CN107975570B - Motor two-gear automatic transmission for underwater vehicle and gear shifting method - Google Patents

Motor two-gear automatic transmission for underwater vehicle and gear shifting method Download PDF

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Publication number
CN107975570B
CN107975570B CN201711218635.9A CN201711218635A CN107975570B CN 107975570 B CN107975570 B CN 107975570B CN 201711218635 A CN201711218635 A CN 201711218635A CN 107975570 B CN107975570 B CN 107975570B
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gear
input shaft
box body
connecting sleeve
motor
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CN107975570A (en
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周黔
郝允志
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Southwest University
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Southwest University
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    • 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
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • 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
    • F16H2200/00—Transmissions for multiple ratios
    • F16H2200/003—Transmissions for multiple ratios characterised by the number of forward speeds
    • F16H2200/0034—Transmissions for multiple ratios characterised by the number of forward speeds the gear ratios comprising two forward speeds

Abstract

The invention discloses a motor two-gear automatic transmission for an underwater vehicle and a gear shifting method, wherein the motor two-gear automatic transmission comprises a box body, an input shaft, a transmission mechanism, a gear shifting control mechanism and an output shaft, wherein the input shaft, the transmission mechanism, the gear shifting control mechanism and the output shaft are all arranged in the box body; the transmission mechanism comprises an inner gear ring which is rotatably arranged on the input shaft and N-stage planetary gear trains which are arranged at one end of the input shaft, wherein each stage of planetary gear train is provided with a planet carrier, a sun gear and M planet gears. The two-gear automatic transmission for the motor of the underwater vehicle and the gear shifting method have the advantages of novel structure, easy realization, small size, compactness and large transmission ratio (larger than 10), realize two-gear automatic speed change and meet the use and assembly requirements of the underwater vehicle.

Description

Motor two-gear automatic transmission for underwater vehicle and gear shifting method
Technical Field
The invention belongs to the technical field of speed change systems, and particularly relates to a motor two-gear automatic transmission for an underwater vehicle and a gear shifting method.
Background
The underwater vehicle is mostly used for scientific research in underground water systems, overground rivers, oceans and other areas, and the submersible vehicle is generally carried with a plurality of modern high-tech ocean instruments and is used for data collection of information in various aspects such as geography, biology and the like.
Therefore, the space left by the underwater vehicle to the power system of the underwater vehicle is extremely limited, and the underwater vehicle is required to be adapted to a special working environment due to the need of the underwater vehicle, and the speed change system of the underwater vehicle is required to have a large transmission ratio, and the transmission ratio is usually required to be more than 10.
The existing speed changer is difficult to simultaneously meet the requirements of small size and large transmission ratio (larger than 10), the development of the underwater vehicle is seriously hindered, and the solution of the problems becomes urgent.
Disclosure of Invention
In order to solve the technical problems, the invention provides a motor two-gear automatic transmission for a submersible vehicle, which is small and compact in size and has a large transmission ratio (larger than 10), and a gear shifting method.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides a two keep off automatic gearbox of motor for submarine vehicle which the main points lie in: the gear shifting control device comprises a box body, an input shaft, a transmission mechanism, a gear shifting control mechanism and an output shaft, wherein the input shaft, the transmission mechanism, the gear shifting control mechanism and the output shaft are all arranged in the box body; the transmission mechanism comprises an inner gear ring which is rotatably arranged on the input shaft and an N-stage planetary gear train which is arranged at one end of the input shaft, each stage of planetary gear train is provided with a planet carrier, a sun gear and M planetary gears, each planet carrier is provided with a rotating shaft which is coaxial with the input shaft, the sun gear of the first-stage planetary gear train is fixedly sleeved on the input shaft, the other sun gears are respectively fixedly sleeved on the rotating shaft of the last-stage planet carrier, the rotating shaft of the last-stage planet carrier is fixedly connected with the output shaft or integrally arranged with the output shaft, the inner wall of the inner gear ring is provided with N rings of annular teeth, and each ring of annular teeth is respectively engaged with all the planetary gears of the corresponding; the gear shifting control mechanism comprises a spline sleeve fixed on the input shaft, a combination sleeve positioned on the inner wall of the box body, a connecting sleeve capable of axially sliding along the inner gear ring and an executing component used for driving the connecting sleeve, wherein the executing component has a first working state and a second working state, when the executing component is in the first working state, the connecting sleeve is combined with the combination sleeve, and when the executing component is in the second working state, the connecting sleeve is combined with the spline sleeve.
By adopting the structure, M and N are positive integers, the input shaft and the output shaft are arranged on the same straight line, and compared with the input shaft and the output shaft which are arranged in parallel, the structure is compact, the whole volume is greatly reduced, and in addition, the large transmission ratio (larger than 10) can be realized by matching with the inner gear ring and the planetary gear train, and in addition, the two-gear automatic speed change, namely the automatic switching of the high-low transmission ratio, can be realized by the execution assembly.
Preferably, the method comprises the following steps: the box body comprises a front box body and a rear box body which are coaxially arranged, the rear end of the front box body is fixedly connected with the front end of the rear box body, the gear shifting control mechanism is located in the front box body, and the N-stage planetary gear trains are located in the rear box body. By adopting the structure, the split type box body is designed so as to facilitate the assembly of internal components.
Preferably, the method comprises the following steps: the connecting sleeve is cylindrical and is formed at the rear end of the front box body, at least one radially inward-protruding connecting protrusion is uniformly distributed on the inner wall of the rear end of the connecting sleeve, a connecting groove is formed between every two adjacent connecting protrusions, and first clamping claw parts which axially protrude backwards and are matched with the connecting grooves are uniformly distributed at the rear end of the connecting sleeve; after each first claw part of the connecting sleeve is embedded into the corresponding combination groove, each first claw part can be abutted against the corresponding combination bulge. Structure more than adopting, through first jack catch portion, combination groove and combination bellied cooperation have specifically realized the fender that advances that keeps off, and the structure is ingenious, small and exquisite compactness, reliability are high to, combine cover and preceding box integrated into one piece, both improved joint strength, the butt joint installation of preceding box and back box of being convenient for again.
Preferably, the method comprises the following steps: the spline sleeve is disc-shaped, limiting bulges which protrude outwards in the radial direction are uniformly distributed on the outer edge of the spline sleeve, an embedded groove is formed between every two adjacent limiting bulges, and second claw parts which protrude forwards in the axial direction and are matched with the embedded grooves are uniformly distributed at the front end of the connecting sleeve; after each second clamping claw part of the connecting sleeve is embedded into the corresponding embedded groove, each second clamping claw part can be abutted against the corresponding limiting bulge. By adopting the structure, the two gears are particularly shifted through the matching of the second clamping claw part, the embedded groove and the limiting bulge, and the structure is ingenious, small and compact and high in reliability.
Preferably, the method comprises the following steps: the inner gear ring comprises a first cylindrical part, a disk transition part and a second cylindrical part which are sequentially connected and integrally formed; the first cylindrical part is rotatably arranged on the input shaft and is positioned at the rear part of the spline housing, an external spline is processed on the outer wall of the first cylindrical part, and the connecting housing is provided with an internal spline matched with the external spline and can slide along the axial direction of the first cylindrical part; the diameter of the second cylindrical part is larger than that of the first cylindrical part, the second cylindrical part is sleeved outside the N-stage planetary gear train, and N circles of annular teeth are formed on the inner wall of the second cylindrical part in parallel along the axial direction of the second cylindrical part. By adopting the structure, the sliding direction of the connecting sleeve is limited by the external splines on the inner gear ring, the connecting sleeve is prevented from rotating, gear switching is realized, the annular gear is matched with the planetary gear train to realize large transmission ratio, and an elastic component is matched and installed through the disk transition part; the structure is very ingenious, the compactness of the transmission mechanism is greatly improved, and the space size is reduced.
Preferably, the method comprises the following steps: the connecting sleeve is provided with a step limiting part, elastic parts distributed in an array mode are arranged between one side of the step limiting part and the disc transition part, and the elastic parts are preferably springs. By adopting the structure, the structure is ingenious, simple and reliable, and the connecting sleeve continuously has the tendency of resetting (approaching the spline sleeve).
Preferably, the method comprises the following steps: the actuating assembly comprises a push ring and at least one electromagnet actuator for pushing the push ring, a rotating bearing is installed between the push ring and the connecting sleeve, and each electromagnet actuator is fixed on the box body. By adopting the structure, the electromagnet actuator is electrified to push the push ring, so that the connecting sleeve is separated from the spline sleeve and combined with the combination sleeve, and meanwhile, through the design of the rotating bearing, the connecting sleeve can smoothly and relatively push the ring to rotate, thereby greatly reducing friction.
Preferably, the method comprises the following steps: the sun gear of the first-stage planetary gear train is integrally formed with the input shaft, and the other sun gears are integrally formed with the previous-stage planetary carrier respectively. By adopting the structure, the structure is more reliable, the assembly precision is improved, and the preparation of parts is reduced.
Preferably, the method comprises the following steps: the box is the cylinder, the both ends around the box are worn out respectively to the one end that input shaft and output shaft kept away from each other to all be equipped with the oil blanket between with the box. By adopting the structure, the input shaft and the output shaft are conveniently connected with other components, and meanwhile, the oil seal is matched to avoid oil leakage, so that the use reliability is improved, and the service life is prolonged.
The gear shifting method of the two-gear automatic transmission of the motor is characterized by comprising the following steps of:
s1: the motor controls the input shaft to decelerate so that the rotating speed n of the input shaft1Reaches a set value no；
S2: the motor is powered off to ensure the rotating speed n of the input shaft1> 0, and torque T ═ 0;
s3: when the second gear is shifted to the first gear, the execution assembly is electrified; when the first gear is shifted to the second gear, the execution assembly is powered off;
s4: detecting deviceRotational speed n of the input shaft1And the rotational speed n of the output shaft2: if n is1＞0，n2If 0, the detection returns to step S3 for the number of cycles nxIf n isxIf < 5, the process returns to step S3, and if n is greater thanxIf the result is 5, immediately alarming; when shifting from two gears to one gear, if n1/n2＝i1Entering the next step; when the first gear is shifted to the second gear, if n is1/n2＝i2Entering the next step; wherein i1Gear ratio of first gear i2The transmission ratio is the second gear;
s5: the motor is started.
By adopting the method, the automatic speed change of two gears, namely the switching of high and low transmission ratios, is realized, and the logic is clear, stable and reliable.
Compared with the prior art, the invention has the beneficial effects that:
the two-gear automatic transmission for the motor of the underwater vehicle and the gear shifting method have the advantages of novel structure, easy realization, small size, compactness and large transmission ratio (larger than 10), realize two-gear automatic speed change and meet the use and assembly requirements of the underwater vehicle.
Drawings
FIG. 1 is a schematic external view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention under a first gear condition;
FIG. 3 is a schematic view of a partial structure under a second-gear operating condition according to the present invention;
FIG. 4 is a schematic structural view of the spline housing;
FIG. 5 is a schematic structural view of the front case;
fig. 6 is a schematic structural view of the connecting sleeve.
Detailed Description
The present invention will be further described with reference to the following examples and the accompanying drawings.
As shown in fig. 1 to 6, a two-gear automatic transmission of a motor for a submersible vehicle comprises a case 1, and an input shaft 2, a transmission mechanism 3, a gear shift control mechanism 4 and an output shaft 5 which are all arranged in the case 1. Wherein, the box body 1 is cylindrical, so that the whole structure is more compact. The input shaft 2 and the output shaft 5 are coaxially arranged and extend along the axial direction of the box body 1.
Referring to fig. 1 to 3, the case 1 includes a front case 11 and a rear case 12 coaxially disposed, a rear end of the front case 11 is fixedly connected to a front end of the rear case 12, wherein the shift operating mechanism 4 is located inside the front case 11, a small portion of the transmission mechanism 3 is located inside the front case 11, and a large portion of the transmission mechanism is located inside the rear case 12. And, the one end that input shaft 2 and output shaft 5 kept away from each other is worn out both ends around the box 1 respectively, all is equipped with oil blanket 6 between input shaft 2 and the preceding box 11 and between output shaft 5 and the back box 12 to improve the sealing performance of box, prevent the oil leak.
Referring to fig. 2 and 3, the transmission mechanism 3 includes an inner ring gear 31 rotatably mounted on the input shaft 2 and an N-stage planetary gear train 32 provided at one end of the input shaft 2.
Each stage of the planetary gear train 32 has a planet carrier 321, a sun gear 322 and M planetary gears 323, where M is a positive integer. Each planet carrier 321 is provided with a rotating shaft 321a which is coaxial with the input shaft 2, the sun gear 322 of the first-stage planetary gear train 32 is fixedly sleeved on the input shaft 2, other sun gears 322 are respectively fixedly sleeved on the rotating shaft 321a of the last-stage planet carrier 321, the rotating shaft 321a of the last-stage planet carrier 321 is fixedly connected with the output shaft 5 or integrally arranged, the design that the rotating shaft 321a of the last-stage planet carrier 321 and the output shaft 5 are integrally formed is preferably adopted in the embodiment, the assembling is convenient, the integral installation precision is improved, the strength is higher, and the service life is effectively prolonged. The inner wall of the inner gear ring 31 is provided with N circles of ring-shaped teeth 314, wherein N is a positive integer, and each circle of ring-shaped teeth 314 is respectively meshed with all the planet wheels 323 of the corresponding primary planetary gear train 32. In addition, the sun gear 322 of the first-stage planetary gear train 32 is integrally formed with the input shaft 2, and the other sun gears 322 are respectively integrally formed with the previous-stage planetary gear carrier 321, so that the structure is more reliable, the assembly precision is improved, and the preparation of parts is reduced.
Specifically, the ring gear 31 includes a first cylindrical portion 311, a disk transition portion 312, and a second cylindrical portion 313, which are connected in this order and integrally formed. The first cylindrical portion 311 is rotatably mounted on the input shaft 2 and located at the rear of the spline housing 41, an external spline is machined on the outer wall of the first cylindrical portion 311, and the connecting sleeve 43 has an internal spline adapted to the external spline and can slide along the axial direction of the first cylindrical portion 311. The diameter of the second cylindrical portion 313 is larger than that of the first cylindrical portion 311, the second cylindrical portion 313 is sleeved outside the N-stage planetary gear train 32, N is a positive integer, and N circles of the annular teeth 314 are formed on the inner wall of the second cylindrical portion 313 in parallel along the axial direction of the second cylindrical portion 313.
It should be noted that the present embodiment employs the two-stage planetary gear train 32, and the transmission ratio i of the input shaft 2 and the output shaft 5 can be made by the deceleration of the two-stage planetary gear train 321The transmission ratio reaches 10.2, and the requirement of the underwater vehicle on large transmission ratio is met, so that the underwater vehicle is suitable for special environments and special tasks.
Referring to fig. 2 to 6, the shift operating mechanism 4 includes a spline housing 41 fixed to the input shaft 2, a coupling housing 42 located on an inner wall of the housing 1, a coupling sleeve 43 elastically supported on the ring gear 31, and an actuator assembly 44 installed in the housing 1.
Referring to fig. 2, 3, 5 and 6, the coupling sleeve 42 is cylindrical and is formed at the rear end of the front case 11, i.e., the coupling sleeve 42 is integrally formed with the front case 11. Moreover, the outer diameter of the coupling sleeve 42 is smaller than that of the front case 11, so that a step is formed, and the outer diameter of the rear case 12 is equal to that of the front case 11, so that after the rear case 12 is positioned on the step, the coupling sleeve 42 is fixedly connected with the front end of the rear case 12 through the screw 13, so that the assembly is very stable and reliable, and is convenient.
At least one combination protrusion 421 protruding inward in the radial direction is uniformly distributed on the inner wall of the rear end of the combination sleeve 42, a combination groove 422 is formed between every two adjacent combination protrusions 421, and first clamping claw parts 431 protruding backward in the axial direction and matched with the combination grooves 422 are uniformly distributed on the rear end of the connection sleeve 43. Note that the width of the coupling groove 422 is larger than the width of the first claw portion 431 so that the first claw portion 431 is fitted into the coupling groove 422. Preferably, the number of the first jaw portions 431 is the same as the number of the coupling grooves 422. After each first claw portion 431 of the connecting sleeve 43 is inserted into the corresponding coupling groove 422, each first claw portion 431 can abut against the corresponding coupling projection 421; when the first claw portion 431 abuts against the combining protrusion 421, the ring gear 31, the connecting sleeve 43 and the combining sleeve 42 are combined, and the ring gear, the connecting sleeve 43 and the combining sleeve 42 are fixed with the box body 1 into a whole, so that rotation cannot occur, and one gear engagement is completed.
Referring to fig. 2, 3, 4 and 6, the spline housing 41 is disc-shaped, the spline housing 41 is connected with the input shaft 2 in a key manner, that is, a spline housing internal spline 413 is processed on the inner ring of the spline housing 41, the spline housing internal spline 413 is adapted to the external spline on the input shaft 2, and the spline housing 41 is fixed on the input shaft 2 through the collar 47, so that the structure is stable and reliable, and the assembly is convenient. The spline housing 41 has radially outwardly protruding limiting protrusions 411 uniformly distributed on the outer edge thereof, an insertion groove 412 is formed between each adjacent limiting protrusions 411, and second claw portions 432 axially protruding forward and adapted to the insertion groove 412 are uniformly distributed on the front end of the connecting sleeve 43. Note that the width of the insertion groove 412 is larger than the width of the second claw portion 432, so that the second claw portion 432 is inserted into the insertion groove 412. Preferably, the number of the second jaw portions 432 is the same as the number of the insertion grooves 412. After each second claw portion 432 of the connecting sleeve 43 is inserted into the corresponding insertion groove 412, each second claw portion 432 can abut against the corresponding limiting protrusion 411; when the second claw part 432 abuts against the limit protrusion 411, the spline housing 41, the connecting sleeve 43 and the inner ring gear 31 are combined, and the spline housing 41 is connected with the input shaft 2 in a key manner, so that the spline housing 41, the connecting sleeve 43 and the inner ring gear 31 can synchronously rotate under the driving of the input shaft 2.
Referring to fig. 2, fig. 3 and fig. 6, the connecting sleeve 43 is connected with the ring gear 31 in a key manner and can slide along the axial direction of the ring gear 31, and the first gear and the second gear, i.e. the high-low transmission ratio, can be switched by the axial sliding of the connecting sleeve 43. In addition, the middle of the connecting sleeve 43 has a step-limiting portion 433, an array of elastic members 45 are disposed between one side of the step-limiting portion 433 and the disk transition portion 312, and the other side abuts against the rotary bearing 46, in this embodiment, the elastic members 45 are preferably a resisting spring, and the connecting sleeve 43 continuously has a tendency of returning (approaching the spline housing 41) through the resisting spring.
Referring to fig. 2 and 3, the actuating assembly 44 includes a push ring 442 and at least one electromagnet actuator 441 for pushing the push ring 442, a rotary bearing 46 is installed between the push ring 442 and the connecting sleeve 43, and each electromagnet actuator 441 is fixed on the case 1. In the present embodiment, the number of the electromagnet actuators 441 is three, the front case 11 has three mounting cavities 111 corresponding to the electromagnet actuators 441 therein, and the electromagnet actuators 441 can be reliably fixed by the mounting cavities 111.
When the actuating assembly 44 is in the first operating state, the electromagnet actuator 441 is activated, and the push ring 442 drives the connecting sleeve 43 to separate from the spline housing 41 and combine with the combining sleeve 42, thereby completing the first gear engagement. In this embodiment, the input shaft 2 drives the sun gear 322 of the first-stage planetary gear train 32 to rotate, the sun gear 322 drives the planetary gears 323 of the first-stage planetary gear train 32 to rotate, meanwhile, the planet carrier 321 of the first-stage planetary gear train 32 rotates, the sun gear 322 of the second-stage planetary gear train 32 rotates under the driving of the planet carrier 321 of the first-stage planetary gear train 32, the sun gear 322 drives the planetary gears 323 of the second-stage planetary gear train 32 to rotate, meanwhile, the planet carrier 321 of the second-stage planetary gear train 32 rotates, and finally, the rotation of the output shaft 5 (the rotating shaft 321a of the second-stage planet carrier 321) is realized, at this time, the transmission ratio i of the input shaft1＝10.2。
When the actuating assembly 44 is in the second working state, the electromagnet actuator 441 is stopped, the connecting sleeve 43 is reset under the action of the elastic component 45, is separated from the combining sleeve 42 and is combined with the spline sleeve 41, and the second gear is engaged. In the present embodiment, the input shaft 2 rotates synchronously with the ring gear 31 and the planetary gear trains 32 at different stages, that is, the output shaft 5 (the rotating shaft 321a of the second-stage carrier 321) rotates synchronously with the input shaft 2, and the transmission ratio i of the input shaft 2 to the output shaft 5 is at this time2＝1。
A gear shifting method of a two-gear automatic transmission of a motor is carried out according to the following steps:
s1: the motor controls the input shaft 2 to decelerate so as to lead the rotating speed n of the input shaft 21Reaches a set value no；
S2: the motor is cut off to ensure the rotating speed n of the input shaft 21> 0, and torque T ═ 0;
s3: when the second gear is shifted to the first gear, the executing component 44 is powered on; when the first gear and the second gear are shifted, the executing component 44 is powered off;
s4: detecting the speed n of the input shaft 21And the rotational speed n of the output shaft 52: if n is1＞0，n2If 0, the detection returns to step S3 for the number of cycles nxIf n isxIf < 5, the process returns to step S3, and if n is greater thanxIf the result is 5, immediately alarming; when shifting from two gears to one gear, if n1/n2＝i1Entering the next step; when the first gear is shifted to the second gear, if n is1/n2＝i2Entering the next step; wherein i1Gear ratio of first gear i2The transmission ratio is the second gear;
s5: the motor is started.
Finally, it should be noted that the above-mentioned description is only a preferred embodiment of the present invention, and those skilled in the art can make various similar representations without departing from the spirit and scope of the present invention.

Claims (10)

1. The utility model provides a two keep off automatic gearbox of motor for submarine vehicle which characterized in that: the gear shifting device comprises a box body (1), and an input shaft (2), a transmission mechanism (3), a gear shifting control mechanism (4) and an output shaft (5) which are all arranged in the box body (1), wherein the input shaft (2) and the output shaft (5) are coaxially arranged;
the transmission mechanism (3) comprises an inner gear ring (31) rotatably mounted on the input shaft (2) and an N-stage planetary gear train (32) arranged at one end of the input shaft (2), each stage of planetary gear train (32) is provided with a planet carrier (321), a sun gear (322) and M planetary gears (323), each planet carrier (321) is provided with a rotating shaft (321a) coaxial with the input shaft (2), the sun gear (322) of the first stage of planetary gear train (32) is fixedly sleeved on the input shaft (2), the other sun gears (322) are respectively fixedly sleeved on the rotating shaft (321a) of the last-stage planet carrier (321), the rotating shaft (321a) of the last-stage planet carrier (321) is fixedly connected with the output shaft (5) or integrally arranged, the inner wall of the inner gear ring (31) is provided with N circles of annular teeth (314), and each circle of annular teeth (314) is respectively meshed with all planet wheels (323) of the corresponding primary planetary gear train (32);
the gear shifting operating mechanism (4) comprises a spline sleeve (41) fixed on the input shaft (2), a combination sleeve (42) positioned on the inner wall of the box body (1), a connecting sleeve (43) capable of axially sliding along the inner gear ring (31) and an executing component (44) used for driving the connecting sleeve (43), wherein the executing component (44) has a first working state and a second working state, when the executing component (44) is in the first working state, the connecting sleeve (43) is combined with the combination sleeve (42), and when the executing component (44) is in the second working state, the connecting sleeve (43) is combined with the spline sleeve (41).
2. The electric machine two-speed automatic transmission for a submersible vehicle according to claim 1, characterized in that: the gearbox is characterized in that the box body (1) comprises a front box body (11) and a rear box body (12) which are coaxially arranged, the rear end of the front box body (11) is fixedly connected with the front end of the rear box body (12), the gear shifting control mechanism (4) is located in the front box body (11), and the N-stage planetary gear trains (32) are located in the rear box body (12).
3. The electric machine two-speed automatic transmission for a submersible vehicle according to claim 2, characterized in that: the connecting sleeve (42) is cylindrical and is formed at the rear end of the front box body (11), at least one connecting protrusion (421) protruding inwards in the radial direction is uniformly distributed on the inner wall of the rear end of the connecting sleeve (42), a connecting groove (422) is formed between every two adjacent connecting protrusions (421), and first clamping claw parts (431) protruding backwards in the axial direction and matched with the connecting grooves (422) are uniformly distributed at the rear end of the connecting sleeve (43);
when each first clamping claw part (431) of the connecting sleeve (43) is embedded into the corresponding combination groove (422), each first clamping claw part (431) can be abutted against the corresponding combination protrusion (421).
4. The motor two-speed automatic transmission for a submersible vehicle according to any one of claims 1 to 3, characterized in that: the spline sleeve (41) is disc-shaped, limiting protrusions (411) protruding outwards in the radial direction are uniformly distributed on the outer edge of the spline sleeve (41), an embedded groove (412) is formed between every two adjacent limiting protrusions (411), and second claw parts (432) protruding forwards in the axial direction and matched with the embedded groove (412) are uniformly distributed at the front end of the connecting sleeve (43);
after each second clamping claw part (432) of the connecting sleeve (43) is embedded into the corresponding embedded groove (412), each second clamping claw part (432) can be abutted against the corresponding limiting bulge (411).
5. The motor two-speed automatic transmission for a submersible vehicle according to any one of claims 1 to 3, characterized in that: the inner gear ring (31) comprises a first cylindrical part (311), a disk transition part (312) and a second cylindrical part (313) which are sequentially connected and integrally formed;
the first cylindrical part (311) is rotatably arranged on the input shaft (2) and is positioned at the rear part of the spline sleeve (41), an external spline is processed on the outer wall of the first cylindrical part (311), and the connecting sleeve (43) is provided with an internal spline matched with the external spline and can slide along the axial direction of the first cylindrical part (311);
the diameter of the second cylindrical part (313) is larger than that of the first cylindrical part (311), the second cylindrical part (313) is sleeved outside the N-stage planetary gear train (32), and N circles of the annular teeth (314) are formed on the inner wall of the second cylindrical part (313) in parallel along the axial direction of the second cylindrical part (313).
6. The electric machine two-speed automatic transmission for a submersible vehicle according to claim 5, characterized in that: the middle part of the connecting sleeve (43) is provided with a step limiting part (433), and elastic components (45) distributed in an array manner are arranged between one side of the step limiting part (433) and the disc transition part (312).
7. The motor two-speed automatic transmission for a submersible vehicle according to any one of claims 1 to 3, characterized in that: the actuating assembly (44) comprises a pushing ring (442) and at least one electromagnet actuator (441) for pushing the pushing ring (442), a rotating bearing (46) is installed between the pushing ring (442) and the connecting sleeve (43), and each electromagnet actuator (441) is fixed on the box body (1).
8. The motor two-speed automatic transmission for a submersible vehicle according to any one of claims 1 to 3, characterized in that: the sun gear (322) of the first-stage planetary gear train (32) is integrally formed with the input shaft (2), and the other sun gears (322) are respectively integrally formed with the previous-stage planetary gear train (321).
9. The motor two-speed automatic transmission for a submersible vehicle according to any one of claims 1 to 3, characterized in that: the box (1) is cylindrical, one end of the input shaft (2) and one end of the output shaft (5) which are far away from each other penetrate out of the front end and the rear end of the box (1) respectively, and an oil seal (6) is arranged between each end and the box (1).
10. A shifting method of an electric motor two-speed automatic transmission for a submersible vehicle according to claim 1, characterized by the steps of:
s1: the motor controls the input shaft (2) to decelerate so as to lead the rotating speed n of the input shaft (2)1Reaches a set value no；
S2: the motor is cut off to lead the rotating speed n of the input shaft (2)1> 0, and torque T ═ 0;
s3: when the second gear and the first gear are shifted, the execution assembly (44) is electrified; when the first gear and the second gear are shifted, the execution assembly (44) is powered off;
s4: detecting the rotational speed n of the input shaft (2)1And the rotational speed n of the output shaft (5)2: if n is1＞0，n2If 0, the detection returns to step S3 for the number of cycles nxIf n isxIf < 5, the process returns to step S3, and if n is greater thanxIf the result is 5, immediately alarming; when shifting from two gears to one gear, if n1/n2＝i1Entering the next step; when the first gear is shifted to the second gear, if n is1/n2＝i2Entering the next step; wherein i1Gear ratio of first gear i2The transmission ratio is the second gear;
s5: the motor is started.
CN201711218635.9A 2017-11-28 2017-11-28 Motor two-gear automatic transmission for underwater vehicle and gear shifting method Active CN107975570B (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0262841A2 (en) * 1986-09-18 1988-04-06 Bridgestone Cycle Co., Ltd. Speed change device for bicycle
CN1483949A (en) * 2003-08-09 2004-03-24 宁国聚隆实业有限公司 Multe-gear large transmission ratio single-stage planetary gear wheel speed variator
DE102006057539A1 (en) * 2005-12-07 2007-06-14 Harmonic Drive Systems Inc. Method for mounting a detector mechanism of a planetary gear device
CN201618994U (en) * 2010-03-06 2010-11-03 营口重型机床集团有限公司 Two-stage variable speed main shaft planetary gear box
EP2584220A1 (en) * 2011-10-20 2013-04-24 Eurocopter Deutschland GmbH Planetary gear for variable transmission
CN202914645U (en) * 2012-11-07 2013-05-01 中国汽车技术研究中心 Double-planet-row two-gear speed change device
CN107061642A (en) * 2017-03-15 2017-08-18 清华大学 A kind of two grades of gearboxes of dual brake formula electric car and its control method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0262841A2 (en) * 1986-09-18 1988-04-06 Bridgestone Cycle Co., Ltd. Speed change device for bicycle
CN1483949A (en) * 2003-08-09 2004-03-24 宁国聚隆实业有限公司 Multe-gear large transmission ratio single-stage planetary gear wheel speed variator
DE102006057539A1 (en) * 2005-12-07 2007-06-14 Harmonic Drive Systems Inc. Method for mounting a detector mechanism of a planetary gear device
CN201618994U (en) * 2010-03-06 2010-11-03 营口重型机床集团有限公司 Two-stage variable speed main shaft planetary gear box
EP2584220A1 (en) * 2011-10-20 2013-04-24 Eurocopter Deutschland GmbH Planetary gear for variable transmission
CN202914645U (en) * 2012-11-07 2013-05-01 中国汽车技术研究中心 Double-planet-row two-gear speed change device
CN107061642A (en) * 2017-03-15 2017-08-18 清华大学 A kind of two grades of gearboxes of dual brake formula electric car and its control method

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