CN105042008A - Speed change device used for ground robot - Google Patents
Speed change device used for ground robot Download PDFInfo
- Publication number
- CN105042008A CN105042008A CN201510406707.7A CN201510406707A CN105042008A CN 105042008 A CN105042008 A CN 105042008A CN 201510406707 A CN201510406707 A CN 201510406707A CN 105042008 A CN105042008 A CN 105042008A
- Authority
- CN
- China
- Prior art keywords
- gear
- shifting slide
- fixed gear
- fixed
- slide gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
Abstract
The invention discloses a speed change device used for a ground robot. The speed change device comprises a stepping motor, a lead screw, a lead screw nut, a fixed gear, a fixed gear shaft, a sliding gear, a sliding gear shaft, a shifting fork and a fixing mechanism. The lead screw and the fixed gear shaft are parallel to the sliding gear shaft. The fixed gear comprises a large fixed gear body and a small fixed gear body which are integrated. The fixed gear is in key connection with the fixed gear shaft. The sliding gear comprises a small sliding gear body and a large sliding gear body which are integrated. The sliding gear is in guide key connection with the sliding gear shaft. The sum of the reference diameter of the large fixed gear body and the reference diameter of the small sliding gear body is equal to the sum of the reference diameter of the small fixed gear body and the reference diameter of the large sliding gear body. All teeth of the gears are sharp in lateral side and thick in middle. When the speed needs to be changed, the stepping motor is controlled to drive the lead screw to rotate, the lead screw nut moves along the lead screw, the sliding gear is driven by the shifting fork to slide, and finally the large fixed gear body can be meshed with the small sliding gear body, or the small fixed gear body can adhere to the large sliding gear body. The speed change device has the advantages of being simple and light in structure, low in cost, capable of being freely switched and high in reliability.
Description
Technical field
The present invention relates to a kind of speed changer, particularly a kind of gearshift of ground robot.
Background technique
Ground robot has higher requirements to flying power, when battery energy density now general not high, the weight that as far as possible must alleviate robot, to reduce energy ezpenditure when advancing, therefore needs to be equipped with volume and the little as far as possible movable motor of weight.The unconvertible robot of reduction speed ratio, can not the requirement of the little moment of simultaneous adaptation level land high speed and upward slope low-speed and large-torque, thus can not adapt to different road conditions.Although existing automatic gear shift apparatus is fairly perfect and stable, be used for vehicle, be difficult to realize volume and reduce, switch freely, be therefore difficult to be applied to ground robot.
Summary of the invention
The object of the invention is the defect for prior art, a kind of speed change gear for ground robot is provided.
A kind of speed change gear of the present invention comprises stepper motor, leading screw, feed screw nut, fixed gear, fixed gear axle, shifting slide gear, shifting slide gear axle, shift fork and fixed mechanism.
Wherein, the output shaft of stepper motor is directly connected with leading screw, can drive screw turns.Feed screw nut is installed on leading screw, can move vertically along with the rotation of leading screw.
Fixed gear comprises the large fixed gear and little fixed gear that arrange vertically, and they are integral type structure, with between fixed gear axle for key is connected.Therefore, large fixed gear, rotate with identical angular velocity all the time between little fixed gear with fixed gear axle.And fixing axially due to the shaft shoulder and nut, make fixed gear cannot sliding axially along fixed gear axle.
Shifting slide gear comprises the little shifting slide gear and large shifting slide gear that arrange vertically, and they are integral type structure, with between shifting slide gear axle for feather key is connected.Therefore, little shifting slide gear, rotate with identical angular velocity all the time between shifting slide gear with shifting slide gear axle greatly.And shifting slide gear can sliding axially along shifting slide gear axle.
Large fixed gear, little fixed gear, little shifting slide gear and large shifting slide gear flank are sharp, are beneficial to the mutual insertion engagement of two gears; Plump in the middle of tooth, be beneficial to the steady transmission after two gears meshing.
The placement parallel with shifting slide gear axle of leading screw, fixed gear axle.
Shift fork one end and feed screw nut are fixed, and the other end leans against on little shifting slide gear and each face of large shifting slide gear.Feed screw nut drives shift fork to move vertically, and meanwhile, shift fork can drive shifting slide gear to move vertically, the circular movement of shifting slide gear then on shift fork without impact.
The standard pitch diameter sum of large fixed gear and little shifting slide gear equals the standard pitch diameter sum of little fixed gear and large shifting slide gear.And large fixed gear can with little shifting slide gear engagement driving, little fixed gear can with large shifting slide gear engagement driving.The standard pitch diameter ratio of the large fixed gear of Reasonable adjustment and little shifting slide gear, the standard pitch diameter ratio of little fixed gear and large shifting slide gear, can obtain different reduction speed ratio.
It is simple, light and handy, with low cost that speed change gear of the present invention has structure, switches freely, the advantage that reliability is high.
Accompanying drawing explanation
Fig. 1 is the speed change gear stereogram that the embodiment of the present invention provides
Fig. 2 is the speed change gear front view that the embodiment of the present invention provides, and wherein A-A represents slice location and sectional view Fig. 3 direction
Fig. 3 is speed change gear lower half portion sectional drawing that the embodiment of the present invention provides
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described in further detail, but not as a limitation of the invention.
As shown in Figure 1, Figure 2 and Figure 3, a kind of speed change gear described in embodiments of the invention comprises stepper motor 1, leading screw 2, feed screw nut 3, fixed gear 4, fixed gear axle 5, shifting slide gear 6, shifting slide gear axle 7, shift fork 8 and fixed mechanism.
Wherein, the output shaft of stepper motor 1 is directly connected with leading screw 2, and leading screw 2 can be driven to rotate.Feed screw nut 3 is installed on leading screw 2, can move vertically along with the rotation of leading screw 2.
Fixed gear 4 comprises the large fixed gear 4A and little fixed gear 4B that arrange vertically, and they are integral type structure, with between fixed gear axle 5 for key is connected.Therefore, large fixed gear 4A, little fixed gear 4B rotate with identical angular velocity all the time with between fixed gear axle 5.And fixing axially due to the shaft shoulder and nut, make fixed gear 4 cannot sliding axially along fixed gear axle 5.
Shifting slide gear 6 comprises the little shifting slide gear 6A and large shifting slide gear 6B that arrange vertically, and they are integral type structure, with between shifting slide gear axle 7 for feather key is connected.Therefore, little shifting slide gear 6A, rotate with identical angular velocity all the time between shifting slide gear 6B with shifting slide gear axle 7 greatly.And shifting slide gear 6 can sliding axially along shifting slide gear axle 7.
The placement parallel with shifting slide gear axle 7 of leading screw 2, fixed gear axle 5.
Shift fork 8 one end and feed screw nut 3 are fixed, and the other end leans against on each face of little shifting slide gear 6A and large shifting slide gear 6B.Feed screw nut 3 drives shift fork 8 to move vertically, and meanwhile, shift fork 8 can drive shifting slide gear 6 to move vertically, the circular movement of shifting slide gear 6 then on shift fork 8 without impact.
If the standard pitch diameter of large fixed gear 4A, little fixed gear 4B, little shifting slide gear 6A and large shifting slide gear 6B is respectively d1, d2, d3 and d4, then should meet following condition d1+d3=d2+d4, and large fixed gear 4A can with little shifting slide gear 6A engagement driving, little fixed gear 4B can with large shifting slide gear 6B engagement driving.The ratio of Reasonable adjustment d1 and d3, d2 and d4, can obtain different reduction speed ratio.
Fixed gear axle 5 and shifting slide gear axle 7 can arbitrarily as driving shaft and driven axles.Whole speed-change process is as follows: control step motor 1 turns an angle, and shifting slide gear 6 moves certain length vertically, makes together with fixed gear 4A is engaged to shifting slide gear 6A.When running into another operating mode, control step motor 1 reverses several angle, and shifting slide gear 6 is reverse mobile certain length vertically, and fixed gear 4B and shifting slide gear 6B is meshed together.Each gear tooth side is all polished very sharp, therefore when shifting slide gear 6 slippage, can ensure that corresponding gear can once engage successfully when 99%; If there is tooth edge just to the situation that cannot engage, controlled formulation gear 4 or shifting slide gear 6 rotate a small angle, again move shifting slide gear 6, just can ensure to engage successfully.Plump in the middle of each wheel tooth, be beneficial to the steady transmission after two gears meshing.
For ground robot, time walking in level land, the gear of less reduction speed ratio can be adopted, to accelerate travelling speed; When rough ground walking or climbing, the gear compared with big retarding ratio can be adopted, to increase driving torque.
Above-described embodiment, the just one of the present invention's more preferably embodiment, the usual change that those skilled in the art carries out within the scope of technical solution of the present invention and replacing all should be included in protection scope of the present invention.
Claims (5)
1. for a speed change gear for ground robot, comprise stepper motor, leading screw, feed screw nut, fixed gear, fixed gear axle, shifting slide gear, shifting slide gear axle, shift fork and fixed mechanism; Leading screw, fixed gear axle and shifting slide gear axle are arranged in parallel; Fixed gear comprises small one and large one two gears of integral type, is connected, cannot moves axially with fixed gear axle key; Shifting slide gear comprises little large two gears of integral type, is that feather key is connected, can moves vertically with shifting slide gear axle; Shift fork one end and feed screw nut are fixed, and the other end leans against on little shifting slide gear and each face of large shifting slide gear.
2. speed change gear according to claim 1, is characterized in that large fixed gear and little shifting slide gear standard pitch diameter sum equal little fixed gear and large shifting slide gear standard pitch diameter sum; Large fixed gear can engage with little shifting slide gear, and little fixed gear can engage with large shifting slide gear.
3. speed change gear according to claim 1, it is characterized in that, when needing speed change, control step driven by motor screw turns, feed screw nut moves along leading screw, drive shifting slide gear to slide by shift fork, finally make large fixed gear engage with little shifting slide gear, or little fixed gear is engaged with large shifting slide gear.
4. speed change gear according to claim 1, is characterized in that, all wheel tooth sides are sharp, middle plump.
5. method for changing speed according to claim 3, is characterized in that, if there is tooth edge just to the situation that cannot engage, controlled formulation gear or shifting slide gear rotate a small angle, again moves shifting slide gear and realizes and the engaging of fixed gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510406707.7A CN105042008A (en) | 2015-07-12 | 2015-07-12 | Speed change device used for ground robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510406707.7A CN105042008A (en) | 2015-07-12 | 2015-07-12 | Speed change device used for ground robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105042008A true CN105042008A (en) | 2015-11-11 |
Family
ID=54448827
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510406707.7A Pending CN105042008A (en) | 2015-07-12 | 2015-07-12 | Speed change device used for ground robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105042008A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005004914A (en) * | 2003-06-13 | 2005-01-06 | Victor Co Of Japan Ltd | Transmission path changeover mechanism of disk drive device |
| CN201651184U (en) * | 2010-04-23 | 2010-11-24 | 南京理工大学 | Two-gear speed change mechanism for small mobile robot |
| CN102588580A (en) * | 2012-02-10 | 2012-07-18 | 陈万荣 | Gear-shifting device of mini-tiller |
| CN202468967U (en) * | 2012-03-16 | 2012-10-03 | 大足县生产力促进中心 | Gear shifting mechanism of miniature tiller |
| CN203384306U (en) * | 2013-08-07 | 2014-01-08 | 韶能集团韶关宏大齿轮有限公司 | Two-shaft type automatic gear shift transmission of synchronizer |
| CN104259520A (en) * | 2014-08-27 | 2015-01-07 | 江苏扬力集团有限公司 | Boring die drive mechanism |
-
2015
- 2015-07-12 CN CN201510406707.7A patent/CN105042008A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005004914A (en) * | 2003-06-13 | 2005-01-06 | Victor Co Of Japan Ltd | Transmission path changeover mechanism of disk drive device |
| CN201651184U (en) * | 2010-04-23 | 2010-11-24 | 南京理工大学 | Two-gear speed change mechanism for small mobile robot |
| CN102588580A (en) * | 2012-02-10 | 2012-07-18 | 陈万荣 | Gear-shifting device of mini-tiller |
| CN202468967U (en) * | 2012-03-16 | 2012-10-03 | 大足县生产力促进中心 | Gear shifting mechanism of miniature tiller |
| CN203384306U (en) * | 2013-08-07 | 2014-01-08 | 韶能集团韶关宏大齿轮有限公司 | Two-shaft type automatic gear shift transmission of synchronizer |
| CN104259520A (en) * | 2014-08-27 | 2015-01-07 | 江苏扬力集团有限公司 | Boring die drive mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106246847B (en) | The variable speed steering mechanism of endless-track vehicle | |
| CN204372143U (en) | A kind of shifting operating device of automatically controlled transfer case | |
| CN103486217A (en) | Continuous-power-shifting two-gear speed changing box | |
| CN201856881U (en) | Speed changing device for electric tricycle | |
| CN203836098U (en) | Electric bicycle one-way gliding system with two-gear structure | |
| CN203796866U (en) | Two-gear speed change mechanism for electric vehicle | |
| CN104097505A (en) | Overdrive transmission device convenient for steering switching | |
| EP3012486B1 (en) | Flexibly engaged continuously variable transmission gearbox | |
| CN102182798A (en) | Two-gear automatic gearbox of electric automobile | |
| CN204900693U (en) | Improvement type speed reducer | |
| CN203717828U (en) | Continuous power shift type two-speed gearbox | |
| CN205078711U (en) | Electric tricycle no. 3 keeps off reduction gear transmission structure and electric tricycle | |
| CN210566145U (en) | Transfer case for smart city maintenance vehicle | |
| CN202807034U (en) | Electric vehicle transmission | |
| CN105270205A (en) | Motor driving system with two-gear automatic transmission function and gear-shifting control method | |
| CN105042008A (en) | Speed change device used for ground robot | |
| CN204312649U (en) | A kind of electric motor car stepless speed changes devices | |
| CN202056257U (en) | Two-gear automatic transmission of planet wheel-type electric automobile | |
| CN210371855U (en) | Gearbox of electric vehicle | |
| CN204755781U (en) | Self shifter reduction gear for electric motor car | |
| CN204592197U (en) | Stepless speed variator | |
| CN204372086U (en) | A kind of rear axle of electric automobile drive unit | |
| CN210178873U (en) | Electric control gearbox and machine using same | |
| CN205059310U (en) | Have two grades of automatic speed changing motor drive systems | |
| CN104930133A (en) | Automatic shift decelerator for electrocar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151111 |
|
| WD01 | Invention patent application deemed withdrawn after publication |