CN102518757A

CN102518757A - Variable-speed gear of robotic vehicle

Info

Publication number: CN102518757A
Application number: CN2011104173260A
Authority: CN
Inventors: 姬江涛; 贺智涛; 李玉柱; 高吭; 杜新武; 杜蒙蒙; 郑治华
Original assignee: Henan University of Science and Technology
Current assignee: Henan University of Science and Technology
Priority date: 2011-12-14
Filing date: 2011-12-14
Publication date: 2012-06-27

Abstract

A variable-speed gear of a robotic vehicle comprises an input shaft, a gear shifting shaft and an output shaft. A spur gear I, a spur gear II and a spur gear IV are arranged on the output shaft, a spur gear III, a spur gear V and a spur gear VI are arranged on the gear shifting shaft, the spur gear V and the spur gear VI are duplicate gears, and a displacement regulating mechanism for regulating meshing position of the duplicate gears is arranged at one end of the gear shifting shaft. The variable-speed gear is driven by a linear stepping motor, is capable of realizing accurate control of meshing among different gears and realizing automatic speed changing without hand operation, and further is capable of reducing speed while increasing torque or increasing speed by allocation of different numbers of teeth.

Description

A kind of robotic vehicle speed change gear

Technical field

The present invention relates to a kind of robotic vehicle, especially relate to a kind of robotic vehicle speed change gear.

Background technique

At present, mostly the speed change gear of robotic vehicle is following two kinds of structures: one of which, employing direct current or speed regualtion of AC motor reach the purpose that changes the robotic vehicle gait of march.This gear shift mode can't play to slow down and increase the effect of square; Two, directly motor is not carried out speed governing, but adopt mechanical gearbox, come speed change hand-manipulated by the people.The automatic speed changing of difficult realization robotic vehicle in traveling process of this gear shift mode.

Summary of the invention

The objective of the invention is deficiency for solving the problems of the technologies described above; A kind of robotic vehicle speed change gear is provided; Realize the automatic speed changing of robotic vehicle in traveling process; Be provided with the displacement regulating mechanism that to adjust the duplicate gear engaging position automatically in this speed change gear, realize the accurately purpose of control speed change.

The present invention is the deficiency that solves the problems of the technologies described above; The technological scheme that is adopted is: a kind of robotic vehicle speed change gear, comprise input shaft, gearshift axle and output shaft, and on output shaft, be provided with spur gear I and spur gear II; On output shaft, be provided with the spur gear IV; On the gearshift axle, be provided with spur gear III, spur gear V and spur gear VI, spur gear V and spur gear VI are duplicate gear, also are provided with the displacement regulating mechanism of this duplicate gear engaging position of adjustment at an end of gearshift axle;

Described gearshift axle is made up of stepped part, columnar portion and spline shaft three parts; Columnar portion and spline shaft are arranged on the stepped part both sides; The spur gear III and the spur gear IV on the output shaft that are arranged on the columnar portion are connected with a joggle; The duplicate gear that is made up of spur gear V and spur gear VI is arranged on the spline shaft, in the end of spline shaft along being provided with slideway on the axial direction;

Described displacement regulating mechanism mainly is made up of linear stepping motor and slide block; Slide block is arranged in the slideway of spline shaft; The duplicate gear that is made up of spur gear V and spur gear VI is connected with slide block through fastener assembly; The pto of linear stepping motor deeply links to each other with slide block to slideway, is used to adjust slide block and moves at slideway.

The invention has the beneficial effects as follows:

The present invention drives through adopting linear stepping motor, can accurately control different gear engagement, does not need manual operations, can realize the self-shifting function; Simultaneously, dispose the different numbers of teeth, can realize slows down increases the function of square or speedup.

Description of drawings

Fig. 1 is a structural representation of the present invention.

Fig. 2 is the structure sectional view of gearshift axle among the present invention.

Fig. 3 is along the sectional schematic diagram of A-A line among Fig. 2.

Reference character: 1, input shaft, 2, gearshift axle, 3, output shaft, 4, the displacement regulating mechanism, 101, the spur gear I; 102, spur gear II, 201, the spur gear III, 202, the spur gear V, 203, the spur gear VI, 204, slideway; 205, stepped part, 206, columnar portion, 207, spline shaft, 208, groove; 301, spur gear IV, 401, linear stepping motor, 402, slide block, 403, fastener assembly.

Embodiment

As shown in the figure; A kind of robotic vehicle speed change gear; Comprise input shaft 1, gearshift axle 2, output shaft 3 and be used for fixing the frame of input shaft 1, gearshift axle 2 and output shaft 3, the pto of driving mechanism links to each other with an end of input shaft 1, on output shaft 1, is provided with spur gear I 101 and spur gear II 102; On output shaft 3, be provided with spur gear IV 301; On gearshift axle 2, be provided with spur gear III 201, spur gear V 202 and spur gear VI 203, spur gear V 202 is a duplicate gear with spur gear VI 203, also is provided with the displacement regulating mechanism 4 of this duplicate gear engaging position of adjustment at an end of gearshift axle 2; Be connected with a joggle through adjusting duplicate gear and spur gear I 101 or spur gear II 102, reach the purpose of speed change;

Described gearshift axle 2 is made up of stepped part 205, columnar portion 206 and spline shaft 207 3 parts; Columnar portion 206 is arranged on stepped part 205 both sides with spline shaft 207; The spur gear III 201 that is arranged on the columnar portion is connected with a joggle with spur gear IV 301 on the output shaft; The duplicate gear that is made up of spur gear V 202 and spur gear VI 203 is arranged on the spline shaft 207, and described stepped part 205 is an annular boss, and a side is used to locate spur gear III 201; Opposite side is used to be provided with duplicate gear, in the end of spline shaft 207 along being provided with slideway 204 on the axial direction;

Described displacement regulating mechanism 4 mainly is made up of linear stepping motor 401 and slide block 402, and slide block 402 is arranged in the slideway 204 of spline shaft, the duplicate gear that constitutes by spur gear V 202 and spur gear VI 203 through fastener assembly 403 for example screw be connected with slide block 402; Because spline shaft 207 outsides are provided with two hook strips grooves 208; Two hook strips grooves 208 are connected with slideway respectively, and the slide block in fastener assembly 403 passes the hook groove and is arranged on slideway is connected, therefore; The fastener assembly 403 that links to each other with slide block 402 can move in the hook groove; The pto of linear stepping motor 401 deeply links to each other with slide block 402 to slideway 204, drives linear stepping motor 401, and motor output shaft drives duplicate gear through slide block 402 and on spline shaft 207, moves; The engaging position relation of adjustment duplicate gear; Reach the purpose of speed change, wherein dispose the different numbers of teeth of spur gear I 101, spur gear II 102, spur gear V 202 and spur gear VI 203, can realize different velocity ratios.

Claims

1. robotic vehicle speed change gear; Comprise input shaft (1), gearshift axle (2) and output shaft (3); On output shaft (1), be provided with spur gear I (101) and spur gear II (102); On output shaft (3), be provided with spur gear IV (301); On gearshift axle (2), be provided with spur gear III (201), spur gear V (202) and spur gear VI (203), spur gear V (202) and spur gear VI (203) are duplicate gear, it is characterized in that: the displacement regulating mechanism (4) that also is provided with this duplicate gear engaging position of adjustment at an end of gearshift axle (2);

Described gearshift axle (2) is made up of stepped part (205), columnar portion (206) and spline shaft (207) three parts; Columnar portion (206) and spline shaft (207) are arranged on stepped part (205) both sides; The spur gear IV (301) that is arranged on spur gear III (201) and the output shaft on the columnar portion (206) is connected with a joggle; The duplicate gear that is made up of spur gear V (202) and spur gear VI (203) is arranged on the spline shaft (207), in the end of spline shaft (207) along being provided with slideway (204) on the axial direction;

Described displacement regulating mechanism (4) mainly is made up of linear stepping motor (401) and slide block (402); Slide block (402) is arranged in the slideway (204) of spline shaft; Be connected with slide block (402) through fastener assembly with the duplicate gear that spur gear VI (203) constitutes by spur gear V (202); The pto of linear stepping motor (401) deeply links to each other with slide block (402) to slideway (204), is used to adjust slide block (402) and moves at slideway (204).