An object of the present invention is to provide a driving apparatus for a mobile platform in which a continuously variable transmission, for example, a centrifugal CVT, having a mobile driving pulley having a centrifugal weight support structure is applied to a tracked or wheeled mobile robot platform. The driving apparatus of the mobile platform according to the present invention may comprise: a driving unit; a continuously variable transmission unit including a driving pulley member driven according to driving of the driving unit, a driven pulley member driven according to the driving of the driving pulley member, and a belt member connecting the driven pulley member and the driving pulley member; a driven pulley speed detection unit provided in the driven pulley member and detecting a rotation speed of the driven pulley member; and a control unit controlling a driving speed of the driving unit according to a detected value of the driven pulley speed detection unit. In addition, the driving apparatus of the mobile platform as described above may be various according to embodiments.
본 발명에 따른 이동플랫폼의 구동장치는, 구동부, 구동부의 구동에 따라 구동되는 구동풀리부재, 구동풀리부재의 구동에 따라 구동되는 종동풀리부재 및 종동풀리부재와 구동풀리부재를 연결하는 벨트부재를 포함하는 무단변속부, 종동풀리부재에 구비되고, 종동풀리부재의 회전 속도를 검출하는 종동풀리 속도 검출부 및 종동풀리 속도 검출부의 검출값에 따라 구동부의 주행속도를 제어하는 제어부를 포함할 수 있다. 또한, 상기와 같은 이동플랫폼의 구동장치는 실시예에 따라 다양할 수 있다.
Driving apparatus of mobile platform
이동플랫폼의 구동장치
2020-08-19
Patent
Elektronische Ressource
Koreanisch
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