CN113175504A

CN113175504A - Two-gear gearbox

Info

Publication number: CN113175504A
Application number: CN202110571933.6A
Authority: CN
Inventors: 杨振华
Original assignee: Rizhao Huaheng Intelligent Robot Technology Co ltd
Current assignee: Rizhao Huaheng Intelligent Robot Technology Co ltd
Priority date: 2021-05-25
Filing date: 2021-05-25
Publication date: 2021-07-27

Abstract

The invention designs a two-gear gearbox which comprises an inner shell, wherein a first shaft and a second shaft are arranged on the inner shell, a first gear is fixedly arranged on the first shaft, a second gear is fixedly arranged on the second shaft, and the first gear is meshed with the second gear; a gear III, a gear shifting gear and a gear V are sequentially arranged on the secondary shaft, and the gear shifting gear is fixedly connected with the secondary shaft; the third gear and the fifth gear are both rotatably connected with the second shaft; a first synchronous lock ring and a second synchronous lock ring are further arranged on the second shaft, and the first synchronous lock ring is located between the third gear and the shifting gear and fixedly connected with the third gear; the two synchronous lock rings are positioned between the fifth gear and the shifting gear and fixedly connected with the fifth gear; the gear shifting mechanism is arranged on the gear shifting gear and can be connected with the synchronous lock ring and the gear shifting gear. It can change output speed, the output torque of output shaft through drive gearshift to make the chassis car can change between high-speed gear and low-speed gear, be fit for different road conditions.

Description

Two-gear gearbox

Technical Field

The invention belongs to the technical field of tracked robot chassis vehicles and wheeled robot chassis vehicles, and particularly relates to a two-gear transmission.

Background

The existing crawler-type robot chassis and wheel-type robot chassis driven by a direct-current brushless motor or a servo motor in the market have the contradiction that the ultimate movement speed and the climbing angle of the machine cannot be combined in the climbing process, and the contradiction is solved by adopting a mode that a motor reducer overloads and climbs or the motor redundancy is too much in the extreme speed state in the prior art. However, if the motor reducer is used for overload climbing, the motor and the driver can be heated after short-time overload, so that the service lives of the motor and the driver are influenced; when the robot chassis vehicle climbs for a long time, heat accumulation of the motor and the driver can be caused by long-time overload, and the motor can be burnt out by breakdown of an insulating layer of the motor in serious cases, or the driver starts a temperature control protection system to enable the chassis to lose the motion capability within a certain time; in addition, if the motor is overloaded during driving, the temperature of the motor and the driver can be increased rapidly in a short time, and the motor and the driver can be burnt. In addition, if the motor redundancy is excessive in the extreme speed state, the running speed of the chassis truck is too low, the energy consumption is high, and the endurance is poor. Therefore, it is necessary to provide a transmission case capable of performing a speed change process on a driving device of a tracked robot chassis or a wheeled robot chassis, so that the robot chassis can temporarily provide a large output torque when climbing, power consumption of a driving motor during climbing is reduced, and a climbing angle is widened.

Disclosure of Invention

The invention aims to solve the technical problems by providing and designing a two-gear gearbox aiming at the defect that a robot chassis vehicle in the prior art cannot combine speed, power consumption and a climbing angle when climbing a slope, so that a driving system of a crawler-type robot chassis vehicle and a wheel-type robot chassis vehicle has a speed change function, sufficient output torque can be provided on the climbing slope, and the load of a driving motor can be reduced.

In order to achieve the purpose, the invention provides the following technical scheme: a two-gear gearbox comprises an inner shell, wherein a first shaft and a second shaft are rotatably arranged on the inner shell, a first gear is fixedly arranged on the first shaft, a second gear is fixedly arranged on the second shaft, and the first gear is meshed with the second gear; a gear III, a gear shifting gear and a gear V are sequentially arranged on the secondary shaft, and the gear shifting gear is fixedly connected with the secondary shaft; the third gear and the fifth gear are both rotatably connected with the second shaft; the two shafts are also provided with synchronous lock rings, the synchronous lock rings comprise a first synchronous lock ring and a second synchronous lock ring, the first synchronous lock ring is positioned between the third gear and the gear-shifting gear and fixedly connected with the third gear, the second synchronous lock ring is positioned between the fifth gear and the gear-shifting gear and fixedly connected with the fifth gear; the gear shifting mechanism is arranged on the gear shifting gear and can be connected with the synchronous lock ring and the gear shifting gear. The gear shifting mechanism is used for connecting the gear shifting gear with different synchronous locking rings, so that different gears can be driven to rotate along with two shafts, the output rotating speed and the output torque of an output shaft can be changed, the speed of the chassis vehicle is changed, the chassis vehicle can be changed between a high-speed gear and a low-speed gear, different speeds can be adopted when the chassis vehicle runs on a climbing slope or a flat ground, and the energy consumption of a driving motor in climbing motion is reduced.

The invention further improves the structure that the gear shifting mechanism comprises a gear shifting motor, the gear shifting motor is fixedly arranged on the inner shell, an output shaft of the gear shifting motor is in transmission connection with a gear shifting shaft, an external thread is arranged at one end of the gear shifting shaft, a shifting fork is arranged on the gear shifting shaft and in threaded connection with the external thread on the gear shifting shaft, a gear shifting sleeve is clamped at the lower end of the shifting fork, the gear shifting sleeve is sleeved on the gear shifting gear, an inner ring of the gear shifting sleeve is provided with an internal tooth, and the internal tooth of the gear shifting sleeve can be meshed with an external tooth of the gear shifting gear and an external tooth of a synchronous lock ring. Therefore, only the gear shifting motor is needed to be started, the shifting fork can be driven to move transversely, the gear to be shifted is meshed with different synchronous lock rings, and gear shifting is achieved.

According to the further improvement of the invention, the gear shifting mechanism further comprises a guide optical shaft, the guide optical shaft is fixedly arranged on the inner shell, the guide optical shaft is parallel to the gear shifting shaft, and the upper end of the shifting fork is in sliding connection with the guide optical shaft, so that the shifting fork is ensured not to rotate when the gear shifting shaft rotates.

According to the further improvement of the invention, the gear shifting mechanism further comprises a gear shifting sensor, the gear shifting sensor is used for sensing whether the shifting fork reaches a corresponding position, the gear shifting sensor is in communication connection with a gear shifting motor controller, and the gear shifting motor controller controls the switch of the gear shifting motor, so that the gear shifting motor can be automatically controlled to be turned off.

The invention further improves the structure that a three shaft and a four shaft are rotatably arranged on the inner shell, a gear six, a gear seven and a gear four are fixedly arranged on the three shaft in sequence, a gear eight is fixedly arranged on the four shaft, the gear six is meshed with the gear five, the gear seven is meshed with the gear eight, and the gear four is meshed with the gear three, so that different transmission ratios are provided through the gear six and the gear four with different tooth numbers arranged on the three shaft, and finally the output rotating speed of the four shaft has two different gears.

In addition, the three shafts are provided with rotating speed encoders which are used for measuring the rotating speeds of the three shafts and converting the rotating speeds into electric signals, so that when gear shifting processing is carried out in the driving process, the rotating speed encoders can be used for measuring the output rotating speeds of the three shafts and outputting signals to a driving motor controller of the chassis truck, the output rotating speeds of the driving motor are controlled to correspond to the rotating speeds of the three shafts, and the gear shifting sleeve can be meshed with the corresponding synchronous lock ring.

The invention further improves the structure that the first gear, the second gear, the third gear, the fourth gear, the fifth gear, the sixth gear, the seventh gear and the eighth gear are all helical gears, thereby reducing the gear noise in the high-speed transmission process.

The invention further improves the structure that the inner shell comprises a left inner shell and a right inner shell, the left inner shell and the right inner shell are connected together through a fastening piece, and a sealing ring is arranged between the left inner shell and the right inner shell, so that the maintenance of parts in the inner shells is facilitated.

The transmission case has the beneficial effects that the transmission case can shift the whole driving system in a static state and a driving process of the base vehicle, so that the whole base vehicle is provided with two gears, namely a high-speed gear and a low-speed gear, and is suitable for different road conditions. Therefore, the chassis can be automatically adjusted to a low gear when climbing, can temporarily output a large output torque, and can widen the climbing angle of the chassis as much as possible under the condition of meeting the requirement of the running speed of the chassis.

In addition, the invention has reliable design principle, simple structure and very wide application prospect.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic view of the present invention with the inner shell removed.

Fig. 3 is a front view of fig. 2.

Fig. 4 is a cross-sectional view of fig. 2.

In the figure, 1, a first shaft, 2, a first gear, 3, a second synchronous locking ring, 4, a fifth gear, 5, a second shaft, 6, a shifting gear, 7, a second gear, 8, a guide optical shaft, 9, a shifting fork, 10, a shifting shaft, 11, a first synchronous locking ring, 12, a third gear, 13, a shifting motor, 14, a rotating speed encoder, 15, a third shaft, 16, a fourth shaft, 17, a sixth gear, 18, a seventh gear, 19, a fourth gear, 20, an eighth gear, 21, a left inner shell, 22, a right inner shell, 23, a sealing ring and 24 are gear shifting sleeves.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. 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.

The following explains key terms appearing in the present invention.

As shown in fig. 1 to 4, the present invention provides a two-speed transmission, which includes a left inner casing 21 and a right inner casing 22, wherein the left inner casing 21 and the right inner casing 22 are connected together by a fastener to form the whole inner casing, and a sealing ring 23 is preferably disposed between the left inner casing 21 and the right inner casing 22 to increase the sealing performance of the whole inner casing. A first shaft 1, a second shaft 5, a third shaft 15 and a fourth shaft 16 are rotatably mounted in the housing of the inner shell. The first shaft 1 serves as a power input shaft, the fourth shaft 16 serves as an output shaft, and the second shaft 5 and the third shaft 15 serve as intermediate shafts.

A first gear 2 is fixedly installed on the first shaft 1, a second gear 7 is fixedly installed at one end of the second shaft 5, and the first gear 2 is meshed with the second gear 7. The second shaft 5 is also sequentially provided with a gear III 12, a gear shifting gear 6 and a gear V4, wherein the gear shifting gear 6 is fixedly connected with the second shaft 5 through a key; the third gear 12 and the fifth gear 4 are rotatably connected with the second shaft 5 through bearings. A synchronous lock ring is further arranged on the secondary shaft 5 and comprises a first synchronous lock ring 11 and a second synchronous lock ring 3, wherein the first synchronous lock ring 11 is located between the third gear 12 and the shifting gear 6, and the first synchronous lock ring 11 is fixedly connected with the third gear 12; the second synchronous lock ring 3 is located between the fifth gear 4 and the shifting gear 6, the second synchronous lock ring 3 is fixedly connected with the fifth gear 4, and the shifting gear 6 is further provided with a shifting mechanism which can be meshed with the first synchronous lock ring 11 or the second synchronous lock ring 3 and can mesh the corresponding synchronous lock ring with the shifting gear 6.

The gear shifting mechanism comprises a gear shifting motor 13, an output shaft of the gear shifting motor 13 is in transmission connection with a gear shifting shaft 10, an external thread is arranged at one end of the gear shifting shaft 10, a shifting fork 9 is installed on the gear shifting shaft 10, and the shifting fork 9 is in threaded connection with the external thread on the gear shifting shaft 10. Further, when guaranteeing that selector shaft 10 rotates, shift fork 9 can be along axial rectilinear motion on selector shaft 10 fixed mounting has direction optical axis 8 on the inner shell, direction optical axis 8 and selector shaft 10 parallel arrangement, just the upper end and the 8 sliding connection of direction optical axis of shift fork 9. The lower end of the shifting fork 9 is clamped with a shifting sleeve 24, the shifting sleeve 24 is sleeved on the shifting gear 6, inner teeth are arranged on the inner ring of the shifting sleeve 24, and the inner teeth of the shifting sleeve 24 can be meshed with the outer teeth of the shifting gear 6 and the outer teeth of a synchronous lock ring simultaneously. Preferably, the shifting mechanism further comprises a shift sensor for sensing whether the shift fork 9 reaches a corresponding position. The shift sensor is connected in communication with a shift motor controller for controlling the switching of the shift motor 13.

Gear six 17, gear seven 18 and gear four 19 are fixedly mounted on triaxial 15 in proper order, gear eight 20 is fixedly mounted on four-axis 16. Wherein the gear six 17 meshes with the gear five 4, the gear seven 18 meshes with the gear eight 20, and the gear four 19 meshes with the gear three 12. Further, a rotating speed encoder 14 is installed on the three shafts 15, and the rotating speed encoder 14 is used for measuring the rotating speed of the three shafts 15 and converting the rotating speed into an electric signal to be transmitted to a drive motor controller of the whole chassis truck.

When the chassis is in a static state, if the chassis is shifted from a high gear to a low gear by using the gearbox provided by the invention, a shaft 1 does not have power input, and all gears in the shell of the whole inner shell are in a static state. The gear shifting motor controller controls the gear shifting motor 13 to carry out power input, the gear shifting motor 13 drives the gear shifting shaft 10 to rotate, the shifting fork 9 is driven to move along the axial direction of the gear shifting shaft 10, the shifting fork 9 drives the gear shifting sleeve 24 to move transversely, and when the gear shifting motor 13 runs for a specified number of turns or the gear shifting sensor detects that the shifting fork 9 is in place, the gear shifting motor 13 stops power input. At this time, the shift sleeve 24 is simultaneously engaged with the first synchronizing ring 11 and the shift gear 6, the power on the second shaft 5 is transmitted to the third shaft 15 through the third gear 12 and the fourth gear 19, and the transmission is shifted into a low gear. When the gearbox is put into high gear, the operation mode is the same as the operation mode, and the gear shifting sleeve 24 is simultaneously meshed with the synchronous lock ring II 3 and the gear shifting gear 6, so that the power on the secondary shaft 5 is transmitted to the tertiary shaft 15 through the gear five 4 and the gear six 17.

When the chassis vehicle is in a moving state, if the gearbox provided by the invention is used for engaging a high-speed gear from a low-speed gear, a shaft 1 has power input and rotates at a certain speed, after a gear shifting command is sent, the driving motor controller judges the running state of the driving motor according to the current of the driving motor, so that the current of the driving motor is reduced under the condition of outputting power, the forward current of the driving motor is increased under the condition of braking, and the driving motor is kept unchanged under the conditions of not outputting power and not braking. When a disengaging force occurs between the gear shifting gear 6 and the gear shifting sleeve 24, the gear shifting motor 13 drives the gear shifting shaft 10 to rotate, the driving shifting fork 9 moves on the gear shifting shaft 10 along the axial direction until the gear shifting sleeve 24 is only meshed with the gear shifting gear 6, at the moment, the gear shifting mechanism is in a neutral position, and the power input of the gear shifting motor 13 is suspended. At this time, the rotational speed encoder 14 reads the rotational speed of the three shafts 15, converts the rotational speed into an electrical signal and transmits the electrical signal to the driving motor controller, and the driving motor controller controls the driving motor to synchronize to a rotational speed matched with the rotational speed measured by the rotational speed encoder 14. At the moment, the third gear 12 and the fifth gear 4 are relatively static, the gear shifting motor 13 inputs power, the gear shifting motor 13 drives the gear shifting shaft 10 to rotate, the shifting fork 9 is driven to move along the axial direction of the gear shifting shaft 10, the shifting fork 9 drives the shifting sleeve 24 to move transversely, and when the gear shifting motor 13 runs for a specified number of turns or the gear shifting sensor detects that the shifting fork 9 is in place, the gear shifting motor 13 stops power input. At this time, the shift sleeve 24 is simultaneously meshed with the second synchronous lock ring 3 and the shift gear 6, power on the second shaft 5 is transmitted to the third shaft 15 through the fifth gear 4 and the sixth gear 17, and the gearbox is put into a high-speed gear. Conversely, when the gearbox is engaged in low gear, the operation is the same as described above.

Although the present invention has been described in detail by referring to the drawings in connection with the preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or alterations to the embodiments of the present invention may be made by those skilled in the art without departing from the spirit and substance of the present invention, and such modifications or alterations are intended to be within the scope of the present invention; any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present disclosure, and all such changes or substitutions are included in the scope of the present disclosure. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A two-gear gearbox is characterized by comprising an inner shell, wherein a first shaft (1) and a second shaft (5) are rotatably arranged on the inner shell, a first gear (2) is fixedly arranged on the first shaft (1), a second gear (7) is fixedly arranged on the second shaft (5), and the first gear (2) is meshed with the second gear (7); the gear three (12), the gear shifting gear (6) and the gear five (4) are sequentially arranged on the secondary shaft (5), and the gear shifting gear (6) is fixedly connected with the secondary shaft (5); the gear III (12) and the gear V (4) are both rotatably connected with the secondary shaft (5); the double-shaft gear shifting mechanism is characterized in that a synchronous lock ring is further arranged on the double-shaft (5), the synchronous lock ring comprises a first synchronous lock ring (11) and a second synchronous lock ring (3), the first synchronous lock ring (11) is located between the third gear (12) and the gear shifting gear (6), the first synchronous lock ring (11) is fixedly connected with the third gear (12), the second synchronous lock ring (3) is located between the fifth gear (4) and the gear shifting gear (6), and the second synchronous lock ring (3) is fixedly connected with the fifth gear (4); and a gear shifting mechanism is arranged on the gear shifting gear (6), and the gear shifting mechanism can be connected with the synchronous lock ring and the gear shifting gear (6).

2. The two-gear gearbox according to claim 1, characterized in that the gear shift mechanism comprises a gear shift motor (13), the gear shift motor (13) is fixedly mounted on the inner shell, an output shaft of the gear shift motor (13) is in transmission connection with a gear shift shaft (10), an external thread is arranged at one end of the gear shift shaft (10), a shift fork (9) is mounted on the gear shift shaft (10), the shift fork (9) is in threaded connection with the external thread on the gear shift shaft (10), a gear shift sleeve (24) is clamped at the lower end of the shift fork (9), the gear shift sleeve (24) is sleeved on the gear shift ring (6), an inner ring of the gear shift sleeve (24) is provided with internal teeth, and the internal teeth of the gear shift sleeve (24) can be meshed with the external teeth of the gear shift ring (6) and the external teeth of the synchronous lock ring.

3. A two-speed gearbox according to claim 2, wherein the shifting mechanism further comprises a guiding optical axis (8), the guiding optical axis (8) is fixedly mounted on the inner housing, the guiding optical axis (8) is parallel to the shifting shaft (10), and the upper end of the shift fork (9) is slidably connected with the guiding optical axis (8).

4. A two-speed gearbox according to claim 2 or 3, characterised in that the shifting mechanism further comprises a shift sensor for sensing whether the shift fork (9) has reached a corresponding position, the shift sensor being communicatively connected to a shift motor controller for controlling the switching of the shift motor (13).

5. A two-speed gearbox according to claim 1, characterised in that said inner casing is rotatably mounted with three (15) and four (16) shafts, said three (15) shafts being fixedly mounted in sequence with a gear six (17), a gear seven (18) and a gear four (19), said four (16) shafts being fixedly mounted with a gear eight (20), said gear six (17) being in mesh with gear five (4), gear seven (18) being in mesh with gear eight (20) and gear four (19) being in mesh with gear three (12).

6. A two-speed gearbox according to claim 5, characterised in that a speed encoder (14) is mounted on the three shafts (15), the speed encoder (14) being arranged to measure the speed of rotation of the three shafts (15) and convert it into an electrical signal.

7. A two speed gearbox according to claim 5 where gear one (2), gear two (7), gear three (12), gear four (19), gear five (4), gear six (17), gear seven (18) and gear eight (20) are all helical gears.

8. The two-gear gearbox according to claim 1, characterized in that the inner shell comprises a left inner shell (21) and a right inner shell (22), the left inner shell (21) and the right inner shell (22) are connected together through a fastener, and a sealing ring (23) is arranged between the left inner shell (21) and the right inner shell (22).