CN110319162B - 一种仿生机器人用可变速比高扭矩密度动力单元 - Google Patents

一种仿生机器人用可变速比高扭矩密度动力单元 Download PDF

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CN110319162B
CN110319162B CN201910466685.1A CN201910466685A CN110319162B CN 110319162 B CN110319162 B CN 110319162B CN 201910466685 A CN201910466685 A CN 201910466685A CN 110319162 B CN110319162 B CN 110319162B
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gear
shaft
wheel
driven wheel
motor rotor
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CN110319162A (zh
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黄强
范徐笑
黄日成
余张国
陈强
汤承龙
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Beijing Institute of Technology BIT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • F16H3/70—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D23/00—Details of mechanically-actuated clutches not specific for one distinct type
    • F16D23/02—Arrangements for synchronisation, also for power-operated clutches
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • F16H3/46—Gearings having only two central gears, connected by orbital gears
    • F16H3/58—Gearings having only two central gears, connected by orbital gears with sets of orbital gears, each consisting of two or more intermeshing orbital gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/02—Selector apparatus
    • F16H59/08—Range selector apparatus
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    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/30—Constructional features of the final output mechanisms
    • F16H63/304—Constructional features of the final output mechanisms the final output mechanisms comprising elements moved by electrical or magnetic force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/30—Constructional features of the final output mechanisms
    • F16H63/32—Gear shift yokes, e.g. shift forks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • H02K7/083—Structural association with bearings radially supporting the rotary shaft at both ends of the rotor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/108—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction clutches
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D23/00—Details of mechanically-actuated clutches not specific for one distinct type
    • F16D23/02—Arrangements for synchronisation, also for power-operated clutches
    • F16D23/04—Arrangements for synchronisation, also for power-operated clutches with an additional friction clutch
    • F16D23/06—Arrangements for synchronisation, also for power-operated clutches with an additional friction clutch and a blocking mechanism preventing the engagement of the main clutch prior to synchronisation
    • F16D23/0606—Arrangements for synchronisation, also for power-operated clutches with an additional friction clutch and a blocking mechanism preventing the engagement of the main clutch prior to synchronisation the blocking mechanism comprising an axially-extending shouldered pin passing through a hole in a radial wall
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • F16H2003/445—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion without permanent connection between the input and the set of orbital gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/04—Combinations of toothed gearings only
    • F16H2037/047—Combinations of toothed gearings only comprising one or more orbital gear sets coaxial with a first shaft and having more than one drive connection to a second shaft parallel to the first shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/04—Combinations of toothed gearings only
    • F16H2037/048—Combinations of parallel shaft and orbital motion gearing, wherein the orbital motion gear has more than one connection with the parallel shaft gearing
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    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/30—Constructional features of the final output mechanisms
    • F16H2063/3093—Final output elements, i.e. the final elements to establish gear ratio, e.g. dog clutches or other means establishing coupling to shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16H—GEARING
    • F16H2200/00—Transmissions for multiple ratios
    • F16H2200/003—Transmissions for multiple ratios characterised by the number of forward speeds
    • F16H2200/0034—Transmissions for multiple ratios characterised by the number of forward speeds the gear ratios comprising two forward speeds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H2200/00—Transmissions for multiple ratios
    • F16H2200/20—Transmissions using gears with orbital motion
    • F16H2200/203—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes
    • F16H2200/2035—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes with two engaging means
    • 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
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    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
    • F16H37/0833—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with arrangements for dividing torque between two or more intermediate shafts, i.e. with two or more internal power paths

Abstract

本发明提供一种仿生机器人用可变速比高扭矩密度动力单元，包括电机壳体，所述的电机壳体中嵌设有电机定子，所述的电机定子内嵌设有电机转子，所述的电机转子内嵌设有电机转子轴，所述的电机转子轴与所述的电机壳体之间设置有轴承，电机转子轴中心部位嵌设有主动轴，所述的主动轴上设置有第一主动轮，电机转子轴内设置有传动轴，所述的传动轴上设置有第一从动轮和主动轮，所述的第一从动轮与所述的第一主动轮啮合连接，所述的电机转子轴内还设置有太阳轮轴，所述的太阳轮轴与所述的主动轴同轴设置，太阳轮轴上设置有同步器和从动轮。本发明的有益效果是结构简单，体积小巧，重量轻，档位可变换，换挡平稳。

Description

一种仿生机器人用可变速比高扭矩密度动力单元
技术领域
本发明属于仿生机器人技术领域，尤其是涉及一种仿生机器人用可变速比高扭矩密度动力单元。
背景技术
基于仿生机器人髋关节处所使用的高精度可变速比减速器只具有一个传动比，而现在对于仿生机器人的要求为可以奔跑、跳跃、攀爬和低功耗长续航行走，并在不同的工况下对减速器总成的速比需求都不相同，所以需要减速器本身具用不同的传动比，以此来满足仿生机器人的使用。
在现有的技术中，仿生机器人为了获得更好的动态性能，就要充分进行轻量化设计，并且体积必须小巧，但是传统减速器行业中的变速箱，体积普遍偏大，在仿生机器人上无法使用，并且传统减速器换挡执行机构多采用电机驱动、液压驱动或多片离合器式，又进一步地增加了整体重量和体积，而且还需要其他动力源提供动力，所以无法直接采用等比例缩小的方式进行移植，也就无法安装到仿生机器人上。
发明内容
本发明的目的是提供一种结构简单，体积小巧，可安装在仿生机器人上的动力单元，尤其适合一种仿生机器人用可变速比高扭矩密度动力单元。
本发明的技术方案是：
提供一种仿生机器人用可变速比高扭矩密度动力单元，包括电机壳体，所述的电机壳体中嵌设有电机定子，所述的电机定子内嵌设有电机转子，所述的电机转子内嵌设有电机转子轴，所述的电机转子轴与所述的电机壳体之间设置有轴承，电机转子轴中心部位嵌设有主动轴，所述的主动轴上设置有第一主动轮，电机转子轴内设置有传动轴，所述的传动轴上设置有第一从动轮和第二主动轮，所述的第一从动轮与所述的第一主动轮啮合连接，所述的电机转子轴内还设置有太阳轮轴，所述的太阳轮轴与所述的主动轴同轴设置，太阳轮轴上设置有同步器和第二从动轮，所述的第二从动轮与所述的第二主动轮啮合连接，太阳轮轴上还设置有行星排。
进一步的，所述的第二主动轮包括一档主动轮和二挡主动轮，所述的第二从动轮包括一档从动轮和二挡从动轮，所述的一档主动轮和所述的一档从动轮啮合连接，所述的二挡主动轮和所述的二挡从动轮啮合连接，二挡从动轮和一档从动轮之间设置有所述的同步器。
进一步的，所述的二挡从动轮与所述的太阳轮轴之间设置有第二滚针轴承，所述的一挡从动轮与所述的太阳轮轴之间设置有第一滚针轴承。
进一步的，所述的同步器包括花键毂，所述的花键毂套设在所述的太阳轮轴上，花键毂上套设有啮合套，所述的啮合套与花键毂之间设置有定位销，花键毂左右两侧对称设置有二挡锁止锥齿和一档锁止锥齿，所述的二挡锁止锥齿上套设有二挡锁止环，所述的一档锁止锥齿上套设有一档锁止环。
进一步的，所述的花键毂侧面贯通设置有矩形花键。
进一步的，所述的二挡锁、所述的二挡锁止环、所述的一档锁止锥齿和所述的一档锁止环上设置有导向角。
进一步的，所述的啮合套上设置有换挡拨叉，所述的换挡拨叉左侧和右侧对称设置有二挡磁力单元和一档磁力单元。
本发明具有的优点和积极效果是：
1、由于采用了第二主动轮与第二从动轮，所以，有效地解决了减速器无法变速、传动比单一的问题，进而实现了减速器内部通过改变传动比，使减速器的输出转速发生改变的技术效果。
2、由于采用了滚针轴承，所以，有效地解决了减速器体积缩小之后，滚珠轴承负荷承受能力小的问题，进而实现了缩小减速器体积的同时保持轴承的负荷承受能力的技术效果。
3、由于采用了换挡拨叉与二挡磁力单元和一档磁力单元，所以，有效地解决了减速器需要手动换挡，且手动换挡速度慢的问题，进而实现了快速换挡、自动换挡的技术效果
附图说明
图1是本发明的结构示意图；
图2是图1顺时针旋转90°后的结构示意图；
图3是本发明的同步器的主视图；
图4是本发明的同步器的右视图；
图5是本发明的同步器的结构示意图。
图中：
1、电机壳体 2、电机定子 3、电机转子
4、电机转子轴 5、第一主动轮 6、第一从动轮
7、二挡主动轮 8、同步器 8-1、二挡锁止锥齿
8-2、二挡锁止环 8-3、啮合套 8-4、定位销
8-5、花键毂 8-6、一档锁止环 8-7、一档锁止锥齿
8-8、矩形花键 8-9、导向角 9、一档主动轮
10、太阳轮轴 11、行星排 12、二挡从动轮
13、第二滚针轴承 14、一档从动轮 15、第一滚针轴承
16、二挡磁力单元 17、换挡拨叉 18、一档磁力单元
具体实施方式
下面结合附图对本发明做详细说明。
实施例
本发明提供一种仿生机器人用可变速比高扭矩密度动力单元，如图1所示，包括电机壳体1，所述的电机壳体1中嵌设有电机定子2，所述的电机定子2内嵌设有电机转子3，所述的电机转子3内嵌设有电机转子轴4，所述的电机转子轴4与所述的电机壳体1之间设置有轴承，电机转子轴4中心部位嵌设有主动轴，所述的主动轴上设置有第一主动轮2，电机转子轴4内设置有传动轴，所述的传动轴上设置有第一从动轮6和第二主动轮，所述的第一从动轮6与所述的第一主动轮5啮合连接，所述的电机转子轴4内还设置有太阳轮轴10，所述的太阳轮轴10与所述的主动轴同轴设置，太阳轮轴10上设置有同步器8和第二从动轮，所述的第二从动轮与所述的第二主动轮啮合连接，太阳轮轴10上还设置有行星排11。
其中，如图1所示，所述的第二主动轮包括一档主动轮9和二挡主动轮7，所述的第二从动轮包括一档从动轮14和二挡从动轮12，所述的一档主动轮9和所述的一档从动轮14啮合连接，所述的二挡主动轮7和所述的二挡从动轮12啮合连接，二挡从动轮12和一档从动轮14之间设置有所述的同步器8。第二主动轮与第二从动轮均设置有一档轮和二档轮，使本发明具有了可变速调节、更换档位的效果，在将本发明安装到仿生机器人上后，当仿生机器人需要在使用大扭矩的工作情况下，可以将档位更换到二挡，当仿生机器人需要高速行走时，可以将档位更换到一挡，使传动比发生改变，行星排11输出的转速发生变化，从而更好的利用本发明的高效率区域，使本发明的输出动力得到充分的利用。
其中，如图1所示，所述的二挡从动轮12与所述的太阳轮轴10之间设置有第二滚针轴承13，所述的一挡从动轮14与所述的太阳轮轴10之间设置有第一滚针轴承15。使用第一滚针轴承15和第二滚针轴承13后，可有效地减少太阳轮轴10和二挡从动轮12、一挡从动轮14之间的距离，使结构更加紧凑，同时，第一滚针轴承15和第二滚针轴承13相较于滚珠轴承具有更大的负荷承受能力，起到了延长使用寿命的效果。
其中，如图3所示，所述的同步器8包括花键毂8-5，所述的花键毂8-5套设在所述的太阳轮轴10上，花键毂8-5上套设有啮合套8-3，所述的啮合套8-3与花键毂8-5之间设置有定位销8-4，花键毂8-5左右两侧对称设置有二挡锁止锥齿8-1和一档锁止锥齿8-7，所述的二挡锁止锥齿8-1上套设有二挡锁止环8-2，所述的一档锁止锥齿8-7上套设有一档锁止环8-6。当二挡锁止锥齿8-1与二挡从动轮12啮合时，此时本发明处于二挡状态下，当一档锁止锥齿8-7与一档从动轮14啮合时，此时本发明处于一挡状态下，同步器8可进行快速换挡，缩短换挡的时间，使换挡过程更平稳。
其中，如图4所示，所述的花键毂8-5侧面贯通设置有矩形花键8-8。增大花键毂8-5与太阳轮轴10之间接触面积，同时，增多花键毂8-5与太阳轮轴10之间的支撑点，当有一个支撑点受到破坏时，仍有多个支撑点保持花键毂8-5与太阳轮轴10之间的转速正常传递，维持本发明的正常运转。
其中，如图5所示，所述的二挡锁止锥齿8-1、所述的二挡锁止环8-2、所述的一档锁止锥齿8-7和所述的一档锁止环8-6上设置有导向角8-9。设计导向角8-9，使啮合套8-3在与二挡锁止环8-2、一档锁止环8-6结合时受到引导，使结合更加顺利，避免啮合套8-3与二挡锁止环8-2或一档锁止环8-6产生碰撞，从而造成安全隐患，起到了换挡平稳、提高安全性的效果。
其中，如图2所示，所述的啮合套8-3上设置有换挡拨叉17，所述的换挡拨叉17左侧和右侧对称设置有二挡磁力单元16和一档磁力单元18。换挡拨叉17的主要作用是用于拖动啮合套8-3，以此来实现换挡，而二挡磁力单元16和一档磁力单元18在通电时，可对换挡拨叉17产生吸引，换挡拨叉17被吸引后拖动啮合套8-3移动，换挡过程不需要在多借用外部力量，使本发明具有了自动换挡的效果。
本实例的工作过程：
为本发明接通电源，电机转子3与电机转子轴4转动带动主动轴转动，主动轴带动第一主动轮5转动，第一主动轮5带动第一从动轮6、二挡主动轮7和一档主动轮9转动，二挡主动轮7和一档主动轮9分别带动二挡从动轮12和一档从动轮14转动，由于离合器8的存在，太阳轮轴10此时不转动，二挡从动轮12和一档从动轮14处于空转状态，在初始化状态下换挡拨叉17处于中间位置，本发明处于零档状态下，然后使二档磁力单元16通电，二档磁力单元16上产生磁力，换挡拨叉17被吸引向二档磁力单元16运动，换挡拨叉17拖动啮合套8-3向二挡主动轮7和二挡从动轮12移动，在啮合套8-3被移动的过程中与二挡锁止环8-2逐渐结合，当二挡锁止锥齿8-1与二挡从动轮12连接后，二挡锁止锥齿8-1获得了与二挡从动轮12相同的转速，二挡锁止锥齿8-1与二挡锁止环8-2存在摩擦锥面，在啮合套8-3与二档锁止环8-2逐渐结合过程中，由于二档磁力单元16对换挡拨叉17的拉力作用，使二挡锁止锥齿8-1与二挡锁止环8-2的结合逐渐紧密，从而使二挡锁止环8-2逐渐转动起来，直到与二挡锁止锥齿8-1转速相同，在此过程中啮合套8-3与锁止环8-2由于摩擦力作用也会同步转动起来直至转速相同，太阳轮轴10转动，并且转速与二挡从动轮12转速相同，此时档位已从零挡更换到二挡，实现了二挡从动轮12与离合器8的动力结合，然后经由太阳轮轴10将动力传递到行星排11，最后由行星排11将转速输出。
然后使二档磁力单元16断电，同时一档磁力单元18通电，一档磁力单元18上产生磁力，换挡拨叉17被吸引向一档磁力单元18运动，换挡拨叉17拖动啮合套8-3向一挡主动轮9和一挡从动轮14移动，在换挡拨叉17进行移动时，当行星排11输出的转速略微降低时，说明本发明正处于零挡状态下，然后换挡拨叉17依旧在拖动着啮合套8-3移动，在啮合套8-3被移动的过程中与一挡锁止环8-6逐渐结合，当一挡锁止锥齿8-7与一挡从动轮12连接后，一挡锁止锥齿8-7获得了与一挡从动轮12相同的转速，一挡锁止锥齿8-7与一挡锁止环8-6存在摩擦锥面，在啮合套8-3与一档锁止环8-6逐渐结合过程中，由于一档磁力单元18对换挡拨叉17的拉力作用，使一挡锁止锥齿8-7与一挡锁止环8-6的结合逐渐紧密，从而使一挡锁止环8-6逐渐转动起来，直到与一挡锁止锥齿8-7转速相同，在此过程中啮合套8-3与锁止环8-6由于摩擦力作用也会同步转动起来直至转速相同，太阳轮轴10转动，并且转速与一挡从动轮14转速相同，此时档位已从二挡更换到一挡，实现了一挡从动轮12与离合器8的动力结合，然后经由太阳轮轴10将动力传递到行星排11，最后由行星排11将转速输出。
以上对本发明的一个实施例进行了详细说明，但所述内容仅为本发明的较佳实施例，不能被认为用于限定本发明的实施范围。凡依本发明申请范围所作的均等变化与改进等，均应仍归属于本发明的专利涵盖范围之内。

Claims (6)

1.一种仿生机器人用可变速比高扭矩密度动力单元，其特征在于：包括电机壳体(1)，所述的电机壳体(1)中嵌设有电机定子(2)，所述的电机定子(2)内嵌设有电机转子(3)，所述的电机转子(3)内嵌设有电机转子轴(4)，所述的电机转子轴(4)与所述的电机壳体(1)之间设置有轴承，电机转子轴(4)中心部位嵌设有主动轴，所述的主动轴上设置有第一主动轮(5)，电机转子轴(4)内设置有两个传动轴，各传动轴上设置有第一从动轮(6)和第二主动轮，所述的第一从动轮(6)与所述的第一主动轮(5)啮合连接，所述的电机转子轴(4)内还设置有太阳轮轴(10)，所述的太阳轮轴(10)与所述的主动轴同轴设置，太阳轮轴(10)上设置有同步器(8)和第二从动轮，所述的第二从动轮与所述的第二主动轮啮合连接，太阳轮轴(10)上还设置有行星排(11)所述的第二主动轮包括一档主动轮(9)和二挡主动轮(7)，所述的第二从动轮包括一档从动轮(14)和二挡从动轮(12)，所述的一档主动轮(9)和所述的一档从动轮(14)啮合连接，所述的二挡主动轮(7)和所述的二挡从动轮(12)啮合连接；所述的同步器(8)设置在所述电机转子轴(4)内以及所述二挡从动轮(12)和一档从动轮(14)之间，所述同步器(8)与所述太阳轮轴(10)通过花键连接；
所述同步器(8)在太阳轮轴(10)上与一挡从动轮(14)动力结合的状态下，该动力单元的输出档位为一挡；
所述同步器(8)在太阳轮轴(10)上与二挡从动轮(12)动力结合的状态下，该动力单元的输出档位为二挡。
2.根据权利要求1所述的一种仿生机器人用可变速比高扭矩密度动力单元，其特征在于：所述的二挡从动轮(12)与所述的太阳轮轴(10)之间设置有第二滚针轴承(13)，所述的一挡从动轮(14)与所述的太阳轮轴(10)之间设置有第一滚针轴承(15)。
3.根据权利要求1所述的一种仿生机器人用可变速比高扭矩密度动力单元，其特征在于：所述的同步器(8)包括花键毂(8-5)，所述的花键毂(8-5)套设在所述的太阳轮轴(10)上，花键毂(8-5)上套设有啮合套(8-3)，所述的啮合套(8-3)与花键毂(8-5)之间设置有定位销(8-4)，花键毂(8-5)左右两侧对称设置有二挡锁止锥齿(8-1)和一档锁止锥齿(8-7)，所述的二挡锁止锥齿(8-1)上套设有二挡锁止环(8-2)，所述的一档锁止锥齿(8-7)上套设有一档锁止环(8-6)。
4.根据权利要求3所述的一种仿生机器人用可变速比高扭矩密度动力单元，其特征在于：所述的花键毂(8-5)侧面贯通设置有矩形花键(8-8)。
5.根据权利要求3所述的一种仿生机器人用可变速比高扭矩密度动力单元，其特征在于：所述的二挡锁止锥齿(8-1)、所述的二挡锁止环(8-2)、所述的一档锁止锥齿(8-7)和所述的一档锁止环(8-6)上设置有导向角(8-9)。
6.根据权利要求3所述的一种仿生机器人用可变速比高扭矩密度动力单元，其特征在于：所述的啮合套(8-3)上设置有换挡拨叉(17)，所述的换挡拨叉(17)左侧和右侧对称设置有二挡磁力单元(16)和一档磁力单元(18)。
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