear, each split gear being configured to split power received from the sun gear through one path, into multiple paths, and to transmit the power to the ring gear.

2. The universal driving device of claim 1 , comprising a plurality of final pinions connected to each split gear and being engaged with the ring gear to transmit the power from each split gear to the ring gear through the multiple paths.

3. The universal driving device of claim 2 , comprising a carrier configured to support a shaft of each split gear and a shaft of each of the plurality of final pinions to continuously keep the plurality of final pinions engaged with the ring gear.

4. The universal driving device of claim 3 , wherein the sun gear and each split gear are connected by multiple links connected to each other at an angle which changes depending on a change in the inter-shaft distance between the sun gear and the ring gear.

5. The universal driving device of claim 4 , wherein the multiple links comprise a first link connected to a rotation shaft of the sun gear, and a second link configured to connect each split gear to the first link; and

wherein a joint pinion used for power transmission between the sun gear and each split gear is installed at a position where the first link is connected to the second link.

6. The universal driving device of claim 5 , wherein the sun gear and each split gear are connected to enable continuous power transmission by a gear train comprising the joint pinion.

7. The universal driving device of claim 6 , wherein a plurality of branch intermediate gears configured to transmit power from each split gear to the plurality of final pinions are disposed between each split gear and the plurality of final pinions.

8. The universal driving device of claim 7 , wherein the sun gear, the joint pinion, and each split gear are all configured to have an equal number of teeth.

9. The universal driving device of claim 8 , wherein the plurality of final pinions are configured to have an equal number of teeth to each split gear.

10. The universal driving device of claim 8 , wherein the plurality of final pinions are configured to have more teeth than each split gear, and

wherein the plurality of branch intermediate gears configured to connect the split gear to the plurality of final pinions are configured to have fewer teeth than the split gear.

11. The universal driving device of claim 6 , wherein a first intermediate pinion having a shaft supported by the first link is positioned between the sun gear and the joint pinion, and

a second intermediate pinion having a shaft supported by the second link is positioned between the joint pinion and each split gear.

12. The universal driving device of claim 4 , wherein the multiple links comprise a first link connected to the rotation shaft of the sun gear, and a second link connected to the first link and connected to the shaft of each split gear, and

wherein the first link and the second link include shafts of a series of gears configured to transmit power from the sun gear to each split gear.

13. The universal driving device of claim 12 , wherein among the series of gears configured to transmit power from the sun gear to each split gear, gears located at even-numbered positions from the sun gear are configured to have an equal number of teeth to the sun gear.

14. The universal driving device of claim 13 , wherein a gear located second from the sun gear is the joint pinion installed concentrically with the shafts on the first link and the second link, and a gear located fourth from the sun gear is each split gear.

15. The universal driving device of claim 14 , wherein a first intermediate pinion having a shaft installed on the first link is engaged with the sun gear and the joint pinion, and

a second intermediate pinion having a shaft installed on the second link is engaged with the joint pinion and each split gear.

16. The universal driving device of claim 3 , wherein multiple split gears are disposed along a circumferential direction around the sun gear.

17. A universal driving device comprising:

a ring gear;

a sun gear positioned such that a distance between the sun gear and the ring gear is changeable;

a first pinion engaged with the sun gear;

a second pinion engaged with the first pinion;

a third pinion engaged with the second pinion;

a fourth pinion engaged with the third pinion;

a plurality of fifth pinions engaged with the fourth pinion;

a plurality of sixth pinions engaged with the plurality of fifth pinions, and engaged with the ring gear;

a carrier configured to support a shaft of the fourth pinion, a plurality of shafts of the plurality of fifth pinions, and a plurality of shafts of the plurality of sixth pinions so that the shaft of the fourth pinion, the plurality of shafts of the plurality of fifth pinions, and the plurality of shafts of the plurality of sixth pinions do not revolve around a center of the ring gear;

a first link configured to support shafts of the sun gear, the first pinion, and the second pinion; and

a second link configured to support shafts of the second pinion, the third pinion, and the fourth pinion.

18. The universal driving device of claim 17 , wherein the sun gear, the second pinion, and the fourth pinion are all configured to have an equal number of teeth.

19. The universal driving device of claim 18 , wherein the plurality of sixth pinions are configured to have an equal number of teeth as the fourth pinion.

20. The universal driving device of claim 18 , wherein a number of teeth of each of the plurality of sixth pinions is different from a number of teeth of the fourth pinion, and a number of teeth of each of the plurality of fifth pinions is less than the number of teeth of the fourth pinion.