Continuously variable transmission (CVT) method and device for static fluid
A kind of transmission device and variable technology, applied in the direction of transmission device, fluid transmission device, transmission device control, etc., can solve the problem of incomplete constraints on the trajectory of the robot end, and achieve the control method is easy to implement, the operation feeling is improved, and the device structure is simple Effect
Inactive Publication Date: 2011-04-13
BEIHANG UNIV
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Problems solved by technology
[0007] The purpose of the present invention is to solve the technical problem of incomplete constraints on the trajectory of the robot end, and propose a hydrostatic continuously variable transmission method and device
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[0052] A hydrostatic continuously variable transmission method of the present invention, taking three variable units as an example, includes the following steps:
[0053] Step 1: Install a rectifier in parallel on the variable element to form a variable unit;
[0054] Since the steering of the rotating shaft of the series variable element can be arbitrary according to the working conditions, the oil flow direction through each variable element can be arbitrary, but the flow direction of the oil in the closed oil circuit trunk must be consistent, so for each All variable components need to be equipped with rectifiers.
[0055] Utilizing the principle that the direction of oil passage in the check valve is irreversible, the rectifier can still maintain the consistency of the oil flow direction of the main road when the steering of the variable element changes, and avoid the conflict of the variable element steering;
[0056] The oil circuit switching relationship of the rectifi...
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The invention discloses a continuously variable transmission (CVT) method and device for static fluid, belonging to the technical field of fluid transmission and control. The device comprises more than two variable units, wherein each variable unit comprises a variable element and a rectifying device; the variable units are connected in series by oil pipelines to form a closed loop; due to the continuity of oils in the closed loop, the revolving speed relationship of the variable elements is determined on displacement relationships among the variable elements; and the variable elements which are taken as joints of a passive robot, and accurate control is carried out on the displacement of each variable element to acquire a relationship of transmission ratio of each joint, thus providing incomplete virtual constraint for end movement of the passive robot. Hydraulic transmission is used in the invention, thus mechanical clearness does not occur, and the oils can exert buffer action in actual working conditions. The displacement relationships among the variable elements are changed so as to realize the CVT; and the device has simple structure and the control method is easy to implement.
Description
technical field [0001] The invention relates to a hydrostatic continuously variable transmission (Continuously Variable Transmissions, CVT for short) method and device, belonging to the technical field of fluid transmission and control. Background technique [0002] In multi-axis transmission work, the transmission ratio between the transmission shafts determines the motion generated by the compound transmission shafts. For example, the transmission ratio between the shafts of an articulated robot determines the end motion trajectory. [0003] End line speed v=Jn=J[n 1 , n 2 ,...,n m ] T (J is the Jacobian matrix, n is the speed of each transmission shaft) [0004] The robot usually independently drives and controls the movement of each axis according to the transmission relationship between the axes, that is, the motion trajectory of the end is controlled by controlling the motion speed and driving force of the end, which belongs to completely active control. In this w...
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IPC IPC(8): F16H39/00F16H61/40B25J13/00
Inventor 王亮张哲
Owner BEIHANG UNIV