CN108757853A - Commutator and mobile platform - Google Patents
Commutator and mobile platform Download PDFInfo
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- CN108757853A CN108757853A CN201810852503.XA CN201810852503A CN108757853A CN 108757853 A CN108757853 A CN 108757853A CN 201810852503 A CN201810852503 A CN 201810852503A CN 108757853 A CN108757853 A CN 108757853A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 372
- 238000005096 rolling process Methods 0.000 claims description 34
- 238000002485 combustion reaction Methods 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- F16H3/006—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion power being selectively transmitted by either one of the parallel flow paths
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
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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
- F16H3/02—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
- F16H3/08—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts
- F16H3/14—Gearings for reversal only
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Structure Of Transmissions (AREA)
Abstract
The present invention provides a kind of commutator and mobile platforms, are related to the technical field of mechanical driving device.Commutator provided by the invention includes：Input shaft, the first output shaft, the second output shaft, the first transmission shaft, second driving shaft, the first transmission component, the second transmission component, the first electromagnetic clutch and reverse drive gear；It is sequentially connected by the first electromagnetic clutch between input shaft and the first transmission shaft；First transmission shaft is sequentially connected by reverse drive gear and the first output shaft；Second driving shaft and the second output shaft are sequentially connected；Second transmission component includes the second electromagnetic clutch, and input shaft is sequentially connected by the second transmission component and second driving shaft.The commutator provided through the invention alleviates the mobile chassis in the prior art driven by electromagnetic clutch gearbox when being turned, and existing turning radius is larger, and clamping stagnation easily occurs for chassis, the technical issues of to ground well damage.
Description
Technical Field
The invention relates to the technical field of mechanical transmission devices, in particular to a commutator and a mobile platform.
Background
In recent years, mobile robots are more and more widely applied in various industries, and mobile chassis driving the mobile robots to move are rapidly developed; the crawler moving chassis is an important form in moving chassis, and can be applied to complex environments such as gullies, steps, gentle slopes and wet soft soil lands. The crawler moving chassis mainly has two driving modes: the motor is driven directly and through the gearbox.
The motor directly drives the caterpillar band to move the chassis, the moving speed of the chassis is adjusted by controlling the rotating speed of the motor, and the chassis is moved forwards, backwards and turned by changing the rotating direction of the motor. The motor is powered by a battery, and the crawler moving chassis in the form needs to be matched with a battery with larger capacity, so that the crawler moving chassis has the defects of large volume, heavy weight, limited cruising ability and the like; in addition, the driving force directly driven by the motor is small, so that the crawler moving chassis in the form is difficult to be applied to complex pavements such as wet soft mud land with large resistance and gentle slope land;
the caterpillar moving chassis driven by the gearbox can be powered by an electric motor or a fuel engine, wherein the gearbox mainly has two structural forms: traditional mechanical gear transmissions and electromagnetic clutch transmissions. The speed change and gear shift operations of the traditional mechanical gear transmission gearbox are generally completed by operating a manual operating lever, and automatic control is difficult to realize.
The electromagnetic clutch gearbox can be electrically controlled, and automatic remote control is easy to realize. The crawler moving chassis driven by the electromagnetic clutch gearbox can realize the functions of speed change, forward movement, backward movement, turning and the like of equipment by electrically controlling the electromagnetic clutch gearbox, and partial agricultural and forestry moving mechanical equipment adopts the crawler moving chassis in the form. However, when the crawler belt moving chassis driven by the electromagnetic clutch gearbox in the prior art turns, the chassis is easy to be stuck, and the ground is seriously damaged.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a commutator and a mobile platform, which are used for solving the technical problems that a turning radius is large, a chassis is easy to generate clamping stagnation and the ground is seriously damaged when a mobile chassis driven by an electromagnetic clutch gearbox turns in the prior art. .
In a first aspect, the present invention provides a commutator, including: the reversing transmission device comprises an input shaft, a first output shaft, a second output shaft, a first transmission shaft, a second transmission shaft, a first transmission assembly, a second transmission assembly, a first electromagnetic clutch and a reversing transmission device; the input shaft is in transmission connection with the first transmission shaft through a first electromagnetic clutch; the first transmission shaft is in transmission connection with the first output shaft through a reversing transmission device, and the reversing transmission device is used for switching the rotation direction of the first output shaft and the rotation direction of the first transmission shaft between the same direction and the opposite direction; the second transmission shaft is in transmission connection with the second output shaft; the second transmission shaft is in transmission connection with the first transmission shaft through a first transmission assembly; the second transmission assembly comprises a second electromagnetic clutch, and the input shaft is in transmission connection with a second transmission shaft through the second transmission assembly; the first transmission assembly and the second transmission assembly are used for realizing that the second transmission shaft and the first transmission shaft rotate in the same direction through the first transmission assembly; through the second transmission assembly, the second transmission shaft and the input shaft rotate in different directions; or the second transmission shaft and the first transmission shaft rotate in different directions through the first transmission assembly; and the second transmission shaft and the input shaft rotate in the same direction through the second transmission assembly.
Furthermore, the reversing transmission device comprises a same-direction transmission assembly and a different-direction transmission assembly; the homodromous transmission assembly comprises a third electromagnetic clutch, and two ends of the third electromagnetic clutch are respectively in transmission connection with the first output shaft and the first transmission shaft and are used for realizing homodromous transmission between the first output shaft and the first transmission shaft; the different-direction transmission assembly comprises a fourth electromagnetic clutch, and two ends of the different-direction transmission assembly are in transmission connection with the first output shaft and the first transmission shaft respectively and are used for realizing different-direction transmission between the first output shaft and the first transmission shaft.
Furthermore, the equidirectional transmission assembly comprises a third transmission shaft, a first intermediate gear, a first gear and a second gear, and two ends of the third electromagnetic clutch are respectively connected with the first transmission shaft and the third transmission shaft; the first intermediate gear is rotationally connected with the box body of the commutator provided by the invention and can rotate around the axis of the first intermediate gear relative to the box body; the first gear is connected to the first output shaft, the second gear is connected to the third transmission shaft, and the first gear and the second gear are respectively meshed with the first intermediate gear; the first transmission shaft is connected with a central gear; the anisotropic transmission assembly comprises a fourth transmission shaft and a third gear, and two ends of a fourth electromagnetic clutch are respectively connected with the first output shaft and the fourth transmission shaft; the third gear is connected to the fourth transmission shaft and is meshed with the sun gear.
Furthermore, the same-direction transmission assembly comprises a third transmission shaft, a first intermediate gear and a second gear, and two ends of a third electromagnetic clutch are respectively connected with the first output shaft and the third transmission shaft; the first transmission shaft is connected with a central gear; the first intermediate gear is rotationally connected with the box body of the commutator provided by the invention and can rotate around the axis of the first intermediate gear relative to the box body; the second gear is connected to the third transmission shaft, and the second gear and the central gear are respectively meshed with the first intermediate gear; the anisotropic transmission assembly comprises a fourth transmission shaft, a first gear and a third gear, and two ends of the fourth electromagnetic clutch are respectively connected with the first transmission shaft and the fourth transmission shaft; the first gear is connected to the first output shaft, the third gear is connected to the fourth transmission shaft, and the first gear is meshed with the third gear.
Further, the first transmission shaft is connected with a central gear; the first transmission assembly comprises a fourth gear, the fourth gear is connected to the second transmission shaft, and the fourth gear is meshed with the central gear; the second transmission assembly comprises a fifth transmission shaft, a fifth gear, a sixth gear and a second intermediate gear, the fifth gear is connected to the fifth transmission shaft, the sixth gear is connected to the input shaft, and the second intermediate gear is rotatably connected to the box body of the commutator provided by the invention and can rotate around the axis of the second intermediate gear relative to the box body; the fifth gear and the sixth gear are respectively meshed with the second intermediate gear; and two ends of the second electromagnetic clutch are respectively connected with the fifth transmission shaft and the second transmission shaft.
Further, the first transmission shaft is connected with a central gear; the first transmission assembly comprises a fourth gear and a second intermediate gear, the fourth gear is connected to the second transmission shaft, and the second intermediate gear is rotatably connected to the box body of the commutator provided by the invention and can rotate around the axis of the second intermediate gear relative to the box body; the fourth gear and the central gear are respectively meshed with the second intermediate gear; the second transmission assembly comprises a fifth transmission shaft, a fifth gear and a sixth gear, the fifth gear is connected with the fifth transmission shaft, the sixth gear is connected with the input shaft, and the fifth gear is meshed with the sixth gear; and two ends of the second electromagnetic clutch are respectively connected with the fifth transmission shaft and the second transmission shaft.
Furthermore, the commutator provided by the invention also comprises a fifth electromagnetic clutch, and the second transmission shaft is in transmission connection with the second output shaft through the fifth electromagnetic clutch.
Furthermore, the commutator provided by the invention comprises a box body, wherein an input shaft, a first output shaft, a second output shaft, a first transmission shaft, a second transmission shaft, a first transmission assembly, a second transmission assembly, a first electromagnetic clutch and a reversing transmission device are connected to the box body; the box body is internally provided with a permanent magnet module box.
In a second aspect, the present invention provides a mobile platform, including: the bearing comprises a platform body, a driving device, a first rolling body, a second rolling body and the commutator; the first rolling body and the second rolling body are respectively arranged on two sides of the platform body and are respectively in transmission connection with a first output shaft and a second output shaft in the commutator; the driving device is in transmission connection with an input shaft in the commutator.
Further, the driving device comprises an internal combustion engine, and an output shaft of the internal combustion engine is in transmission connection with the input shaft.
The invention provides a commutator and a mobile platform, and relates to the technical field of mechanical transmission devices. In the commutator provided by the invention, two transmission paths are arranged from the input shaft to the second transmission shaft:
the first transmission path is that the first electromagnetic clutch is disconnected, the second electromagnetic clutch is closed, and the input shaft is in transmission connection with the second transmission shaft through the second transmission assembly;
and the second transmission path is that the first electromagnetic clutch is closed, the second electromagnetic clutch is disconnected, the input shaft is in transmission connection with the first transmission shaft through the first electromagnetic clutch, and the first transmission shaft is in transmission connection with the second transmission shaft through the first transmission assembly.
In the first transmission path, the relationship between the rotation direction of the second transmission shaft and the rotation direction of the input shaft is determined by the second transmission assembly;
in the second transmission path, the first transmission shaft and the input shaft rotate in the same direction, and the relationship between the rotation direction of the second transmission shaft and the rotation direction of the input shaft is determined by the first transmission assembly.
The second output shaft is in transmission connection with the second transmission shaft; therefore, the rotation direction of the second output shaft can be flexibly adjusted by controlling the opening and closing of the first electromagnetic clutch and the second electromagnetic clutch.
The relation between the rotating direction of the first transmission shaft and the rotating direction of the second transmission shaft is determined by the first transmission shaft assembly; the opening and closing of the first electromagnetic clutch and the second electromagnetic clutch are controlled, and the rotating direction of the first output shaft is changed along with the opening and closing of the first electromagnetic clutch and the second electromagnetic clutch.
The first transmission shaft is in transmission connection with the first output shaft through the reversing transmission device, and the reversing transmission device can adjust the relation between the rotation direction of the first transmission shaft and the rotation direction of the first output shaft. Therefore, after the rotating direction of the first transmission shaft is changed along with the rotating direction of the second transmission shaft, the first output shaft can be adjusted to rotate according to the set rotating direction by controlling the reversing transmission device, and the flexible adjustment of the rotating direction of the first output shaft is realized.
By applying the movable chassis of the commutator provided by the invention, the rolling bodies on two sides can be respectively connected with the first output shaft and the second output shaft; the rotation directions of the rolling bodies on the two sides can be respectively and independently controlled, and the rolling bodies can rotate in the same direction or in different directions. When the rolling bodies on the two sides rotate along the same direction, the movable chassis can move forwards or backwards; when the rolling bodies on the two sides rotate along different directions, the movable chassis can turn towards the two sides in different directions.
In the moving chassis in the prior art, turning is generally realized by controlling a single-side rolling body to be in a braking state, and the abrasion to the ground is large; when the movable chassis is positioned on a soft ground, a pit is easily formed on the ground in the turning process, so that the movable chassis is sunk into the pit, and the chassis is blocked; and the turning radius is larger, and the working space requirement is also larger. The movable chassis of the commutator provided by the invention can realize turning by controlling the rolling bodies on the two sides to rotate along different directions, so that the rolling bodies on the two sides are in a rotating state during turning, the abrasion to the ground can be reduced, the turning radius is reduced, and the risk of chassis clamping stagnation is reduced; therefore, the technical problems that when the movable chassis driven by the electromagnetic clutch gearbox in the prior art turns, the existing chassis is easy to be blocked and seriously damages the ground are solved.
The advantages of the moving platform and the commutator are the same as those of the commutator in the prior art, and are not described in detail herein.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a first implementation of a commutator provided in an embodiment of the invention;
fig. 2 is a schematic structural diagram of a second implementation of the commutator provided in the embodiment of the invention;
fig. 3 is a schematic structural diagram of a third implementation of the commutator provided in the embodiment of the invention;
fig. 4 is a schematic structural diagram of a fourth implementation of the commutator provided in the embodiment of the present invention.
Icon: 01-an input shaft; 021-a first output shaft; 022 — a second output shaft; 031-a first drive shaft; 032-second drive shaft; 033-a third drive shaft; 034-fourth drive shaft; 035-a fifth drive shaft; 041-first gear; 042-second gear; 043-third gear; 044-fourth gear; 045-fifth gear; 046-sixth gear; 051-first intermediate gear; 052-second intermediate gear; 053-sun gear; 061-first electromagnetic clutch; 062-a second electromagnetic clutch; 063-third electromagnetic clutch; 064-fourth electromagnetic clutch; 065-fifth electromagnetic clutch.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A first aspect of an embodiment of the present invention provides a commutator, including: the transmission comprises an input shaft 01, a first output shaft 021, a second output shaft 022, a first transmission shaft 031, a second transmission shaft 032, a first transmission assembly, a second transmission assembly, a first electromagnetic clutch 061 and a reversing transmission device; the input shaft 01 is in transmission connection with the first transmission shaft 031 through a first electromagnetic clutch 061; the first transmission shaft 031 is in transmission connection with the first output shaft 021 through a reversing transmission device, and the reversing transmission device is used for switching the rotation direction of the first output shaft 021 and the rotation direction of the first transmission shaft 031 between the same direction and different directions; the second transmission shaft 032 is in transmission connection with the second output shaft 022; the second transmission shaft 032 is in transmission connection with the first transmission shaft 031 through a first transmission assembly; the second transmission assembly comprises a second electromagnetic clutch 062, and the input shaft 01 is in transmission connection with a second transmission shaft 032 through the second transmission assembly; the first transmission assembly and the second transmission assembly are used for realizing that the second transmission shaft 032 and the first transmission shaft 031 rotate in the same direction through the first transmission assembly; through the second transmission assembly, the second transmission shaft 032 and the input shaft 01 rotate in different directions; or, the second transmission shaft 032 and the first transmission shaft 031 rotate in different directions through the first transmission assembly; through the second transmission assembly, the second transmission shaft 032 rotates in the same direction as the input shaft 01.
Specifically, in the commutator provided in the embodiment of the present invention, two transmission paths are provided from the input shaft 01 to the second transmission shaft 032:
the first transmission path is that the first electromagnetic clutch 061 is disconnected, the second electromagnetic clutch 062 is closed, and the input shaft 01 is in transmission connection with the second transmission shaft 032 through the second transmission assembly;
the second transmission path is to close the first electromagnetic clutch 061 and disconnect the second electromagnetic clutch 062, the input shaft 01 is in transmission connection with the first transmission shaft 031 through the first electromagnetic clutch 061, and the first transmission shaft 031 is in transmission connection with the second transmission shaft 032 through the first transmission assembly.
In the first transmission path, the relationship between the rotation direction of the second transmission shaft 032 and the rotation direction of the input shaft 01 is determined by the second transmission assembly; in the second transmission path, the first transmission shaft 031 rotates in the same direction as the input shaft 01, and the relationship between the rotation direction of the second transmission shaft 032 and the rotation direction of the input shaft 01 is determined by the first transmission assembly.
The second output shaft 022 is in transmission connection with a second transmission shaft 032; therefore, the rotation direction of the second output shaft 022 can be flexibly adjusted by controlling the opening and closing of the first electromagnetic clutch 061 and the second electromagnetic clutch 062.
The relationship between the rotation direction of the first transmission shaft 031 and the rotation direction of the second transmission shaft 032 is determined by the first transmission assembly; the first electromagnetic clutch 061 and the second electromagnetic clutch 062 are controlled to be opened and closed, and the rotation direction of the first output shaft 021 is changed along with the first electromagnetic clutch 061 and the second electromagnetic clutch 062.
The first transmission shaft 031 is in transmission connection with the first output shaft 021 through a reversing transmission device, and the reversing transmission device can adjust the relationship between the rotation direction of the first transmission shaft 031 and the rotation direction of the first output shaft 021. Thus, when the rotation direction of the first transmission shaft 031 changes along with the rotation direction of the second transmission shaft 032, the first output shaft 021 can be adjusted to rotate according to the set rotation direction by controlling the reversing transmission device, so that the rotation direction of the first output shaft 021 can be flexibly adjusted.
By applying the movable chassis of the commutator provided by the embodiment of the invention, the rolling bodies on two sides can be respectively connected with the first output shaft 021 and the second output shaft 022; the rotation directions of the rolling bodies on the two sides can be respectively and independently controlled, and the rolling bodies can rotate in the same direction or in different directions. When the rolling bodies on the two sides rotate along the same direction, the movable chassis can move forwards or backwards; when the rolling bodies on the two sides rotate along different directions, the movable chassis can turn towards the two sides in different directions.
In the moving chassis in the prior art, turning is generally realized by controlling a single-side rolling body to be in a braking state, and the abrasion to the ground is large; when the movable chassis is positioned on a soft ground, a pit is easily formed on the ground in the turning process, so that the movable chassis is sunk into the pit, the chassis is clamped and stuck, the turning radius is large, and the requirement on working space is also large in the turning process. The movable chassis of the commutator provided by the embodiment of the invention can realize turning by controlling the rolling bodies on the two sides to rotate along different directions, so that the rolling bodies on the two sides are in a rotating state during turning, the abrasion to the ground can be reduced, the turning radius is reduced, and the risk of chassis clamping stagnation is reduced.
In some embodiments, the commutator provided by the embodiments of the present invention includes a remote controller, and the first electromagnetic clutch 061 and the second electromagnetic clutch 062 are respectively in signal connection with the remote controller.
The input shaft 01 is connected with a power source, the first output shaft 021 and the second output shaft 022 can be controlled independently, thus, the rotating direction of the rotating body connected with the first output shaft 021 and the rotating direction of the rotating body connected with the second output shaft 022 can be controlled independently respectively, the control performance and the automation degree of the mobile chassis are improved, and the maneuvering performance of the caterpillar mobile chassis for turning and other movements is optimized; and because the electromagnetic clutch is adopted, remote control can be realized, and the intelligent robot can be suitable for remotely controlling the intelligent autonomous robot.
The input shaft 01 can be connected with the internal combustion engine, the internal combustion engine provides kinetic energy, and the cruising ability is improved.
Furthermore, the reversing transmission device comprises a same-direction transmission assembly and a different-direction transmission assembly; the equidirectional transmission assembly comprises a third electromagnetic clutch 063, and two ends of the third electromagnetic clutch 063 are in transmission connection with the first output shaft 021 and the first transmission shaft 031 respectively and are used for realizing the equidirectional transmission between the first output shaft 021 and the first transmission shaft 031; the anisotropic transmission assembly comprises a fourth electromagnetic clutch 064, and two ends of the fourth electromagnetic clutch 064 are in transmission connection with the first output shaft 021 and the first transmission shaft 031 respectively, so that anisotropic transmission between the first output shaft 021 and the first transmission shaft 031 is realized.
Specifically, the third electromagnetic clutch 063 is closed, the fourth electromagnetic clutch 064 is disconnected, and the first transmission shaft 031 is in transmission connection with the first output shaft 021 through the equidirectional transmission assembly; the first output shaft 021 rotates in the same direction as the first transmission shaft 031.
The third electromagnetic clutch 063 is disconnected, the fourth electromagnetic clutch 064 is closed, and the first transmission shaft 031 is in transmission connection with the first output shaft 021 through the counter-directional transmission assembly; the first output shaft 021 rotates in the opposite direction to the first transmission shaft 031.
The third electromagnetic clutch 063 and the fourth electromagnetic clutch 064 are disconnected simultaneously, and the first output shaft 021 can be controlled to stop, so that no active motion output is realized.
The fourth electromagnetic clutch 064 and the third electromagnetic clutch 063 are respectively in signal connection with a remote controller, so that the rotation direction of the first output shaft 021 can be remotely and independently controlled.
As another implementation manner, the commutator provided in the embodiment of the present invention may also be applied to a robot, an arm-like mechanism, and the like.
Further, referring to fig. 1 and 4, the equidirectional transmission assembly includes a third transmission shaft 033, a first intermediate gear 051, a first gear 041 and a second gear 042, and both ends of a third electromagnetic clutch 063 are respectively connected with the first transmission shaft 031 and the third transmission shaft 033; the first intermediate gear 051 is rotationally connected with the box body of the commutator provided by the embodiment of the invention and can rotate around the axis of the box body relative to the box body; the first gear 041 is connected to the first output shaft 021, the second gear 042 is connected to the third transmission shaft 033, and the first gear 041 and the second gear 042 are respectively meshed with the first intermediate gear 051; the first transmission shaft 031 is connected with a sun gear 053; the anisotropic transmission assembly comprises a fourth transmission shaft 034 and a third gear 043, and two ends of a fourth electromagnetic clutch 064 are respectively connected with the first output shaft 021 and the fourth transmission shaft 034; the third gear 043 is connected to the fourth transmission shaft 034 and is meshed with the sun gear 053.
Specifically, the first intermediate gear 051 is connected to the first rotating shaft, the first rotating shaft is rotatably connected to the box body, and the first intermediate gear 051 can rotate around the axis of the first rotating shaft relative to the box body.
When the third electromagnetic clutch 063 is closed and the fourth electromagnetic clutch 064 is disconnected, the rotation direction of the third transmission shaft 033 is the same as the rotation direction of the first transmission shaft 031, the rotation direction of the first intermediate gear 051 is opposite to the rotation direction of the third transmission shaft 033, and the rotation direction of the first output shaft 021 is opposite to the rotation direction of the first intermediate gear 051. At this time, the first output shaft 021 rotates in the same direction as the first transmission shaft 031.
When the third electromagnetic clutch 063 is turned off and the fourth electromagnetic clutch 064 is turned on, the rotation direction of the fourth transmission shaft 034 is opposite to the rotation direction of the first transmission shaft 031, and the rotation direction of the first output shaft 021 is the same as the rotation direction of the fourth transmission shaft 034. At this time, the first output shaft 021 rotates in the opposite direction to the first transmission shaft 031.
Further, referring to fig. 2 and 3, the first transmission shaft 031 is connected with a sun gear 053; the homodromous transmission assembly comprises a third transmission shaft 033, a first intermediate gear 051 and a second gear 042, and two ends of a third electromagnetic clutch 063 are respectively connected with a first output shaft 021 and the third transmission shaft 033; the first intermediate gear 051 is rotationally connected with the box body of the commutator provided by the embodiment of the invention and can rotate around the axis of the box body relative to the box body; the second gear 042 is connected to the third transmission shaft 033, and the second gear 042 and the central gear 053 are respectively engaged with the first intermediate gear 051; the anisotropic transmission assembly comprises a fourth transmission shaft 034, a first gear 041 and a third gear 043, wherein two ends of the fourth electromagnetic clutch 064 are respectively connected with the first transmission shaft 031 and the fourth transmission shaft 034; the first gear 041 is connected to the first output shaft 021, the third gear 043 is connected to the fourth transmission shaft 034, and the first gear 041 is meshed with the third gear 043.
Specifically, the first intermediate gear 051 is connected to the first rotating shaft, the first rotating shaft is rotatably connected to the box body, and the first intermediate gear 051 can rotate around the axis of the first rotating shaft relative to the box body.
Further, referring to fig. 1 and 2, the first transmission shaft 031 is connected with a sun gear 053; the first transmission assembly comprises a fourth gear 044, the fourth gear 044 is connected to the second transmission shaft 032, and the fourth gear 044 is meshed with the central gear 053; the second transmission assembly comprises a fifth transmission shaft 035, a fifth gear 045, a sixth gear 046 and a second intermediate gear 052, the fifth gear 045 is connected with the fifth transmission shaft 035, the sixth gear 046 is connected with the input shaft 01, and the second intermediate gear 052 is rotatably connected with the box body of the commutator provided by the embodiment of the invention and can rotate around the axis of the second transmission assembly relative to the box body; a fifth gear 045 and a sixth gear 046 are respectively engaged with the second intermediate gear 052; the two ends of the second electromagnetic clutch 062 are respectively connected with the fifth transmission shaft 035 and the second transmission shaft 032.
Specifically, the second intermediate gear 052 is connected to a second rotating shaft, which is rotatably connected to the case, and the second intermediate gear 052 is rotatable about the axis of the second rotating shaft with respect to the case.
Further, referring to fig. 3 and 4, the first transmission shaft 031 is connected with a sun gear 053; the first transmission assembly comprises a fourth gear 044 and a second intermediate gear 052, the fourth gear 044 is connected with a second transmission shaft 032, and the second intermediate gear 052 is rotatably connected with a box body of the commutator provided by the embodiment of the invention and can rotate around the axis of the second intermediate gear 052 relative to the box body; the fourth gear 044 and the central gear 053 are respectively meshed with the second intermediate gear 052; the second transmission assembly comprises a fifth transmission shaft 035, a fifth gear 045 and a sixth gear 046, the fifth gear 045 is connected with the fifth transmission shaft 035, the sixth gear 046 is connected with the input shaft 01, and the fifth gear 045 is meshed with the sixth gear 046; the two ends of the second electromagnetic clutch 062 are respectively connected with the fifth transmission shaft 035 and the second transmission shaft 032.
Specifically, the second intermediate gear 052 is connected to a second rotating shaft, which is rotatably connected to the case, and the second intermediate gear 052 is rotatable about the axis of the second rotating shaft with respect to the case.
Further, the commutator provided by the embodiment of the present invention further includes a fifth electromagnetic clutch 065, and the second transmission shaft 032 is in transmission connection with the second output shaft 022 through the fifth electromagnetic clutch 065.
Specifically, the fifth electromagnetic clutch 065 is turned off, so that the second output shaft 022 can be controlled to stop, and no active motion output is realized.
The commutator provided by the embodiment of the invention can respectively and independently control the start, stop and rotation direction of the first output shaft 021 and the start, stop and rotation direction of the second output shaft 022. The mobile platform applying the commutator provided by the embodiment of the invention can steer through unilateral braking, and also can steer through controlling the rotating bodies on the two sides to rotate in different directions. The mobile platform can flexibly select a turning mode according to the traveling road surface condition so as to adapt to different environments and improve the motion stability.
Further, the commutator provided by the embodiment of the present invention includes a box body, and the input shaft 01, the first output shaft 021, the second output shaft 022, the first transmission shaft 031, the second transmission shaft 032, the first transmission assembly, the second transmission assembly, the first electromagnetic clutch 061, and the reversing transmission device are all connected to the box body; the box body is internally provided with a permanent magnet module box.
Specifically, the permanent magnet module box is connected to the box body, so that debris in the box body can be adsorbed, interference of the debris on each moving part is reduced, and the commutator provided by the embodiment of the invention is beneficial to smooth operation and prolonging service life.
A second aspect of an embodiment of the present invention provides a mobile platform, where the mobile platform provided in the embodiment of the present invention includes: the bearing comprises a platform body, a driving device, a first rolling body, a second rolling body and the commutator; the first rolling body and the second rolling body are respectively arranged at two sides of the platform body and are respectively in transmission connection with a first output shaft 021 and a second output shaft 022 in the commutator; the driving device is in transmission connection with an input shaft 01 in the commutator.
Specifically, under the condition that a single power source provides power, the commutator can respectively control the starting, stopping and rotating directions of the first rolling body and the second rolling body, so that the maneuvering performance of the moving platform provided by the embodiment of the invention is improved, and the moving platform is suitable for various occasions.
In some embodiments, the first rolling element comprises a first track and the second rolling element comprises a second track. The rotation axis of the first track and the rotation axis of the second track are parallel. The first track is connected with first output shaft 021 transmission, and the second track is connected with second output shaft 022 transmission.
In some embodiments, the first rolling element comprises a first wheel and the second rolling element comprises a second wheel. The axis of rotation of the first wheel is parallel to the axis of rotation of the second wheel. The first wheel is in transmission connection with the first output shaft 021, and the second wheel is in transmission connection with the second output shaft 022.
Further, the driving device comprises an internal combustion engine, and an output shaft of the internal combustion engine is in transmission connection with the input shaft 01 of the commutator.
Specifically, compared with an electric motor, the internal combustion engine has longer endurance, and is beneficial to the long-time continuous operation of the mobile platform provided by the embodiment of the invention.
In some embodiments, a gearbox for speed size adjustment is provided between the internal combustion engine and the input shaft 01.
Finally, it should be noted that: the embodiments in the present description are all described in a progressive manner, each embodiment focuses on the differences from the other embodiments, and the same and similar parts among the embodiments can be referred to each other; the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A commutator, comprising: the reversing transmission device comprises an input shaft, a first output shaft, a second output shaft, a first transmission shaft, a second transmission shaft, a first transmission assembly, a second transmission assembly, a first electromagnetic clutch and a reversing transmission device;
the input shaft is in transmission connection with the first transmission shaft through the first electromagnetic clutch;
the first transmission shaft is in transmission connection with the first output shaft through the reversing transmission device, and the reversing transmission device is used for switching the rotation direction of the first output shaft and the rotation direction of the first transmission shaft between the same direction and the opposite direction;
the second transmission shaft is in transmission connection with the second output shaft;
the second transmission shaft is in transmission connection with the first transmission shaft through the first transmission assembly;
the second transmission assembly comprises a second electromagnetic clutch, and the input shaft is in transmission connection with the second transmission shaft through the second transmission assembly;
the first transmission assembly and the second transmission assembly are used for realizing that the second transmission shaft and the first transmission shaft rotate in the same direction through the first transmission assembly; the second transmission shaft and the input shaft rotate in different directions through the second transmission assembly;
or,
the second transmission shaft and the first transmission shaft rotate in different directions through the first transmission assembly; through the second transmission assembly, the second transmission shaft and the input shaft rotate in the same direction.
2. The commutator of claim 1 wherein the reversing drive comprises a co-rotating drive assembly and a counter-rotating drive assembly;
the homodromous transmission assembly comprises a third electromagnetic clutch, and two ends of the third electromagnetic clutch are respectively in transmission connection with the first output shaft and the first transmission shaft and are used for realizing homodromous transmission between the first output shaft and the first transmission shaft;
the different-direction transmission assembly comprises a fourth electromagnetic clutch, and two ends of the different-direction transmission assembly are in transmission connection with the first output shaft and the first transmission shaft respectively and are used for realizing different-direction transmission between the first output shaft and the first transmission shaft.
3. The commutator of claim 2, wherein the same direction transmission assembly comprises a third transmission shaft, a first intermediate gear, a first gear and a second gear, and both ends of the third electromagnetic clutch are connected with the first transmission shaft and the third transmission shaft, respectively;
the first intermediate gear is rotationally connected to a box body of the commutator and can rotate around the axis of the first intermediate gear relative to the box body; the first gear is connected to the first output shaft, the second gear is connected to the third transmission shaft, and the first gear and the second gear are respectively meshed with the first intermediate gear;
the first transmission shaft is connected with a central gear; the anisotropic transmission assembly comprises a fourth transmission shaft and a third gear, and two ends of the fourth electromagnetic clutch are respectively connected with the first output shaft and the fourth transmission shaft; the third gear is connected to the fourth transmission shaft and is engaged with the sun gear.
4. A commutator according to claim 2 in which a sun gear is connected to the first drive shaft; the homodromous transmission assembly comprises a third transmission shaft, a first intermediate gear and a second gear, and two ends of the third electromagnetic clutch are respectively connected with the first output shaft and the third transmission shaft;
the first intermediate gear is rotationally connected to a box body of the commutator and can rotate around the axis of the first intermediate gear relative to the box body; the second gear is connected to the third transmission shaft, and the second gear and the central gear are respectively meshed with the first intermediate gear;
the anisotropic transmission assembly comprises a fourth transmission shaft, a first gear and a third gear, and two ends of the fourth electromagnetic clutch are connected with the first transmission shaft and the fourth transmission shaft respectively; the first gear is connected to the first output shaft, the third gear is connected to the fourth transmission shaft, and the first gear is meshed with the third gear.
5. A commutator according to claim 1 in which a sun gear is connected to the first drive shaft; the first transmission assembly comprises a fourth gear, the fourth gear is connected to the second transmission shaft, and the fourth gear is meshed with the central gear;
the second transmission assembly comprises a fifth transmission shaft, a fifth gear, a sixth gear and a second intermediate gear, the fifth gear is connected to the fifth transmission shaft, the sixth gear is connected to the input shaft, and the second intermediate gear is rotatably connected to a box body of the commutator and can rotate around the axis of the second intermediate gear relative to the box body; the fifth gear and the sixth gear are respectively meshed with the second intermediate gear; and two ends of the second electromagnetic clutch are connected with the fifth transmission shaft and the second transmission shaft respectively.
6. A commutator according to claim 1 in which a sun gear is connected to the first drive shaft; the first transmission assembly comprises a fourth gear and a second intermediate gear, the fourth gear is connected to the second transmission shaft, and the second intermediate gear is rotatably connected to a box body of the commutator and can rotate around the axis of the second intermediate gear relative to the box body; the fourth gear and the central gear are respectively meshed with the second intermediate gear;
the second transmission assembly comprises a fifth transmission shaft, a fifth gear and a sixth gear, the fifth gear is connected with the fifth transmission shaft, the sixth gear is connected with the input shaft, and the fifth gear is meshed with the sixth gear; and two ends of the second electromagnetic clutch are connected with the fifth transmission shaft and the second transmission shaft respectively.
7. The commutator of claim 1 further comprising a fifth electromagnetic clutch, wherein the second transmission shaft is in driving connection with the second output shaft via the fifth electromagnetic clutch.
8. The commutator of any of claims 1 to 6, which includes a housing, the input shaft, the first output shaft, the second output shaft, the first transmission shaft, the second transmission shaft, the first transmission assembly, the second transmission assembly, the first electromagnetic clutch and the reversing gear being connected to the housing; and a permanent magnet module box is arranged in the box body.
9. A mobile platform, comprising: a platform body, a drive, a first rolling element, a second rolling element and a commutator as claimed in any one of claims 1 to 7;
the first rolling body and the second rolling body are respectively arranged on two sides of the platform body and are respectively in transmission connection with a first output shaft and a second output shaft in the commutator; the driving device is in transmission connection with an input shaft in the commutator.
10. The mobile platform of claim 9 in which the drive means comprises an internal combustion engine, an output shaft of which is drivingly connected to the input shaft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810852503.XA CN108757853B (en) | 2018-07-27 | 2018-07-27 | Commutator and mobile platform |
| PCT/CN2019/097410 WO2020020197A1 (en) | 2018-07-27 | 2019-07-24 | Transmission, commutator and mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810852503.XA CN108757853B (en) | 2018-07-27 | 2018-07-27 | Commutator and mobile platform |
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| CN108757853A true CN108757853A (en) | 2018-11-06 |
| CN108757853B CN108757853B (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810852503.XA Active CN108757853B (en) | 2018-07-27 | 2018-07-27 | Commutator and mobile platform |
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Effective date of registration: 20231227 Address after: 13th Floor, No. 107 Datagu Middle Road, Xiantao Street, Yubei District, Chongqing, 400000 Patentee after: Chongqing Weizeyi Technology Co.,Ltd. Address before: No. 168-18, No. 3-2, Xiaoyanggongqiao, Shapingba District, Chongqing, 400000 Patentee before: CHONGQING XIMAFU TECHNOLOGY Co.,Ltd. |