CN108757853B - Commutator and mobile platform - Google Patents
Commutator and mobile platform Download PDFInfo
- Publication number
- CN108757853B CN108757853B CN201810852503.XA CN201810852503A CN108757853B CN 108757853 B CN108757853 B CN 108757853B CN 201810852503 A CN201810852503 A CN 201810852503A CN 108757853 B CN108757853 B CN 108757853B
- Authority
- CN
- China
- Prior art keywords
- transmission
- gear
- shaft
- transmission shaft
- electromagnetic clutch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 366
- 238000005096 rolling process Methods 0.000 claims description 34
- 238000002485 combustion reaction Methods 0.000 claims description 10
- 230000009347 mechanical transmission Effects 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 description 9
- 238000005299 abrasion Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- 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
-
- 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
-
- 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
Landscapes
- 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 invention provides a commutator and a mobile platform, and relates to the technical field of mechanical transmission devices. The commutator provided by the invention comprises: the 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; the second transmission shaft is in transmission connection with the second output shaft; 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 commutator provided by the invention can be used for relieving the technical problems that the turning radius is large, the chassis is easy to be blocked and the ground is seriously damaged when the movable chassis driven by the electromagnetic clutch gearbox in the prior art turns.
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, the mobile robots are increasingly widely applied in various industries, and a mobile chassis for driving the mobile robots to move is rapidly developed; the crawler mobile chassis is an important form of mobile chassis and can be applied to complex environments such as ravines, steps, gentle slopes, wet soft soil lands and the like. The crawler mobile chassis mainly has two driving modes: the motor is driven directly and through a gearbox.
The caterpillar band directly driven by the motor moves the chassis, the moving speed of the chassis is regulated by controlling the rotating speed of the motor, and the advancing, retreating and turning of the chassis are realized by changing the rotating direction of the motor. The motor is powered by a battery, and the crawler mobile chassis in the form needs to be matched with a battery with larger capacity, and has the defects of large volume, heavy weight, limited cruising ability and the like; in addition, the driving force of direct drive of the motor is small, so that the crawler belt moving chassis in the form is difficult to be applied to complex pavements such as wet and soft soil lands and gentle slopes with large resistance;
the crawler mobile chassis driven by the gearbox can be powered by a motor or a fuel engine, wherein the gearbox mainly has two structural forms: conventional mechanical gear-driven gearboxes and electromagnetic clutch gearboxes. The gear shifting operation of the traditional mechanical gear transmission gearbox is 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 belt moving chassis driven by the electromagnetic clutch gearbox can realize the functions of speed change, advancing, retreating, turning and the like of equipment by electrically controlling the electromagnetic clutch gearbox, and part of agricultural and forestry moving mechanical equipment adopts the crawler belt 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 blocked, 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 reverser and a mobile platform, which are used for solving the technical problems that a mobile chassis driven by an electromagnetic clutch gearbox in the prior art has larger turning radius, is easy to be blocked and has serious damage to the ground when turning.
The first aspect of the present invention provides a commutator, which includes: the 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 different directions; 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 the second transmission shaft through the second transmission assembly; the first transmission assembly and the second transmission assembly are used for realizing the same-direction rotation of the second transmission shaft and the first transmission shaft through the first transmission assembly; the second transmission shaft and the input shaft rotate in opposite directions through the second transmission assembly; or the second transmission shaft and the first transmission shaft rotate in opposite directions through the first transmission assembly; the second transmission shaft and the input shaft rotate in the same direction through the second transmission assembly.
Further, the reversing transmission device comprises a same-direction transmission assembly and a different-direction transmission assembly; the same-direction transmission assembly comprises a third electromagnetic clutch, and two ends of the same-direction transmission assembly are respectively in transmission connection with the first output shaft and the first transmission shaft and are used for realizing same-direction 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 respectively in transmission connection with the first output shaft and the first transmission shaft and are used for realizing different direction transmission between the first output shaft and the first transmission shaft.
Further, the same-direction 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 box body relative to the box body; the first gear is connected with the first output shaft, the second gear is connected with 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 different-direction 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 drive shaft and is meshed with the sun gear.
Further, 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 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 box body 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 different-direction transmission assembly comprises a fourth transmission shaft, a first gear and a third gear, and two ends of a 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 which is connected with the second transmission shaft and 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, wherein the fifth gear is connected with the fifth transmission shaft, the sixth gear is connected with the input shaft, and the second intermediate gear is rotationally connected with the box body of the reverser provided by the invention and can rotate around the axis of the box body 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 with the second transmission shaft, the second intermediate gear is rotationally connected with the box body of the commutator provided by the invention, and the second intermediate gear can rotate around the axis of the box body relative to the box body; the fourth gear and the sun 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 further 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 all connected to the box body; the box body is provided with a permanent magnet module box.
A second aspect of the present invention provides a mobile platform, where the mobile platform provided by the present invention includes: the device comprises a platform body, a driving device, a first rolling body, a second rolling body and the commutator; the first rolling bodies and the second rolling bodies are respectively arranged at 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 an input shaft to a 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 to close the first electromagnetic clutch and open the second electromagnetic clutch, 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 relation 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 relation 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 rotation direction of the first transmission shaft and the rotation 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 rotation direction of the first output shaft is changed along with the change.
The first transmission shaft is in transmission connection with the first output shaft through a 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 rotation direction of the first transmission shaft is changed along with the rotation direction of the second transmission shaft, the reversing transmission device can be controlled to adjust the first output shaft to rotate according to the set rotation direction, so that the flexible adjustment of the rotation direction of the first output shaft is realized.
The rolling bodies on two sides of the movable chassis of the commutator provided by the invention can be respectively connected with the first output shaft and the second output shaft; the rotation directions of the rolling bodies at the two sides can be controlled independently respectively, so that the rolling bodies can rotate in the same direction or in different directions. When the rolling bodies at the two sides rotate in the same direction, the movable chassis can move forwards or backwards; when the rolling bodies on the two sides rotate in different directions, the movable chassis can turn in different directions on the two sides.
In the prior art, the movable chassis generally realizes turning by controlling the single-side rolling bodies to be in a braking state, and has large abrasion to the ground; when the vehicle is positioned on a soft ground, pits are easily formed on the ground in the turning process, so that the movable chassis falls into the pits, 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 can realize turning by controlling the rolling bodies at two sides to rotate in different directions, so that the rolling bodies at 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 problem that the chassis is easy to be blocked and seriously damaged on the ground when the movable chassis driven by the electromagnetic clutch gearbox in the prior art turns is solved.
The advantages of the mobile platform and the commutator are the same as those of the commutator in the prior art, and are not described herein.
In order to make the above objects, features and advantages of the present invention more 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 that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a first implementation of a commutator provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a second implementation of the commutator provided in the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a third embodiment of a commutator provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a fourth embodiment of a commutator provided by an embodiment of the present invention.
Icon: 01-an input shaft; 021-first output shaft; 022-a second output shaft; 031-a first drive shaft; 032-a second drive shaft; 033-a third drive shaft; 034-fourth drive shaft; 035-a fifth drive shaft; 041-first gear; 042-a second gear; 043-third gear; 044-fourth gear; 045-fifth gear; 046-sixth gear; 051-a first intermediate gear; 052-a second intermediate gear; 053-sun gear; 061-a first electromagnetic clutch; 062-a second electromagnetic clutch; 063-a third electromagnetic clutch; 064-a fourth electromagnetic clutch; 065-fifth electromagnetic clutch.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific 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 explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
An embodiment of the present invention provides a commutator, where the commutator includes: 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 the same-direction rotation of the second transmission shaft 032 and the first transmission shaft 031 through the first transmission assembly; through the second transmission assembly, the second transmission shaft 032 rotates in opposite directions with the input shaft 01; alternatively, the second transmission shaft 032 and the first transmission shaft 031 can rotate in opposite directions through the first transmission assembly; the second transmission shaft 032 rotates in the same direction as the input shaft 01 through the second transmission assembly.
Specifically, in the commutator provided by the embodiment of the 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 opened, 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 open 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 relation 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; accordingly, 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 direction of rotation of the first drive shaft 031 and the direction of rotation of the second drive shaft 032 is determined by the first drive assembly; the opening and closing of the first electromagnetic clutch 061 and the second electromagnetic clutch 062 are controlled, and the rotation direction of the first output shaft 021 is changed.
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 relation 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 reversing transmission device can be controlled to adjust the rotation of the first output shaft 021 according to the set rotation direction, so as to realize flexible adjustment of the rotation direction of the first output shaft 021.
The rolling bodies on two sides of the moving chassis of the commutator provided by the embodiment of the invention can be respectively connected with the first output shaft 021 and the second output shaft 022; the rotation directions of the rolling bodies at the two sides can be controlled independently respectively, so that the rolling bodies can rotate in the same direction or in different directions. When the rolling bodies at the two sides rotate in the same direction, the movable chassis can move forwards or backwards; when the rolling bodies on the two sides rotate in different directions, the movable chassis can turn in different directions on the two sides.
In the prior art, the movable chassis generally realizes turning by controlling the single-side rolling bodies to be in a braking state, and has large abrasion to the ground; when being located soft ground, the easy pit that forms on ground in the turn, lead to moving chassis to sink into the pit, cause chassis jamming to turn radius is great, and working space demand is also great when turning. The movable chassis of the reverser provided by the embodiment of the invention can realize turning by controlling the rolling bodies at two sides to rotate along different directions, so that the rolling bodies at 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 in the embodiments of the present invention includes a remote controller, and the first electromagnetic clutch 061 and the second electromagnetic clutch 062 are respectively connected with the remote controller through signals.
The input shaft 01 is connected with a power source, the first output shaft 021 and the second output shaft 022 can be independently controlled, so that the rotation direction of a rotating body connected with the first output shaft 021 and the rotation direction of a rotating body connected with the second output shaft 022 can be respectively and independently controlled, the control performance and the automation degree of the movable chassis are improved, and the maneuvering performance of the caterpillar movable chassis for turning and other movements is optimized; and because the electromagnetic clutch is adopted, the remote control can be realized, and the robot is applicable to remote control of intelligent autonomous robots.
The input shaft 01 can be connected with an internal combustion engine, and the internal combustion engine provides kinetic energy, so that the cruising ability is improved.
Further, the reversing transmission device comprises a same-direction transmission assembly and a different-direction transmission assembly; the same-direction transmission assembly comprises a third electromagnetic clutch 063, and two ends of the same-direction transmission assembly are respectively in transmission connection with the first output shaft 021 and the first transmission shaft 031 and are used for realizing same-direction 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 are respectively in transmission connection with the first output shaft 021 and the first transmission shaft 031, so as to realize anisotropic transmission between the first output shaft 021 and the first transmission shaft 031.
Specifically, the third electromagnetic clutch 063 is closed, the fourth electromagnetic clutch 064 is opened, and the first transmission shaft 031 and the first output shaft 021 are in transmission connection through a same-direction transmission assembly; the rotation direction of the first output shaft 021 is the same as the rotation direction of the first transmission shaft 031.
The third electromagnetic clutch 063 is opened, the fourth electromagnetic clutch 064 is closed, and the first transmission shaft 031 and the first output shaft 021 are in transmission connection through a different-direction transmission assembly; the rotation direction of the first output shaft 021 is opposite to the rotation direction of the first transmission shaft 031.
The third electromagnetic clutch 063 and the fourth electromagnetic clutch 064 are simultaneously disconnected, so that the first output shaft 021 can be controlled to stop, and the non-active motion output is realized.
The fourth electromagnetic clutch 064 and the third electromagnetic clutch 063 are respectively connected with a remote controller through signals, so that the rotation direction of the first output shaft 021 can be controlled remotely and independently.
As another implementation mode, the commutator provided by the embodiment of the invention can be applied to mechanisms such as robots, arms and arms.
Further, referring to fig. 1 and 4, the homodromous transmission assembly includes a third transmission shaft 033, a first intermediate gear 051, a first gear 041 and a second gear 042, and two 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 rotatably connected to 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 different-direction transmission assembly comprises a fourth transmission shaft 034 and a third gear 043, and two ends of the 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 drive shaft 034 and is meshed with the sun gear 053.
Specifically, the first intermediate gear 051 is connected to a 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 opened, 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 rotation direction of the first output shaft 021 is the same as the rotation direction of the first transmission shaft 031.
When the third electromagnetic clutch 063 is opened and the fourth electromagnetic clutch 064 is closed, 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 rotation direction of the first output shaft 021 is opposite to the rotation direction of the first transmission shaft 031.
Further, referring to fig. 2 and 3, a sun gear 053 is connected to the first transmission shaft 031; the same-direction 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 rotatably connected to 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 sun gear 053 are respectively meshed with the first intermediate gear 051; the different-direction transmission assembly comprises a fourth transmission shaft 034, a first gear 041 and a third gear 043, and 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 drive shaft 034, and the first gear 041 meshes with the third gear 043.
Specifically, the first intermediate gear 051 is connected to a 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, a sun gear 053 is connected to the first transmission shaft 031; 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 sun 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, wherein the fifth gear 045 is connected with the fifth transmission shaft 035, the sixth gear 046 is connected with the input shaft 01, the second intermediate gear 052 is rotatably connected with the box body of the reverser provided by the embodiment of the invention, and can rotate around the axis of the reverser relative to the box body; the fifth gear 045 and the sixth gear 046 are respectively meshed with the second intermediate gear 052; both ends of the second electromagnetic clutch 062 are connected with the fifth transmission shaft 035 and the second transmission shaft 032, respectively.
Specifically, the second intermediate gear 052 is connected to the second rotating shaft, the second rotating shaft is rotatably connected to the box body, and the second intermediate gear 052 can rotate around the axis of the second rotating shaft relative to the box body.
Further, referring to fig. 3 and 4, a sun gear 053 is connected to the first transmission shaft 031; the first transmission assembly comprises a fourth gear 044 and a second intermediate gear 052, the fourth gear 044 is connected with the second transmission shaft 032, the second intermediate gear 052 is rotatably connected with the box body of the reverser provided by the embodiment of the invention, and the second intermediate gear 052 can rotate around the axis of the box body relative to the box body; the fourth gear 044 and the sun 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, wherein 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; both ends of the second electromagnetic clutch 062 are connected with the fifth transmission shaft 035 and the second transmission shaft 032, respectively.
Specifically, the second intermediate gear 052 is connected to the second rotating shaft, the second rotating shaft is rotatably connected to the box body, and the second intermediate gear 052 can rotate around the axis of the second rotating shaft relative to the box body.
Further, the commutator provided by the embodiment of the 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 the non-active motion output is realized.
The commutator provided by the embodiment of the invention can respectively and independently control the start-stop and rotation directions of the first output shaft 021 and the start-stop and rotation directions of the second output shaft 022. The moving platform of the reverser provided by the embodiment of the invention can steer the moving platform through single-side braking, and can steer the moving platform by controlling the rotating bodies at 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 stability of movement.
Further, the commutator provided by the embodiment of the invention comprises a box body, wherein 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 are all connected to the box body; the box body is provided with a permanent magnet module box.
Specifically, the permanent magnet module box is connected with the box body, and can absorb scraps in the box body, so that the interference of the scraps on each moving part is reduced, and the smooth operation and the service life improvement of the commutator provided by the embodiment of the invention are facilitated.
A second aspect of an embodiment of the present invention provides a mobile platform, where the mobile platform provided by the embodiment of the present invention includes: the device 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 connected with a first output shaft 021 and a second output shaft 022 in the reverser in a transmission way; the driving device is connected with an input shaft 01 in the commutator in a transmission way.
Specifically, under the condition that a single power source provides power, the commutator can respectively control the start-stop and rotation directions of the first rolling body and the second rolling body, so that the maneuvering performance of the mobile platform provided by the embodiment of the invention is improved, and the mobile 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 axis of rotation of the first track is parallel to the axis of rotation of the second track. The first track is in driving connection with the first output shaft 021 and the second track is in driving connection with the second output shaft 022.
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 driving connection with the first output shaft 021 and the second wheel is in driving 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 an input shaft 01 of the commutator.
In particular, compared with a motor, the internal combustion engine has longer endurance, and is beneficial to long-time continuous operation of the mobile platform provided by the embodiment of the invention.
In some embodiments, a gearbox for speed regulation is arranged between the internal combustion engine and the input shaft 01.
Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are only required to be seen with each other; the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (9)
1. A commutator, comprising: the 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 different directions;
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 the same-direction rotation of the second transmission shaft and the first transmission shaft through the first transmission assembly; the second transmission shaft and the input shaft rotate in opposite directions through the second transmission assembly;
or,
the second transmission shaft and the first transmission shaft rotate in opposite directions through the first transmission assembly; the second transmission shaft and the input shaft rotate in the same direction through the second transmission assembly;
the reversing transmission device comprises a same-direction transmission assembly and a different-direction transmission assembly;
the same-direction transmission assembly comprises a third electromagnetic clutch, and two ends of the same-direction transmission assembly are respectively in transmission connection with the first output shaft and the first transmission shaft and are used for realizing same-direction 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 respectively in transmission connection with the first output shaft and the first transmission shaft and are used for realizing different-direction transmission between the first output shaft and the first transmission shaft;
the commutator also comprises a remote controller, and the first electromagnetic clutch and the second electromagnetic clutch are respectively connected with the remote controller in a signal mode.
2. The commutator of claim 1, wherein the same-direction 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 and can rotate around the axis of the box body 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 different-direction 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 drive shaft and is meshed with the sun gear.
3. The commutator of claim 1, wherein the first drive shaft is connected to a sun gear; the same-direction 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 with the box body of the commutator and can rotate around the axis of the box body 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 different-direction 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 with the first output shaft, the third gear is connected with the fourth transmission shaft, and the first gear is meshed with the third gear.
4. The commutator of claim 1, wherein the first drive shaft is connected to a sun 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 with the fifth transmission shaft, the sixth gear is connected with the input shaft, the second intermediate gear is rotatably connected with a box body of the reverser 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.
5. The commutator of claim 1, wherein the first drive shaft is connected to a sun gear; the first transmission assembly comprises a fourth gear and a second intermediate gear, the fourth gear is connected with the second transmission shaft, the second intermediate gear is rotatably connected with the box body of the reverser, and the second intermediate gear can rotate around the axis of the box body relative to the box body; the fourth gear and the sun 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.
6. The commutator of claim 1, further comprising a fifth electromagnetic clutch, wherein the second transmission shaft is drivingly connected to the second output shaft via the fifth electromagnetic clutch.
7. The commutator of any one of claims 1-5, wherein the commutator comprises a housing to which the input shaft, the first output shaft, the second output shaft, the first drive shaft, the second drive shaft, the first drive assembly, the second drive assembly, the first electromagnetic clutch, and the commutating drive are all connected; the box body is internally provided with a permanent magnet module box.
8. A mobile platform, comprising: a platform body, a driving device, a first rolling body, a second rolling body and a commutator as defined in any one of claims 1 to 6;
the first rolling bodies and the second rolling bodies 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 reverser; the driving device is in transmission connection with an input shaft in the commutator.
9. The mobile platform of claim 8, wherein the drive means comprises an internal combustion engine, an output shaft of the internal combustion engine being 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108757853A CN108757853A (en) | 2018-11-06 |
| CN108757853B true CN108757853B (en) | 2023-09-22 |
Family
ID=63971898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810852503.XA Active CN108757853B (en) | 2018-07-27 | 2018-07-27 | Commutator and mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108757853B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2421451Y (en) * | 1999-11-17 | 2001-02-28 | 张培旺 | Power output direction conversion device |
| CN102619936A (en) * | 2012-04-10 | 2012-08-01 | 成都凯迈科技有限公司 | Three-clutch three-gear speed change transmission device and three-clutch method thereof |
| CN102678836A (en) * | 2012-05-23 | 2012-09-19 | 南通市广益机电有限责任公司 | Transmission case for electrically controlling vehicle to walk |
| CN105626789A (en) * | 2014-10-31 | 2016-06-01 | 董艳华 | Device for converting reciprocating rotation into unidirectional rotation |
| CN105782357A (en) * | 2016-04-15 | 2016-07-20 | 南通市广益机电有限责任公司 | Variable-speed transmission electronically controlling running of vehicle |
| DE102016201294A1 (en) * | 2015-02-25 | 2016-08-25 | Schaeffler Technologies AG & Co. KG | Gearbox with double drive and double output shaft |
| CN206036146U (en) * | 2016-08-31 | 2017-03-22 | 重庆市农业科学院 | Gearbox and farm machinery thereof |
| CN108105343A (en) * | 2018-02-09 | 2018-06-01 | 河北铠特农业机械有限公司 | Power transmission device of high-horsepower tractor |
| CN208587459U (en) * | 2018-07-27 | 2019-03-08 | 重庆西玛福科技有限公司 | Commutator and mobile platform |
| WO2022143964A1 (en) * | 2020-12-31 | 2022-07-07 | 南通市广益机电有限责任公司 | Gearbox for controlling steering of tracked vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100816991B1 (en) * | 2007-05-17 | 2008-03-26 | 엘에스전선 주식회사 | Transmission apparatus of tractor |
-
2018
- 2018-07-27 CN CN201810852503.XA patent/CN108757853B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2421451Y (en) * | 1999-11-17 | 2001-02-28 | 张培旺 | Power output direction conversion device |
| CN102619936A (en) * | 2012-04-10 | 2012-08-01 | 成都凯迈科技有限公司 | Three-clutch three-gear speed change transmission device and three-clutch method thereof |
| CN102678836A (en) * | 2012-05-23 | 2012-09-19 | 南通市广益机电有限责任公司 | Transmission case for electrically controlling vehicle to walk |
| CN105626789A (en) * | 2014-10-31 | 2016-06-01 | 董艳华 | Device for converting reciprocating rotation into unidirectional rotation |
| DE102016201294A1 (en) * | 2015-02-25 | 2016-08-25 | Schaeffler Technologies AG & Co. KG | Gearbox with double drive and double output shaft |
| CN105782357A (en) * | 2016-04-15 | 2016-07-20 | 南通市广益机电有限责任公司 | Variable-speed transmission electronically controlling running of vehicle |
| CN206036146U (en) * | 2016-08-31 | 2017-03-22 | 重庆市农业科学院 | Gearbox and farm machinery thereof |
| CN108105343A (en) * | 2018-02-09 | 2018-06-01 | 河北铠特农业机械有限公司 | Power transmission device of high-horsepower tractor |
| CN208587459U (en) * | 2018-07-27 | 2019-03-08 | 重庆西玛福科技有限公司 | Commutator and mobile platform |
| WO2022143964A1 (en) * | 2020-12-31 | 2022-07-07 | 南通市广益机电有限责任公司 | Gearbox for controlling steering of tracked vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108757853A (en) | 2018-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109417871B (en) | Rotary cultivator | |
| CN102678836B (en) | Transmission case for electrically controlling vehicle to walk | |
| CN105782357A (en) | Variable-speed transmission electronically controlling running of vehicle | |
| CN107035822A (en) | A kind of automatically controlled gearshift of electric car | |
| CN208587459U (en) | Commutator and mobile platform | |
| CN108757851B (en) | Transmission and mobile platform | |
| CN108757853B (en) | Commutator and mobile platform | |
| CN208587460U (en) | Speed changer and mobile platform | |
| CN111089144A (en) | Two-gear speed changing device for vehicle and electric vehicle thereof | |
| CN108757852B (en) | Gearbox and mobile platform | |
| CN112833147B (en) | Speed change transmission case for steering of electric control tracked vehicle | |
| CN208587461U (en) | Gearbox and mobile platform | |
| WO2020020197A1 (en) | Transmission, commutator and mobile platform | |
| CN107956845A (en) | Two gear gearboxes and electric automobile | |
| CN205715475U (en) | A kind of change gearbox of electric-controlled vehicle walking | |
| CN211649024U (en) | Gear shifting device of unmanned automobile | |
| CN211574172U (en) | Two-gear speed changing device for vehicle and electric vehicle thereof | |
| CN210364031U (en) | Steering device and automated guided vehicle | |
| CN207999483U (en) | Two grades of gearboxes and electric vehicle | |
| RU223159U1 (en) | AMPHIBIAN CAR | |
| CN206175579U (en) | Shunting self shifter reduction gear for electric motor car | |
| CN105794346B (en) | Garden supervisor inner shifting type can control transfer | |
| CN215806178U (en) | Novel gearbox | |
| CN202926989U (en) | Automobile transmission device with pump type speed changing mechanism | |
| CN116641993A (en) | Transmission method of gear box suitable for crawler chassis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
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. |