Energy conversion device and variable gain mechanism

Abstract

To efficiently store and use mechanical energy.SOLUTION: An energy conversion device 1 comprises a torque source 10 and a continuously variable transmission 20. The torque source 10 can supply and store mechanical energy. An input shaft of the continuously variable transmission 20 is connected to the torque source 10, and the continuously variable transmission can change a gear ratio while the input and output shafts are in a non-rotating state. The continuously variable transmission 20 comprises: a sun gear; a planetary gears that can move relative to a meshing position with the sun gear; a pulley that is installed coaxially with the rotation axis of the planetary gear, and rotates integrally with the planetary gear; a cord member that is wound around the pulley, presses the planetary gear against the sun gear, and serves as a fixed part for the revolution of the planetary gear; and a tension adjustment unit that applies tension to the cord member.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an energy conversion device and a variable gain mechanism that convert mechanical energy. [Background technology]

[0002] In recent years, the need for energy conservation has increased, and efforts are being made to effectively utilize surplus energy in various situations. For example, hybrid cars and trains use a technology that regenerates energy generated during braking and stores it in a battery. Here, Patent Document 1 discloses a technique for converting the kinetic energy of an automobile into electrical energy by a generator and storing the electrical energy in a battery. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-99243 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when storing mechanical energy such as kinetic energy or potential energy, converting it into a form other than mechanical energy, such as electrical energy, results in a large energy loss and reduces the efficiency of the regenerated energy. That is, in the conventional technology, it is difficult to efficiently store and utilize mechanical energy.

[0005] An object of the present invention is to store and utilize mechanical energy more efficiently. [Means for solving the problem]

[0006] In order to solve the above problems, an energy conversion device according to one aspect of the present invention comprises: A torque source capable of supplying and storing mechanical energy; a variable gain mechanism having an input shaft connected to the torque source and capable of changing a gear ratio in a state in which the input and output shafts are stationary; Equipped with.

[0007] Moreover, the variable gain mechanism according to one aspect of the present invention includes: A sun gear having a pitch circle with a different diameter in a direction along the tooth trace; a planetary gear having a pitch circle with a different diameter in a direction along the tooth trace, and a meshing position with the sun gear that is movable relatively along the tooth trace; A pulley that is installed coaxially with the rotation axis of the planetary gear and rotates integrally with the planetary gear; a rope member that is wound around the pulley to press the planetary gear against the sun gear and serve as a fixing portion for the planetary gear against revolution; A tension adjusting unit that applies tension to the cable member; Equipped with. Effect of the Invention

[0008] According to the present invention, mechanical energy can be stored and utilized more efficiently. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing an overall configuration of an energy conversion device 1 according to a first embodiment. [Diagram 2] 2 is a schematic diagram (top view) showing a specific configuration example of a continuously variable transmission 20. FIG. [Diagram 3] 2 is a schematic diagram (side view) showing a specific configuration example of a continuously variable transmission 20. FIG. [Figure 4] 2 is a schematic diagram showing an example of the structure of a bevel gear G that constitutes a sun gear 21 and planetary gears 22a, 22b in the first embodiment. FIG. [Diagram 5] 1 is a schematic diagram showing an example of installation of a planetary gear that does not satisfy the condition (1) for configuring a continuously variable transmission 20. FIG. [Figure 6]1 is a schematic diagram showing an example of installation of a planetary gear that does not satisfy the condition (1) for configuring a continuously variable transmission 20. FIG. [Figure 7] 10 is a schematic diagram showing an example of installation of a planetary gear that does not satisfy the condition (2) for configuring the continuously variable transmission 20. FIG. [Figure 8] 10 is a schematic diagram showing an example of installation of a planetary gear that does not satisfy the condition (2) for configuring the continuously variable transmission 20. FIG. [Figure 9] 2 is a schematic diagram showing a specific configuration example of a differential device 30. FIG. [Figure 10] 4 is a schematic diagram showing the output characteristics of the energy conversion device 1 when a constant torque spring is used. FIG. [Figure 11] FIG. 2 is a schematic diagram showing the output characteristics of the energy conversion device 1 when a normal spring (a spring that is not a constant torque spring) is used. [Figure 12] 4 is a flowchart showing an example of the operation flow of the energy conversion device 1. [Figure 13] 1 is a schematic diagram showing a configuration example of an industrial robot 100 incorporating an energy conversion device 1. FIG. [Figure 14] FIG. 1 is a block diagram showing a functional configuration of an industrial robot 100 incorporating an energy conversion device 1. [Figure 15] 1 is a schematic diagram showing a configuration example of a multi-story parking device 200 incorporating an energy conversion device 1. FIG. [Figure 16] A block diagram showing the functional configuration of a multi-story parking device 200 incorporating an energy conversion device 1. [Figure 17] 1 is a schematic diagram showing a configuration example of an automobile 300 incorporating an energy conversion device 1. FIG. [Figure 18] 1 is a block diagram showing a functional configuration of an automobile 300 incorporating an energy conversion device 1. FIG. [Figure 19] 1 is a schematic diagram showing a configuration example of an energy conversion device 1 in which a plurality of differential gears 30 are installed in series. [Figure 20] FIG. 1 is a schematic diagram showing a configuration example of an energy conversion device 400 in which energy conversion devices 1 are installed symmetrically with a load in between. [Figure 21]1 is a schematic diagram showing a configuration example of an energy conversion device 1 in the case where the relative rotation speed between the input shaft and the output shaft of a differential device 30 is controlled by a speed varying function of a continuously variable transmission 20. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. [First embodiment] The energy conversion device according to the present embodiment includes a torque source that accumulates elastic energy, a continuously variable transmission, and a differential device, and in the continuously variable transmission, an output from the torque source is output to the differential device with a variable gain, and in the differential device, the output of the continuously variable transmission is distributed and transmitted to a plurality of loads. In addition, the energy conversion device according to the present embodiment inputs from the plurality of loads to the differential device, and in the differential device, the inputs from the plurality of loads are integrated and input to the continuously variable transmission, and in the continuously variable transmission, the input from the differential device is input to the torque source with a variable gain.

[0011] Therefore, it is possible to adjust the magnitude of the output from the torque source by applying a gain to the output, and distribute the adjusted output to multiple loads by the differential device. Also, it is possible to integrate inputs from multiple loads by the differential device, and input the integrated input to the torque source by applying the inverse of the gain to the integrated input. Therefore, it is possible to adjust the overall output from the torque source to an appropriate output, while adding outputs appropriate to each of a plurality of loads. Also, inputs from a plurality of loads can be integrated and the input energy can be recovered in the torque source.

[0012] That is, the energy stored in the torque source can be output as mechanical energy in the load, and mechanical energy from the load can be stored in the torque source as regenerative energy. In this manner, according to the energy conversion device of this embodiment, mechanical energy can be stored and utilized more efficiently. However, when there is only one load, or when there is no need to distribute the output and integrate the input by a differential device, it is possible to configure an energy conversion device using a torque source and a continuously variable transmission without providing a differential device. That is, by outputting the output from the torque source to the load with a variable gain and inputting the input from the load to the torque source with a variable gain, it is possible to store and use mechanical energy more efficiently. The energy conversion mechanism according to the present embodiment can be applied to various mechanisms that input and output mechanical energy, such as the joints of a robot, the drive mechanism and other moving parts of a moving body such as an automobile or a drone, the lifting device of an elevator or a multi-storey car park, automatic doors, etc.

[0013] [composition] FIG. 1 is a schematic diagram showing the overall configuration of an energy conversion device 1 according to this embodiment. 1, the energy conversion device 1 includes a torque source 10, a continuously variable transmission 20, and a differential device 30. Note that, as an example, the energy conversion device 1 will be described below as being connected to two loads L1 and L2. Torque source 10 is configured, for example, by a constant torque spring or a counterweight mechanism (a mechanism that outputs the gravity acting on a counterweight as a constant torque), and outputs a constant torque regardless of the load state. Torque source 10 also supplies mechanical energy to the load and accumulates mechanical energy input from the load.

[0014] The continuously variable transmission 20 is a device that applies a gain to an input in a stepless manner and outputs the result, adding a set gain to the input torque and rotation speed. The continuously variable transmission 20 applies a set gain to the input from the input side (torque source 10 side) and outputs the result from the output side (differential device 30 side), and also applies the reciprocal of the set gain to the input from the output side and outputs the result from the input side. The continuously variable transmission 20 in this embodiment has a configuration that allows the gear ratio to be changed in a non-rotating state, as will be described later. The differential device 30 is configured by a mechanism such as a differential gear, and distributes and transmits an input from an input side (continuously variable transmission 20) to a plurality of output sides (loads L1, L2), and also integrates and transmits the input from the output sides to the input side. The differential device 30 is a component that can be appropriately installed when it is necessary to distribute the output and integrate the input.

[0015] [Configuration of the continuously variable transmission 20] Next, a specific configuration of the continuously variable transmission 20 will be described. 2 and 3 are schematic diagrams showing a specific configuration example of the continuously variable transmission 20. FIG. 2 is a top view of the continuously variable transmission 20, and FIG. As shown in Figures 2 and 3, the continuously variable transmission 20 in this embodiment is configured as a type of planetary gear mechanism, and includes a sun gear 21, planetary gears 22a, 22b, a toothed idler 23, carriers 24a, 24b, an input side support member 25, an output side support member 26, timing belts 27a, 27b, and tension adjustment pulleys 28a to 28d.

[0016] The sun gear 21 and the planetary gears 22a, 22b are configured with gears whose rotation radius varies depending on the position in the rotation axis direction (i.e., gears whose pitch surface diameter varies along the tooth trace), and have a shape in which the gear module changes (i.e., shapes in which the number of teeth is the same but the diameter of the pitch circle varies) depending on the position in the rotation axis direction (i.e., the position in the direction along the tooth trace). In this embodiment, the sun gear 21 and the planetary gears 22a, 22b are structured so that the module becomes smaller from one end to the other end in the rotation axis direction.

[0017] FIG. 4 is a schematic diagram showing an example of the structure of the gears G that constitute the sun gear 21 and the planetary gears 22a, 22b in this embodiment. As shown in FIG. 4, the gears G constituting the sun gear 21 and planetary gears 22a, 22b in this embodiment have teeth formed on their outer circumferential surfaces from the bottom side (the side with the larger rotation radius) to the apex side (the side with the smaller rotation radius), with the module on the bottom side being larger and becoming smaller closer to the apex side.

[0018] When the sun gear 21 and the planetary gears 22a, 22b are formed by the gear G, the radius from the rotation axis is r and the meshing height is h, then the speed ratio α of the continuously variable transmission 20 can be expressed as in formula (1) as a function of the radius r and meshing height h of the gear G. Here, the meshing height h is the normalized distance (0 to 1) from the bottom surface to the apex in the rotation axis direction of the gear G.

[0019]

number

[0020] In the continuously variable transmission 20 of this embodiment, the sun gear 21 and the planetary gears 22a, 22b are arranged in a transposed state (gears facing in opposite directions) with their rotation axes parallel to each other. The sun gear 21 and the planetary gears 22a, 22b are movable in the direction of the rotation axis (i.e., movable along the tooth trace) while maintaining meshing of the teeth by the restraining force of timing belts 27a, 27b described later.

[0021] Therefore, the closer the meshing position of the teeth of the planetary gears 22a, 22b and the sun gear 21 is to the bottom side (the smaller the meshing height h), the larger the radius r of the meshing position, and the closer the meshing position of the teeth of the planetary gears 22a, 22b and the sun gear 21 is to the apex side (the larger the meshing height h), the smaller the radius r of the meshing position. Therefore, by changing the meshing position of the teeth of the sun gear 21 and the planetary gears 22a, 22b, it is possible to change the gear ratio α at the input and output of the continuously variable transmission 20, and it is also possible to change the torque transmission ratio inversely proportional to the gear ratio α. The continuously variable transmission 20 shown in Figures 2 and 3 is capable of changing the gear ratio by moving the sun gear 21 and the planetary gears 22a, 22b relatively along the tooth trace, and is therefore configured to be able to change the gear ratio in a non-rotating state.

[0022] In this embodiment, the bottom side of the planetary gears 22a, 22b is provided with a cylindrical portion C having the same radius as the pitch circle of the bottom. As described later, this cylindrical portion C has a function of a pulley around which timing belts 27a, 27b are wound, and in the continuously variable transmission 20, the function of an internal gear in a general planetary gear mechanism is realized by the cylindrical portion C and the timing belts 27a, 27b wound around the toothed idler 23.

[0023] 2 and 3, the toothed idler 23 is a toothed pulley installed to adjust the tension of the timing belts 27a, 27b, and is disposed at a position around the sun gear 21 where the planetary gears 22a, 22b are not present. The toothed idler 23 is disposed so as to apply tension to the timing belts 27a, 27b with a radius equivalent to the rotation radius of the position where the cylindrical portion C of the planetary gears 22a, 22b contacts the timing belts 27a, 27b. The toothed idler 23 revolves around the sun gear 21 together with the planetary gears 22a, 22b, with the phase (position in the rotation direction) with respect to the planetary gears 22a, 22b around the sun gear 21 fixed by the carriers 24a, 24b. Furthermore, since the toothed idler 23 is connected to the input side support member 25 and the output side support member 26 via the carriers 24a, 24b in the same way as the planetary gears 22a, 22b, the orbital radius of the toothed idler 23 also changes in response to the expansion and contraction of the orbital radius of the planetary gears 22a, 22b.

[0024] The carriers 24a and 24b are members that connect the rotation centers of the planetary gears 22a and 22b and the toothed idler 23 to the rotation centers of the planetary gears 22a and 22b and the toothed idler 23 on the input shaft side and the output shaft side of the continuously variable transmission 20. Specifically, the carrier 24a supports the input sides of the rotation shafts of the planetary gears 22a and 22b and the toothed idler 23 to an input side support member 25 with hinges, and connects the planetary gears 22a and 22b and the toothed idler 23 to vary the revolution radius of the planetary gears 22a and 22b and the toothed idler 23. Similarly, the carrier 24b supports the output sides of the rotation shafts of the planetary gears 22a and 22b and the toothed idler 23 to an output side support member 26 with hinges, and connects the planetary gears 22a and 22b and the toothed idler 23 to vary the revolution radius of the planetary gears 22a and 22b and the toothed idler 23.

[0025] The input side support member 25 is rotatably supported on the input shaft (input shaft of the sun gear 21) of the continuously variable transmission 20, and is installed so as to be movable in the axial direction, supporting the carrier 24a via a hinge. When the input side support member 25 moves in the input shaft direction of the continuously variable transmission 20, the hinge changes the connection angle of the carrier 24a to the input side support member 25, and the intersection angle between the carrier 24a and the input shaft of the continuously variable transmission 20 (the degree of opening and closing of the carrier 24a with respect to the input shaft of the continuously variable transmission 20) changes. In this embodiment, the input side support member 25 is driven by an actuator (not shown) via a ball screw, and is moved along the input shaft.

[0026] The output side support member 26 rotatably supports the rotating shaft of the sun gear 21, and is fixed to the output shaft of the continuously variable transmission 20 (i.e., not rotatable relative to it), and supports the carrier 24b via a hinge. When the connection angle of the carrier 24b to the output side support member 26 changes due to the hinge, the intersection angle between the carrier 24b and the output shaft of the continuously variable transmission 20 (the degree of opening and closing of the carrier 24b with respect to the input shaft of the continuously variable transmission 20) changes.

[0027] The timing belts 27a and 27b are annular belt members wound around the cylindrical parts C of the planetary gears 22a and 22b and the toothed idler 23, and the timing belts 27a and 27b themselves are fixed so as not to rotate with respect to the revolution of the planetary gears 22a and 22b and the toothed idler 23. Specifically, the timing belt 27a is wound around the cylindrical parts C of the planetary gears 22a and 22b and the toothed idler 23, and the tension adjustment pulleys 28a and 28b, and the timing belt 27a itself is fixed so as not to rotate. The timing belt 27b is wound around the cylindrical parts C of the planetary gears 22a and 22b and the toothed idler 23, and the tension adjustment pulleys 28c and 28d, and the timing belt 27b itself is fixed so as not to rotate. In other words, the circular closed circuit formed by the cylindrical portions C of the planetary gears 22a, 22b and the timing belts 27a, 27b wound around the toothed idler 23 constitutes a function equivalent to that of a fixed internal gear (fixed portion) in a typical planetary gear mechanism.

[0028] In addition, the timing belts 27a, 27b transition between being wound around one or both of the cylindrical portions C of the planetary gears 22a, 22b and the toothed idler 23 depending on changes in the orbital positions of the cylindrical portions C of the planetary gears 22a, 22b and the toothed idler 23. The tension adjusting pulleys 28a to 28d adjust the tension of the timing belts 27a and 27b to be constant. For example, the tension adjusting pulleys 28a to 28d adjust the tension of the timing belts 27a and 27b to be constant by changing the distance between the sun gear 21 and the tension adjusting pulleys 28a to 28d using a ball screw. As a result, even if the meshing position between the sun gear 21 and the planetary gears 22a and 22b changes, the timing belts 27a and 27b can maintain the action of pressing the planetary gears 22a and 22b against the sun gear 21, and the timing belts 27a and 27b serve as fixed parts to realize the revolution of the planetary gears 22a and 22b.

[0029] As described above, in this embodiment, the input side support member 25 is moved along the input shaft by being driven by the actuator via the ball screw. Therefore, when changing the meshing position between the planetary gears 22a, 22b and the sun gear 21, the position of the input side support member 25 on the input shaft is changed, and the angle at which the carriers 24a, 24b connect the planetary gears 22a, 22b and the toothed idler 23 (the degree of opening and closing of the carriers 24a, 24b with respect to the input and output shafts of the continuously variable transmission 20) changes accordingly. That is, in response to the change in the meshing position between the planetary gears 22a, 22b and the sun gear 21, the orbital radius of the toothed idler 23 changes in the same way as the planetary gears 22a, 22b. This changes the circumferential length of the circular closed circuit (fixed portion) formed by the timing belts 27a, 27b, and changes the rotation ratio of the output shaft of the continuously variable transmission 20 to the input shaft (i.e., the ratio between the rotation speed of the sun gear 21 and the orbital speed of the planetary gears 22a, 22b). By using such a mechanism, the gear ratio between the input shaft and the output shaft of the continuously variable transmission 20 can be changed.

[0030] [Configuration conditions of the continuously variable transmission 20] The continuously variable transmission 20 in this embodiment can be realized as the structural example shown in FIG. 4, but various structural examples can be adopted as long as it is possible to realize a continuously variable transmission that can change the gear ratio in a non-rotating state. At this time, the conditions for configuring the continuously variable transmission 20 can be defined, for example, as follows. Condition (1): When looking at the layout of a single timing belt, in any revolution state, at least one tension adjustment pulley is disposed between the planetary gears that are in contact with the timing belt, or the planetary gears are completely separated from the timing belt. Condition (2): At least one planetary gear is in contact with at least one timing belt in any phase in which the planetary gear revolves.

[0031] 5 and 6 are schematic diagrams showing examples of planetary gear installation that do not satisfy the condition (1). 5 and 6 respectively show a front view (viewed from the load side) and a rear view (viewed from the torque source 10 side) of a planetary gear that does not satisfy the condition (1). When three planetary gears are installed as shown in Fig. 5, if the sun gear and each planetary gear are moved relatively along the tooth trace to achieve the state shown in Fig. 6, the planetary gears cannot move unless the timing belt wrapped around the adjacent planetary gears expands or contracts (the dashed line in Fig. 6). Because the timing belt does not expand or contract, such relative movement between the sun gear and each planetary gear is not possible, and therefore this configuration of the continuously variable transmission 20 cannot be adopted.

[0032] 7 and 8 are schematic diagrams showing examples of planetary gear installation that do not satisfy condition (2). As shown in Figure 7, in the case of a configuration in which there is one timing belt and two planetary gears are arranged at positions shifted by 180 degrees from each other in phase, when the planetary gears are in the state shown in Figure 8, none of the planetary gears will be in contact with the timing belt. In this case, the rotation (revolution) of the planetary gears is not transmitted to the output shaft, and therefore this configuration of the continuously variable transmission 20 cannot be adopted.

[0033] [Configuration of differential gear 30] FIG. 9 is a schematic diagram showing a specific configuration example of the differential device 30. As shown in FIG. As shown in FIG. 9, the differential device 30 includes a case 31, an input shaft 32, an input bevel gear 33, an annular gear 34, a first output shaft 35, a first output bevel gear 36, a differential bevel gear 37, a second output shaft 38, and a second output bevel gear 39. The case 31 is a case member that houses the first output shaft 35, the first output bevel gear 36, the differential bevel gear 37, the second output shaft 38, and the second output bevel gear 39. In addition, the ring gear 34 is disposed on the outer periphery of the case 31, and the differential bevel gear 37 is rotatably supported by the case 31 inside the case 31.

[0034] The input shaft 32 is connected to an output shaft of the continuously variable transmission 20 , and input and output are transmitted between the input shaft 32 and the continuously variable transmission 20 . The input bevel gear 33 is a bevel gear installed at one end of the input shaft 32, and is in mesh with the ring gear 34. The input from the continuously variable transmission 20 (input shaft 32) to the input bevel gear 33 is transmitted to the ring gear 34. In addition, the input from the load side to the case 31 is transmitted to the input bevel gear 33 (input shaft 32) via the ring gear 34.

[0035] The ring gear 34 is a bevel gear mounted on the outer periphery of the case 31, and is in mesh with the input bevel gear 33. The ring gear 34 rotates integrally with the case 31, so it transmits the input from the input bevel gear 33 to the case 31, and also transmits the input from the load side to the case 31 to the input bevel gear 33. The first output shaft 35 is connected to the load L1 and rotatably supported by the case 31. In addition, the first output shaft 35 transmits the output of the differential device 30 to the load L1, and also transmits the input from the load L1 to the differential device 30.

[0036] The first output bevel gear 36 is a bevel gear provided at one end of the first output shaft 35 , and meshes with a differential bevel gear 37 inside the case 31 . The differential bevel gear 37 is rotatably supported by the case 31 inside the case 31. The differential bevel gear 37 meshes with the first output bevel gear 36 and the second output bevel gear 39, and the rotation of the differential bevel gear 37 generates an input / output difference between the first output bevel gear 36 and the second output bevel gear 39.

[0037] The second output shaft 38 is connected to the load L2 and rotatably supported by the case 31. In addition, the second output shaft 38 transmits the output of the differential device 30 to the load L2, and also transmits the input from the load L2 to the differential device 30. The second output bevel gear 39 is a bevel gear provided on one end of the second output shaft 38 , and meshes with the differential bevel gear 37 inside the case 31 . With this configuration, the differential device 30 can adaptively distribute the input from the continuously variable transmission 20 to the loads L1, L2, and can integrate the inputs from the loads L1, L2 and output them to the continuously variable transmission 20.

[0038] [Design conditions for energy conversion device 1] The energy conversion device 1 according to this embodiment adds a gain to the output torque from the torque source 10 by the continuously variable transmission 20, and outputs a torque to a load. Therefore, assuming that the output torque of the torque source 10 is T0, the minimum value of the gain that can be provided by the continuously variable transmission 20 is Gmin, and the maximum value is Gmax, when configuring the energy conversion device 1, the following is true for the range of the target output torque (hereinafter referred to as the "target output range Tr"): T0×Gmin≦Tr≦T0×Gmax This is the design condition. When realizing this design condition, it is important to ensure an effective output torque T0 of the energy conversion device 1 over a wide range of displacement.

[0039] Fig. 10 is a schematic diagram showing the output characteristics of the energy conversion device 1 when a constant torque spring is used, and Fig. 11 is a schematic diagram showing the output characteristics of the energy conversion device 1 when a normal spring (a spring that is not a constant torque spring) is used. As shown in FIG. 10, the output characteristics when a constant torque spring is used are such that, by applying the necessary gain in the continuously variable transmission 20, a constant range of torque can be output over the entire displacement x, so that the target output torque can be easily obtained. On the other hand, as shown in FIG. 11, when a normal spring is used, the output characteristic of the spring varies greatly depending on the displacement, so that the target output torque can only be obtained within a limited range of the displacement x. For this reason, when configuring the energy conversion device 1, it is preferable to use a constant torque spring (or a counterweight mechanism or the like) that is a torque source with a constant output torque.

[0040] [Operation] Next, the operation of the energy conversion device 1 will be described. The energy conversion device 1 can be applied, for example, to a task in which a torque for driving a plurality of loads is output and the total torque of the plurality of loads changes. For ease of explanation, an example will be described in which the energy conversion device 1 drives two loads L1, L2 and repeatedly switches between a first operation in which the total torque of the loads L1, L2 is a first torque T1, and a second operation in which the total torque of the loads L1, L2 is a second torque T2.

[0041] FIG. 12 is a flowchart showing an example of the flow of operations of the energy conversion device 1. FIG. 12 illustrates an example in which the energy conversion device 1 starts an operation from the origin position, performs a predetermined operation, and then executes an operation of returning to the origin position. As shown in FIG. 12, when the energy conversion device 1 operates, first, mechanical energy is stored in the torque source 10 in step S1. At this time, energy equal to or greater than the maximum energy required for a series of operations (operations starting from the origin position and ending with returning to the origin position) executed by the energy conversion device 1 is stored.

[0042] In step S2, the continuously variable transmission 20 is shifted for the first operation. The shifting of the continuously variable transmission 20 can be performed automatically or manually depending on the usage mode of the energy conversion device 1. In step S3, the energy conversion device 1 performs a first operation with a first torque T1. At this time, the operating speed of the energy conversion device 1 becomes a first speed V1. In step S4, the continuously variable transmission 20 is shifted for the second operation. In step S5, the energy conversion device 1 performs a second operation with the second torque T2. At this time, the operating speed of the energy conversion device 1 becomes a second speed V2.

[0043] In step S6, the energy conversion device 1 recovers the energy output in the first and second operations to the torque source 10, and returns from the position after performing the second operation to the position before performing the first operation (the original position). After step S6, the process proceeds to step S2.

[0044] By performing such operations, the energy conversion device 1 can switch between a first operation and a second operation that require different torque, and can recover the energy supplied in these operations to the torque source 10. Therefore, in the energy conversion device 1, a target operation can be performed with almost no loss of mechanical energy required for a series of operations. That is, the energy conversion device 1 makes it possible to store and utilize mechanical energy more efficiently.

[0045] [Specific application example] Next, specific application examples of the energy conversion device 1 will be described. The energy conversion device 1 can be applied to various objects involving the conversion of mechanical energy, but the objects to which the energy conversion device 1 can be applied can be roughly classified into the following three types.

[0046] [Mechanical energy type] The energy conversion device 1 can be applied to an object whose position can be changed three-dimensionally (i.e., horizontally and vertically). A form in which the energy conversion device 1 is applied to an object whose position can be changed three-dimensionally is hereinafter referred to as a "mechanical energy type."

[0047] In the mechanical energy type energy conversion device 1, both kinetic energy and potential energy change during its operation. In the mechanical energy type energy conversion device 1, the mechanical energy required for operation is supplied from the torque source 10 to operate the energy conversion device 1, and the mechanical energy released in the process until the end of the operation can be recovered to the torque source 10. The recovered mechanical energy can be supplied again as energy for operation. The mechanical energy type energy conversion device 1 can be configured as, for example, an industrial robot, a humanoid robot, a power-assisted suit, a roller coaster, a motor glider, a submarine, or the like. As an example of a mechanical energy type, the configuration of an industrial robot incorporating the energy conversion device 1 will be described.

[0048] FIG. 13 is a schematic diagram showing a configuration example of an industrial robot 100 incorporating the energy conversion device 1. As shown in FIG. FIG. 14 is a block diagram showing a functional configuration of an industrial robot 100 incorporating the energy conversion device 1. As shown in FIG. 13, the industrial robot 100 is a vertical multi-joint robot having six joints, and among the multiple joints, the energy conversion device 1 is applied to a first joint J1 that rotates the entire arm around a vertical axis and a second joint J2 that swings the entire arm in the vertical direction. That is, in the industrial robot 100, the first joint J1 and the second joint J2 are target joints that become the load of the energy conversion device 1. It is also possible to apply the energy conversion device 1 to other joints of the industrial robot 100.

[0049] Also, as shown in Figures 13 and 14, an industrial robot 100 incorporating the energy conversion device 1 includes a torque source 10, a continuously variable transmission 20, a differential device 30, a control unit 110, a speed change actuator 120, a first joint J1, and a second joint J2. Of these, the torque source 10, the continuously variable transmission 20, and the differential device 30 have the same configurations as those of the respective components shown in FIG.

[0050] The control unit 110 is configured with an information processing device such as a PC (Personal Computer) or a programmable controller, and controls the operation of the industrial robot 100. Specifically, the control unit 110 controls each joint of the industrial robot 100 according to a predefined program, and causes the industrial robot 100 to perform a target operation. In this embodiment, the control unit 110 changes the speed ratio α of the continuously variable transmission 20 according to the load state by the speed change actuator 120, and controls the torque (torque during driving and during energy recovery) of the first joint J1 and the second joint J2. In addition, the control unit 110 positions each joint of the industrial robot 100, including the first joint J1 and the second joint J2, at a specific position by the first positioning device P1 and the second positioning device P2.

[0051] The transmission actuator 120 changes the gear ratio α of the continuously variable transmission 20 (that is, the meshing height h of the gear G in FIG. 4) in accordance with an instruction from the control unit 110. The first joint J1 is a joint that rotates the entire arm of the industrial robot 100 around a vertical axis. A torque offset is applied to the first joint J1 in one direction around the rotation axis, and when the first joint J1 rotates in this one direction, the torque offset becomes a driving force to rotate the first joint J1. When the first joint J1 rotates in the opposite direction around the rotation axis, the first joint J1 rotates by a driving torque from the differential gear 30.

[0052] Specifically, the first joint J1 includes a first rotation shaft R1, a torque offset spring K, a first positioning device P1, and a first rotary encoder E1. The first rotation axis R1 serves as a rotation axis when the lower arm of the industrial robot 100 swings in the vertical direction. The torque offset spring K is made of an elastic member such as a constant torque spring, and applies a torque (offset torque) that always rotates in one direction (here, clockwise when viewed from above) to the first joint J1.

[0053] The first positioning device P1 fixes the position of the first joint J1 (the rotation angle around the rotation axis R1) at a specific position in accordance with an instruction from the control unit 110. The first positioning device P1 stops the first joint J1 rotated by the offset torque from the torque offset spring K at a specific position, or stops the first joint J1 rotated by the drive torque from the differential gear 30 at a specific position. The first rotary encoder E1 detects the position of the first joint J1 (the rotation angle around the rotation axis R1). The first rotary encoder E1 transmits the detected position of the first joint J1 to the control unit 110.

[0054] The second joint J2 is a joint that swings the lower arm of the industrial robot 100 in the vertical direction, and a torque due to gravity acting on the entire arm and the load held by the arm acts on the second joint J2. Specifically, the second joint J2 includes a second rotation shaft R2, a second positioning device P2, and a second rotary encoder E2. The second rotation axis R2 serves as the rotation axis when the lower arm of the industrial robot 100 swings in the vertical direction.

[0055] The second positioning device P2 fixes the position of the second joint J2 (the rotation angle around the rotation axis R2) at a specific position in accordance with an instruction from the control unit 110. The second positioning device P2 stops the second joint J2 rotated by the driving torque from the differential gear 30 at a specific position, or stops the second joint J2 rotated by the torque caused by gravity or the like acting on the load at a specific position. The second rotary encoder E2 detects the position of the second joint J2 (the rotation angle around the rotation axis R2). The second rotary encoder E2 transmits the detected position of the second joint J2 to the control unit 110.

[0056] With this configuration, in the industrial robot 100 incorporating the energy conversion device 1, when the entire arm is rotated around a vertical axis, in the first rotation direction (here, the counterclockwise direction as viewed from above), a drive torque for rotating the entire arm against the offset torque is applied by the energy supplied from the torque source 10. At this time, the mechanical energy generated by the drive torque from the torque source 10 is accumulated in the torque offset spring K. On the other hand, in the second rotation direction (the clockwise direction as viewed from above), the entire arm is rotated against the drive torque from the differential gear 30 by the offset torque from the torque offset spring K. At this time, the mechanical energy generated by the offset torque from the torque offset spring K is accumulated in the torque source 10.

[0057] When the entire arm is rotated in a first rotation direction about the vertical axis, the gear ratio α of the continuously variable transmission 20 (i.e., the meshing height h of the gear G in FIG. 4) is set so that a driving torque larger than the offset torque is output to the first joint J1. When the entire arm is rotated in a second rotation direction about the vertical axis, the gear ratio α of the continuously variable transmission 20 is set so that a driving torque smaller than the offset torque is output to the first joint J1.

[0058] In addition, in an industrial robot 100 incorporating the energy conversion device 1, when the lower arm is swung vertically upward, a driving torque is provided by the energy supplied from the torque source 10. When the lower arm is swung vertically downward, a torque due to gravity acting on the arm and the load is provided, and the potential energy reduced with the movement of the lower arm is recovered by the torque source 10. When the lower arm is swung vertically upward, the gear ratio α of the continuously variable transmission 20 is set so that a driving torque greater than the magnitude of the torque caused by gravity acting on the arm and the load is output to the second joint J2. When the lower arm is swung vertically downward, the gear ratio α of the continuously variable transmission 20 is set so that a driving torque smaller than the magnitude of the torque caused by gravity acting on the arm and the load is output to the second joint J2.

[0059] In other words, in the industrial robot 100 incorporating the energy conversion device 1, with regard to the horizontal movement of the entire arm, in a first rotation direction, the arm is rotated by torque from the torque source 10 and mechanical energy is stored in the torque offset spring K, and in a second rotation direction, the arm is rotated by offset torque and mechanical energy is stored in the torque source 10.

[0060] In addition, in the industrial robot 100 incorporating the energy conversion device 1, with regard to the vertical movement of the arm and load, energy is supplied from the torque source 10 to operate them vertically upward and increase potential energy, and gravity is used to operate them vertically downward and mechanical energy is stored in the torque source 10. Therefore, the industrial robot 100 incorporating the energy conversion device 1 can store and utilize mechanical energy more efficiently.

[0061] [Potential energy type] The energy conversion device 1 can be applied to an object whose position can be changed in the vertical direction. A form in which the energy conversion device 1 is applied to an object whose position can be changed in the vertical direction is hereinafter referred to as a "potential energy type."

[0062] In the operation of the potential energy type energy conversion device 1, mainly potential energy changes. In the potential energy type energy conversion device 1, the potential energy required for operation is supplied from the torque source 10 to operate the energy conversion device 1, and the potential energy that decreases during the process until the end of the operation can be recovered to the torque source 10. The recovered potential energy can be supplied again as energy for operation. The potential energy type energy conversion device 1 can be configured, for example, as a multi-story parking lot / bicycle parking lot, a crane, an elevator, an escalator, a stair lift, a loading platform lift, a SCARA robot, a machine tool, a hydroelectric power generation facility (equipment that accumulates energy in a torque source 10 by discharging surplus electricity or stored water, and then pumps water using the energy of the torque source 10), etc. As an example of a potential energy type, the configuration of a multi-storey car park incorporating the energy conversion device 1 will be described.

[0063] FIG. 15 is a schematic diagram showing a configuration example of a multi-story parking device 200 incorporating the energy conversion device 1. As shown in FIG. FIG. 16 is a block diagram showing the functional configuration of a multi-story parking device 200 incorporating the energy conversion device 1. As shown in FIG. As shown in Fig. 15, the multi-story parking device 200 is configured as a multi-story parking device equipped with multiple pallets that can be raised and lowered, and the energy conversion device 1 is applied to raising and lowering the multiple pallets. For ease of explanation, an example in which two pallets are installed will be described here. When two pallets are installed, one or both of them will perform a raising and lowering operation, and during this raising and lowering operation, the energy conversion device 1 supplies and recovers potential energy.

[0064] As shown in Figures 15 and 16, a multi-story parking device 200 incorporating the energy conversion device 1 includes a torque source 10, a continuously variable transmission 20, a differential device 30, a control unit 110, a shift actuator 120, a first pallet PL1, and a second pallet PL2. Of these, the torque source 10, the continuously variable transmission 20, and the differential device 30 have the same configurations as those of the respective components shown in FIG.

[0065] The control unit 110 is configured with an information processing device such as a PC or a programmable controller, and controls the operation of the multi-story parking device 200. Specifically, the control unit 110 controls the lifting and lowering operation of the multi-story parking device 200 in accordance with a predefined program. In this embodiment, the control unit 110 changes the gear ratio α of the continuously variable transmission 20 according to the load state using the shift actuator 120, and controls the torque (torque during driving and energy recovery) in the lifting and lowering operation of the multi-story parking device 200.

[0066] The transmission actuator 120 changes the gear ratio α of the continuously variable transmission 20 (that is, the meshing height h of the gear G in FIG. 4) in accordance with an instruction from the control unit 110. The first pallet PL1 has storage spaces for automobiles on the upper and lower levels, and is equipped with a lifting mechanism EL1 that lifts and lowers the entire first pallet PL1. The first pallet PL1 is moved vertically upward by the driving torque from the differential gear 30, and is moved vertically downward by gravity acting on the first pallet PL1 and the automobiles stored therein. By being lifted and lowered vertically, the storage spaces on the upper or lower levels are moved to ground level, allowing automobiles to be stored or removed. In this embodiment, the first pallet PL1 is positioned at a specific position (the height of the upper and lower levels determined in advance) by stoppers installed at the upper and lower limit positions in the lifting and lowering direction.

[0067] The second pallet PL2 has storage spaces for automobiles on the upper and lower levels, and is equipped with a lifting mechanism EL2 that lifts and lowers the entire second pallet PL2. The second pallet PL2 is moved vertically upward by the driving torque from the differential gear 30, and is moved vertically downward by gravity acting on the second pallet PL2 and the automobiles stored therein. By being lifted and lowered vertically, the storage spaces on the upper or lower levels are moved to ground level, allowing automobiles to be stored or removed. In this embodiment, the second pallet PL2 is positioned at a specific position (the height of the upper and lower levels determined in advance) by stoppers installed at the upper and lower limit positions in the lifting and lowering direction.

[0068] With this configuration, in the multi-story parking device 200 incorporating the energy conversion device 1, when the first pallet PL1 and the second pallet PL2 are moved vertically upward, a driving torque is provided by the energy supplied from the torque source 10. Also, when the first pallet PL1 and the second pallet PL2 are moved vertically downward, a torque due to gravity acting on the first pallet PL1 and the second pallet PL2 or the automobiles stored therein is provided, and the potential energy decreased with the elevation and lowering of the first pallet PL1 and the second pallet PL2 is recovered by the torque source 10.

[0069] When the first pallet PL1 and the second pallet PL2 are moved vertically upward, the speed ratio α of the continuously variable transmission 20 (i.e., the meshing height h of the gear G in FIG. 4) is set so that a driving torque greater than the magnitude of the torque due to gravity acting on the first pallet PL1 and the second pallet PL2 or the automobiles stored therein is output to the lifting mechanisms EL1, EL2 of the first pallet PL1 and the second pallet PL2. When the first pallet PL1 and the second pallet PL2 are moved vertically downward, the speed ratio α of the continuously variable transmission 20 is set so that a driving torque smaller than the magnitude of the torque due to gravity acting on the first pallet PL1 and the second pallet PL2 or the automobiles stored therein is output to the lifting mechanisms EL1, EL2 of the first pallet PL1 and the second pallet PL2.

[0070] In other words, in the multi-story parking device 200 incorporating the energy conversion device 1, with regard to the vertical movement of the first pallet PL1 and the second pallet PL2, energy is supplied from the torque source 10 to operate them vertically upward and increase the potential energy, and gravity is used to operate them vertically downward and mechanical energy is stored in the torque source 10. Therefore, according to the multi-story parking device 200 incorporating the energy conversion device 1, mechanical energy can be stored and utilized more efficiently.

[0071] [Kinetic energy type] The energy conversion device 1 can be applied to an object whose position can be changed in the horizontal direction. A form in which the energy conversion device 1 is applied to an object whose position can be changed in the horizontal direction is hereinafter referred to as a "kinetic energy type."

[0072] In the operation of the kinetic energy type energy conversion device 1, mainly kinetic energy is changed. In the kinetic energy type energy conversion device 1, the kinetic energy required for operation is supplied from the torque source 10 to operate the energy conversion device 1, and the kinetic energy that decreases during the process until the end of the operation can be recovered to the torque source 10. The recovered kinetic energy can be supplied again as energy for operation. The kinetic energy type energy conversion device 1 can be configured as, for example, an automobile, a bicycle, a motorbike, a train, an electric wheelchair, personal mobility, a playground equipment such as a coffee cup or a merry-go-round, a space manipulator, or the like. As an example of the kinetic energy type, the configuration of an automobile incorporating the energy conversion device 1 will be described.

[0073] FIG. 17 is a schematic diagram showing a configuration example of an automobile 300 incorporating the energy conversion device 1. As shown in FIG. FIG. 18 is a block diagram showing the functional configuration of an automobile 300 incorporating the energy conversion device 1. As shown in FIG. As shown in FIG. 17, the automobile 300 is configured as an automobile equipped with a torque assist system and a regenerative braking system, and the energy conversion device 1 is applied to driving and braking of the wheels. The automobile 300 is equipped with a driving source M such as an engine or an electric motor, and the energy conversion device 1 applies an assist torque to the driving torque from the driving source M. For ease of explanation, the following will be described taking as an example a case where there are two driving wheels. In the automobile 300, one or both wheels output a driving force when driving, and one or both wheels output a braking force when braking. In these driving and braking operations, the energy conversion device 1 supplies and recovers kinetic energy.

[0074] As shown in Figures 17 and 18, an automobile 300 incorporating the energy conversion device 1 includes a torque source 10, a continuously variable transmission 20, a reverse gear 310, a differential gear 30, a control unit 110, a gear shift actuator 120, a driving source M, a first wheel WH1, and a second wheel WH2. Of these, the torque source 10, the continuously variable transmission 20, and the differential device 30 have the same configurations as those of the respective components shown in FIG.

[0075] The reverse gear 310 is installed between the output shaft of the continuously variable transmission 20 and the input shaft of the differential gear 30, and switches the direction of transmission of rotation between the output shaft of the continuously variable transmission 20 and the input shaft of the differential gear 30. Specifically, when the driving torque is output from the continuously variable transmission 20 to the differential gear 30, the reverse gear 310 rotates (forward) the input shaft of the differential gear 30 in the same direction as the output shaft of the continuously variable transmission 20. In addition, when the regenerative torque is input from the differential gear 30 to the continuously variable transmission 20, the reverse gear 310 rotates (reverse) the output shaft of the continuously variable transmission 20 in the opposite direction to the input shaft of the differential gear 30. Therefore, when the automobile 300 is moving forward and a driving torque is applied to the first wheel WH1 and the second wheel WH2 to accelerate the automobile 300, the output shaft of the continuously variable transmission 20 and the input shaft of the differential gear 30 rotate in the same direction, and energy is supplied from the torque source 10. On the other hand, when the automobile 300 is moving forward and regenerative torque is input from the first wheel WH1 and the second wheel WH2 to decelerate (brake) the automobile 300, the output shaft of the continuously variable transmission 20 and the input shaft of the differential device 30 rotate in opposite directions, and energy is stored in the torque source 10.

[0076] The control unit 110 is configured by an information processing device such as an in-vehicle computer, and controls the operation of the automobile 300. Specifically, the control unit 110 controls the driving and regenerative braking of the automobile 300 according to a predefined program. In this embodiment, the control unit 110 changes the gear ratio α of the continuously variable transmission 20 by the shift actuator 120 according to the load state during driving (the driving torque required for the first wheel WH1 and the second wheel WH2). That is, the control unit 110 controls the driving torque during acceleration of the automobile 300. In addition, the control unit 110 changes the gear ratio α of the continuously variable transmission 20 by the shift actuator 120 according to the load state during braking (the braking torque required for the first wheel WH1 and the second wheel WH2). That is, the control unit 110 controls the regenerative torque during deceleration of the automobile 300. The transmission actuator 120 changes the gear ratio α of the continuously variable transmission 20 (that is, the meshing height h of the gear G in FIG. 4) in accordance with an instruction from the control unit 110. The drive source M is configured by an engine, an electric motor, or the like, and generates a drive force for rotating the first wheel HW1 and the second wheel WH2.

[0077] With this configuration, when the automobile 300 incorporating the energy conversion device 1 accelerates, a driving torque is applied from the torque source 10 to the first wheel WH1 and the second wheel WH2, increasing the kinetic energy of the automobile 300. When the automobile 300 incorporating the energy conversion device 1 decelerates (braks), a regenerative torque is input from the first wheel WH1 and the second wheel WH2 to the torque source 10, and energy is recovered by the torque source 10 of the automobile 300.

[0078] When accelerating the automobile 300, the gear ratio α (i.e., the meshing height h of the gear G in FIG. 4) of the continuously variable transmission 20 is set so that the target drive torques of the first wheel WH1 and the second wheel WH2 are output. When decelerating (braking) the automobile 300, the gear ratio α of the continuously variable transmission 20 is set so that the target braking torques of the first wheel WH1 and the second wheel WH2 are output. In other words, when accelerating, an automobile 300 incorporating the energy conversion device 1 supplies energy from the torque source 10 and increases kinetic energy, and when decelerating, it reduces kinetic energy and stores mechanical energy in the torque source 10.

[0079] Therefore, the automobile 300 incorporating the energy conversion device 1 can store and utilize mechanical energy more efficiently. In the above description, the energy conversion device 1 has been described as providing an assist torque to the driving torque from the driving source M, but this is not limited to this. For example, the automobile 300 may be accelerated only by the driving torque from the torque source 10 when starting off.

[0080] [Variation 1] In the above-described embodiment, two loads are connected to the differential gear 30, and the torque from the torque source 10 is distributed to these loads, and the torques from the loads are integrated and input to the torque source 10. In contrast, by installing a plurality of differential devices 30 in series, a plurality of loads can be connected in various connection patterns.

[0081] FIG. 19 is a schematic diagram showing a configuration example of the energy conversion device 1 in which a plurality of differential gears 30 are installed in series. As shown in FIG. 19, the energy conversion device 1 can connect any number of loads (first load to n-th load (n is an integer of 2 or more)) by installing a plurality of differential devices 30 in series. For example, a configuration may be adopted in which all joints of an industrial robot having six joints are used as loads, and the six loads are connected by a plurality of differential gears 30. In this case, as an example, the second differential gear 30 can be connected to one output shaft of the first differential gear 30, and the third differential gear 30 can be connected to the other output shaft, while the fourth differential gear 30 can be connected to any one of the four output shafts of the second differential gear 30 or the third differential gear 30, and the fifth differential gear 30 can be connected to the other output shaft. In this way, by installing multiple differential devices 30 in series, one torque source 10 can provide energy to more loads or recover energy from more loads, making it possible to make the device smaller and lighter and simplifying energy management.

[0082] [Variation 2] In the above-described embodiment, when performing a horizontal movement (such as a rotational movement around a vertical axis), an offset torque is applied in one direction, and when moving in this one direction, the offset torque is used to operate, and when moving in the opposite direction to the one direction, the torque from the torque source 10 is used to operate. In contrast, by installing the energy conversion devices 1 symmetrically across the load, it is possible to perform bidirectional drive and energy recovery in horizontal operation.

[0083] FIG. 20 is a schematic diagram showing a configuration example of an energy conversion device 400 in which the energy conversion devices 1 are arranged symmetrically with respect to a load. 20, the energy conversion device 400 includes an energy conversion device 1A, an energy conversion device 1B, and two loads L1 and L2. The number of loads can be changed depending on the purpose. The energy conversion device 1 can also include a control unit that controls the gear ratio α of the continuously variable transmission 20, a positioning device that fixes the position of the load to a specific position, and the like. The energy conversion devices 1A and 1B have the same configuration as the energy conversion device 1 shown in Fig. 1. However, the relationship between the rotation direction of the output shaft of the differential device 30 and the operation direction of the loads L1 and L2 in the energy conversion device 1A is configured to be opposite to the relationship between the rotation direction of the output shaft of the differential device 30 and the operation direction of the loads L1 and L2 in the energy conversion device 1B.

[0084] That is, when energy is supplied from the energy conversion device 1A (when the output shaft of the differential device 30 of the energy conversion device 1A rotates in a first direction), the loads L1 and L2 operate in a first direction, and when energy is supplied from the energy conversion device 1B (when the output shaft of the differential device 30 of the energy conversion device 1B rotates in the first direction), the loads L1 and L2 operate in a second direction opposite to the first direction. For example, if the load L1 is a joint that rotates around a vertical axis, when energy is supplied from the energy conversion device 1A and the output shaft of the differential device 30 rotates in a first direction, the load L1 rotates clockwise around the vertical axis when viewed from above. In this case, when energy is supplied from the energy conversion device 1B and the output shaft of the differential device 30 rotates in the first direction, the load L1 rotates counterclockwise around the vertical axis as viewed from above.

[0085] In addition, in the energy conversion device 400, when energy is supplied from the energy conversion device 1A and the loads L1, L2 operate in a first direction, in addition to the torque that drives the loads L1, L2, a torque that accumulates energy in the torque source 10 of the energy conversion device 1B is also output. Similarly, when energy is supplied from the energy conversion device 1B and the loads L1, L2 operate in a second direction opposite to the first direction, in addition to the torque driving the loads L1, L2, a torque storing energy in the torque source 10 of the energy conversion device 1A is also output.

[0086] Therefore, even in a load that performs an operation without a change in potential energy, the energy conversion devices 1A and 1B can output torque to perform a reciprocating operation while supplying and recovering energy. Therefore, the energy conversion device 400 can store and utilize mechanical energy more efficiently.

[0087] [Variation 3] In the above-described embodiment, the output shaft of the continuously variable transmission 20 and the input shaft of the differential device 30 are connected to each other, and the speed varying function of the continuously variable transmission 20 and the torque integration and distribution function of the differential device 30 are independently performed, but this is not limited to the above. That is, by interlocking the input shaft of the continuously variable transmission 20 with one of the output shafts of the differential 30A, the relative rotation speed between the input shaft and the output shaft of the differential 30 can be controlled by the speed varying function of the continuously variable transmission 20. Then, by connecting the next-stage differential 30 to the output shaft that is not interlocked with the input shaft of the continuously variable transmission 20 out of the two output shafts of the differential 30, and connecting a load to the output shaft of this differential 30, it becomes possible to control the rotation speed and torque of the load. FIG. 21 is a schematic diagram showing a configuration example of the energy conversion device 1 in the case where the relative rotation speed between the input shaft and the output shaft of the differential device 30 is controlled by the speed varying function of the continuously variable transmission 20. In FIG. As shown in Fig. 21, in the energy conversion device 1 of this modification, a first-stage differential 30A is connected to the output shaft of the continuously variable transmission 20, an input shaft of the continuously variable transmission 20 and one of the output shafts of the differential 30A are interlocked, and a second-stage differential 30B is connected to the other of the output shafts of the differential 30A. Specifically, the output shaft of the continuously variable transmission 20 is connected to an input shaft 32 of the differential 30A, and the input shaft of the continuously variable transmission 20 and one of the output shafts of the differential 30 (here, the first output shaft 35) are interlocked by a power transmission member such as a timing belt. Furthermore, the other of the output shafts of the differential 30A (here, the second output shaft 38) is connected to the input shaft 32 of the next-stage continuously variable transmission 30B. In the differential devices 30A and 30B, the rotational speed of one output shaft (e.g., second output shaft 38) changes depending on the rotational speed of the other output shaft (e.g., first output shaft 35) relative to the rotational speed of the input shaft 32 (i.e., the rotational speed of the case 31). Therefore, in the differential devices 30A, 30B, by controlling the rotational speed of the input shaft 32 and the rotational speed of one of the output shafts (e.g., the first output shaft 35), the other output shaft (e.g., the second output shaft 38) can be rotated in the forward direction, rotated in the reverse direction, or placed in a non-rotating state. By utilizing this feature, it is possible to control the rotation direction of the load connected to the output shaft of the differential device 30B to be the same as or opposite to the rotation direction of the output shaft of the torque source 10 without using a reversing device or the like. Therefore, when energy is output from the torque source 10, the load can be rotated in the forward and reverse directions relative to the rotational direction of the output shaft of the torque source 10. Furthermore, regardless of the direction in which the output shaft of the differential device 30B rotates due to the input from the load, it is possible to rotate the output shaft of the torque source 10 in a direction in which energy is recovered (i.e., energy regeneration).

[0088] As described above, the energy conversion device 1 according to the present invention includes the torque source 10 and the continuously variable transmission 20. Torque source 10 is capable of providing and storing mechanical energy. The continuously variable transmission 20 has an input shaft connected to the torque source 10, and is capable of changing the gear ratio while the input and output shafts are not rotating. This allows the energy conversion device 1 to switch between a plurality of operations that require different torques, and to recover to the torque source 10 the energy supplied in these operations. Therefore, in the energy conversion device 1, a target operation can be performed with almost no loss of mechanical energy required for a series of operations. That is, the energy conversion device 1 makes it possible to store and utilize mechanical energy more efficiently.

[0089] The continuously variable transmission 20 includes a sun gear 21, planetary gears 22a and 22b, a cylindrical portion C, timing belts 27a and 27b, and tension adjustment pulleys 28a to 28d. The sun gear 21 is a sun gear whose pitch circle has a diameter that varies in the direction along the tooth trace. The planetary gears 22a, 22b are planetary gears whose pitch circle diameters differ in the direction along the tooth trace, and whose meshing positions with the sun gear 21 are relatively movable along the tooth trace. The cylindrical portion C is disposed coaxially with the rotation axes of the planetary gears 22a, 22b, and constitutes a pulley that rotates integrally with the planetary gears 22a, 22b. The timing belts 27a and 27b are wound around the cylindrical portion C to press the planetary gears 22a and 22b against the sun gear 21 and to serve as fixed portions for the revolution of the planetary gears 22a and 22b. The tension adjustment pulleys 28a to 28d apply tension to the timing belts 27a and 27b. As a result, a gain can be applied to the input from the input side of the continuously variable transmission 20 and output from the output side, and the inverse of the gain can be applied to the input from the output side and output from the input side. Also, by relatively moving the sun gear 21 and the planetary gears 22a, 22b in a direction along the tooth trace, it is possible to change the gain (speed ratio) of the continuously variable transmission 20 in a non-rotating state.

[0090] The energy conversion device 1 includes a plurality of timing belts 27a, 27b that press the cylindrical portions C of the planetary gears 22a, 22b, which are positioned at different phases in the revolution orbits of the planetary gears 22a, 22b, against the sun gear 21. This makes it possible to press the planetary gears 22a, 22b against the sun gear 21, regardless of the position of the planetary gears 22a, 22b in the orbit. Also, even if the orbital radius of the planetary gears 22a, 22b changes, it becomes possible to flexibly change the size (circumferential length) of the fixed portion with respect to the revolution of the planetary gears 22a, 22b.

[0091] The input shaft is connected to the output shaft of the continuously variable transmission 20, and a differential 30 is provided for transmitting mechanical energy between the input shaft and a plurality of output shafts. This makes it possible to distribute the torque from the torque source 10 to a plurality of loads, and also makes it possible to integrate the torque from a plurality of loads and input it to the torque source 10 .

[0092] The second differential 30 is connected in series to the output shaft of the first differential 30 . This makes it possible to distribute torque to a required number of loads by selecting the number of differential devices 30 to be connected in series.

[0093] The torque source 10 supplies energy to a load whose potential energy and / or kinetic energy changes and stores energy from the load. This makes it possible to supply and store energy to loads whose potential energy changes primarily, loads whose kinetic energy changes primarily, and loads whose potential energy and kinetic energy change primarily.

[0094] Torque source 10 supplies energy to a reciprocating load in one direction and stores energy in the other direction. This makes it possible to suppress the loss of energy required for the reciprocating motion of the load, and to store and utilize mechanical energy more efficiently.

[0095] The load is driven by a drive source M different from the torque source 10. The torque source 10 drives a load either in cooperation with a drive source or alone. This makes it possible to incorporate the energy conversion device 1 into an object having a driving source M, and to store and utilize mechanical energy more efficiently.

[0096] The torque source 10 accumulates regenerative energy input from the load side when braking the operation of the load. This makes it possible to suppress the loss of kinetic energy and to store and utilize mechanical energy more efficiently.

[0097] In the above embodiment and modified example, a structural example in which two planetary gears 22a, 22b are arranged around the sun gear 21 has been described, but the present invention is not limited to this. In other words, as long as a planetary gear mechanism can be configured, the number of planetary gears arranged around the sun gear 21 can be one or three or more. In addition, in the above-described embodiment and modified examples, the sizes and shapes of the torque source 10, the continuously variable transmission 20, the differential device 30, etc. are shown as examples and are not limited to these. In other words, the sizes and shapes of the torque source 10, the continuously variable transmission 20, the differential device 30, etc. can be changed in various ways depending on the purpose of installing the energy conversion device 1, the type or size of the load, etc.

[0098] Furthermore, the present invention can be implemented by appropriately combining the above-described embodiments and modifications. The processes in the above-described embodiments can be executed by either hardware or software. That is, it is sufficient that the energy conversion device 1 has a function capable of executing the above-mentioned processes, and the functional configuration and hardware configuration for realizing this function are not limited to the above-mentioned examples.

[0099] The above embodiment shows an example of application of the present invention, and does not limit the technical scope of the present invention. In other words, the present invention can be modified in various ways, such as omissions and substitutions, without departing from the gist of the present invention, and various embodiments other than the above embodiment can be adopted. The various embodiments and modifications that the present invention can adopt are included in the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0100] 1, 1A, 1B, 400 Energy conversion device, 10 Torque source, 20 Continuously variable transmission, 21 Sun gear, 22a, 22b Planetary gear, 23 Toothed idler, 24a, 24b Carrier, 25 Input side support member, 26 Output side support member, 27a, 27b Timing belt, 28a to 28d Tension adjustment pulley, 30, 30A, 30B Differential device, 31 Case, 32 Input shaft, 33 Input side bevel gear, 34 Ring gear, 35 First output shaft, 36 First output side bevel gear, 37 Differential bevel gear, 38 Second output shaft, 39 Second output side bevel gear, L1, L2 Load, G Gear, C Cylindrical part, 100 Industrial robot, J1 First joint, J2 Second joint, 110 Control unit, 120 Speed ​​change actuator, R1 First rotating shaft, K Torque offset spring, P1 first positioning device, E1 first rotary encoder, R2 second rotary shaft, P2 second positioning device, E2 second rotary encoder, 200 multi-story parking device, PL1 first pallet, PL2 second pallet, EL1, EL2 lifting mechanism, 300 automobile, 310 reversing device, WH1 first wheel, WH2 second wheel

Claims

1. A torque source capable of supplying and storing mechanical energy; a variable gain mechanism having an input shaft connected to the torque source and capable of changing a gear ratio in a state in which the input and output shafts are stationary; Equipped with The variable gain mechanism includes: a sun gear having a pitch circle with a different diameter in a direction along the tooth trace; a planetary gear having a pitch circle with a different diameter in a direction along the tooth trace, and a meshing position with the sun gear that is movable relatively along the tooth trace, an energy conversion device, characterized in that one of an input shaft and an output shaft is connected to the sun gear, and the other of the input shaft and output shaft is connected to a carrier supporting the planetary gears, and the sun gear and the planetary gears move along the tooth trace, thereby making it possible to change the gear ratio while the input and output shafts are not rotating.

2. The variable gain mechanism includes: A pulley that is installed coaxially with the rotation axis of the planetary gear and rotates integrally with the planetary gear; a rope member that is wound around the pulley to press the planetary gear against the sun gear and serve as a fixing portion for the planetary gear against revolution; A tension adjusting unit that applies tension to the cable member; The energy conversion device according to claim 1, further comprising:

3. 3. The energy conversion device according to claim 2, further comprising a plurality of said spur members for pressing said pulleys, which are positioned at different phases in the revolution orbit of said planetary gear, against said sun gear.

4. 2. The energy conversion device according to claim 1, further comprising a differential device, the differential device having an input shaft connected to an output shaft of the variable gain mechanism, for transmitting mechanical energy between the input shaft and a plurality of output shafts.

5. 5. The energy conversion device according to claim 4, wherein the second differential device is connected in series to an output shaft of the first differential device.

6. 6. The energy conversion device according to claim 1, wherein the torque source supplies energy to a load whose potential energy or kinetic energy changes and stores energy from the load.

7. 7. The energy conversion device according to claim 1, wherein the torque source supplies energy in one direction of a load performing reciprocating motion and stores energy in the other direction of motion.

8. a drive source different from the torque source for driving a load; 8. The energy conversion device according to claim 1, wherein the torque source drives a load in cooperation with the drive source or independently.

9. 9. The energy conversion device according to claim 1, wherein the torque source stores regenerative energy input from a load side when braking the operation of the load.

10. a sun gear having a pitch circle with a different diameter in a direction along the tooth trace; a planetary gear having a pitch circle with a different diameter in a direction along the tooth trace, and a meshing position with the sun gear that is movable relatively along the tooth trace; A pulley that is installed coaxially with the rotation axis of the planetary gear and rotates integrally with the planetary gear; a rope member that is wound around the pulley to press the planetary gear against the sun gear and serve as a fixing portion for the planetary gear against revolution; A tension adjusting unit that applies tension to the cable member; Equipped with A variable gain mechanism, characterized in that one of an input shaft and an output shaft is connected to the sun gear, and the other of the input shaft and the output shaft is connected to a carrier supporting the planetary gears.

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