CN114017485A

CN114017485A - Differential device and chassis applying same

Info

Publication number: CN114017485A
Application number: CN202111472828.3A
Authority: CN
Inventors: 余多明
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2022-02-08

Abstract

The launching differential device and the chassis applying the same realize straight line driving by adopting the same driving source to synchronously drive two groups of gears with the same transmission ratio to output power outwards, and realize differential steering by driving and changing one group of gear transmission ratio through the other driving source, have no impact loss in the switching process, have stable and reliable mechanism, can be applied to the fields of toys and robots, and are particularly suitable for the occasions with high requirements on straight line driving and durability.

Description

Differential device and chassis applying same

Technical Field

The invention relates to the technical field of toys, entertainment facilities and robots, in particular to a differential device and a chassis applying the same.

Background

Steering through different rates of left and right side motion is the mode that many wheeled or tracked chassis adopt, and the device that realizes the differential of both sides is different respectively, and the following patent discloses prior art.

Utility model patent grant publication numbers CN207667144B and CN209771334U have announced the technique that utilizes the poor realization of wheel speed to turn to, on the concrete implementation, two kinds of patents all adopt two sets of independent motors and gearbox to control one side power take off portion separately, realize turning to through the different rotational speed output of both sides driving motor, and this kind of scheme is difficult to realize the straight line and advances, and the problem lies in two patents the motor does not possess rotational speed feedback control, because the difference in the motor manufacturing, is difficult to guarantee that two motor rotational speeds are unanimous to only can approximate straight line walking.

And utility model patent grant publication No. CN209283021U publishes's technical scheme, then improves above-mentioned technique, controls each actuating mechanism's basis about, has increased rotational speed detection device in the motor side separately, through the rotational speed real time control that detects to can realize sharp walking with both sides output rotational speed convergence control. In actual control, feedback control needs an excellent PID algorithm and a certain time, and particularly, the rate is obviously inconsistent at the left and right of the initial acceleration stage, so that the process of linear initial acceleration first passes through a curve.

Utility model patent grant publication No. CN206499872U discloses a technical scheme adopts two sets of reduction gears of same driving source drive to both sides output, participates in the mode of both sides differential output with another set of driving source, and the problem of fine solution above-mentioned scheme kind existence has guaranteed promptly that both sides output can be synchronous in real time, and then realizes sharp walking, can control output differential again and realize turning to. The implementation scheme is complex, the left and right connection needs to be disconnected when differential output is realized, the left and right connection needs to be reconnected when synchronous output is needed, the clutch is applied to the field of toys, the connection and the separation are not realized by adopting a clutch like an automobile, a mode of directly impacting and meshing a gear is adopted, and the combined gear is damaged after long-term frequent use.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the stable and reliable differential device and the chassis applying the differential device, which can synchronously output power to two sides in real time and output power to the differential of the two sides, and the switching output process has no impact.

The terms first and second do not necessarily denote any order of preference or hierarchical relationship, but rather are used for descriptive purposes only, and the modified entities may have the same or different characteristics, and the terms first and second do not necessarily denote different characteristics between the modified entities.

Including first driving source, first gear train, second driving source, chassis frame, first gear train with the output of second gear train is outside output power separately, characterized by, first gear train and chassis frame fixed connection, the input of first gear train and the input of second gear train of first drive element synchronous connection, first gear train and second gear train have the same drive ratio, and the support of second driving source and second gear train passes through the transmission auxiliary connection. Since the carrier of the second set is controlled to rotate, the transmission ratio of the output to the input of the second set is variable.

When synchronous rotation is required, the second driving source stops rotating, the first driving source rotates to synchronously drive the first gear set and the second gear set to output power outwards, and the output rotating speeds of the two sides are consistent; when the differential rotation of both sides is required, the second driving source rotates the support that drives the second gear set and rotates thereby to change the drive ratio of second gear set for the output shaft rotational speed of second gear set is inconsistent with the output shaft rotational speed of first gear set, thereby realizes the differential output of both sides.

The first gear set and/or the second gear set include, but are not limited to, one of a planetary gear set and a parallel shaft gear set. The adoption of the planetary gear set can realize larger transmission ratio in a limited space and output larger torque outwards. Further, when a planetary set is adopted, the second driving source is connected with a support of the second gear set through a transmission pair, wherein the support of the second gear set comprises one of a planet carrier and an outer gear ring.

The transmission pair for connecting the second driving source and the bracket of the second gear set through the transmission pair includes, but is not limited to, one of a gear set, a pulley transmission mechanism and a chain transmission mechanism.

Optionally, the mode of realizing that the input of first gear train and the input of second gear train are connected in step to first driving source includes that first driving source is coaxial two play driving sources, the output shaft of coaxial two play driving sources one side is connected with the input of first gear train, and the other side output shaft is connected with the input of second gear train.

Optionally, the mode of realizing that the first driving source is synchronously connected with the input of the first gear set and the input of the second gear set comprises adding a transfer case at the output end of the first driving source, wherein an output shaft at one side of the transfer case is connected with the input end of the first gear set, and an output shaft at the other side of the transfer case is connected with the input end of the second gear set.

The differential device further comprises a rotation speed detection device, and the position of the rotation speed detection device comprises but is not limited to one or more combinations of a first driving source output end, a second driving source output end, a first gear set input end, a second gear set output end and a second gear set input end, and the rotation speed detection device is used for feeding back and accurately controlling the output rotation speed, so that different running speeds and/or different turning radiuses are realized.

The first driving source and/or the second driving source include, but are not limited to, one or a combination of a motor, a pneumatic pump, a hydraulic pump, and an internal combustion engine, and further, when the first driving source and/or the second driving source is a motor, the motor includes, but is not limited to, one of a brush or brushless dc motor, a stepping motor, and a servo motor.

The chassis applying the differential device comprises a driving wheel, a driven wheel, a bogie wheel, a crawler and a suspension, wherein the driving wheel is respectively arranged on output shafts on two sides of the differential device, the driven wheel is arranged on a chassis frame, one end of the suspension is arranged on the other end of the chassis, the bogie wheel is arranged on the other end of the chassis, and the crawler connects the driving wheel, the driven wheel and the bogie wheel. When the vehicle travels linearly, the first driving source rotates, the second driving source stops, and the crawler belts on the two sides synchronously drive the chassis; when the chassis turns, the second driving source rotates, and the crawler belts on the two sides rotate in a differential manner to drive the chassis to turn.

Further, the suspension comprises a torsion spring, so that the suspension can rotate around the mounting pin of the suspension under stress, and the bogie wheels can float according to the undulation of the road surface and provide falling buffering.

The other chassis applying the differential device comprises a driving wheel, a driven wheel and a synchronous mechanism, wherein the driving wheel is respectively arranged on output shafts on two sides of the differential device, the driven wheel is arranged at one end of the chassis frame and is connected with the driving wheel in a front-back mode through the synchronous mechanism, the same rotating speed of the front wheel and the rear wheel on the same side is achieved, the front wheel and the rear wheel on the same side rotate linearly through the same-speed rotation of the wheels on different sides, and the turning is achieved through the differential rotation of the wheels on two sides. Further, the synchronizing mechanism includes, but is not limited to, one of a gear set, a pulley mechanism, and a multi-link mechanism.

The invention can see that the same driving source can well realize straight line driving by simultaneously driving two gear sets with the same transmission ratio, and the other driving source can change the transmission ratio of one gear set so that two sides can obtain different rotating speeds to realize steering, and the mode of changing the gear set transmission is a transmission pair without impact combination, so that the structure is simplified and the structure is more stable and reliable.

Drawings

Fig. 1 is a partial cross-sectional view of a differential apparatus of the present invention.

Fig. 2 is a side view of a chassis with a partial exploded view of a differential assembly of the present invention.

In the figure, 1: a first planetary gear set; 2: a first motor; 3: a second planetary gear set; 4: a coupling; 5: a second motor; 6: gear set transmission pair, 601: driven gear of gear set transmission pair 6, 602: drive gear of gear train transmission pair 6, 603: a reduction gearbox of the gear set transmission pair 6; 7: a gear shaft; 8: a first output drive wheel; 9: a chassis frame;

10: a second output drive wheel; 11: a first driven wheel; 12: a loading wheel; 13: a left side track; 14: a right side crawler belt; 15: suspension, 1501: link of suspension 15, 1502: mounting pin of suspension 15, 1502: torsion springs of the suspension 15.

Detailed Description

In this example, the outer carrier of the first planetary gear set 1 is fixedly mounted on the chassis frame side, and the output shaft is fixedly mounted with the first output drive wheel 8. The first motor 2 is a coaxial dual-output motor, one end of which is connected with the input end of the first planetary gear set 1, and the other end of which is connected with the input end of the second planetary gear set 3 through a coupling 4 and a gear shaft 7.

The gear set transmission pair 6 is connected with the second motor 5 and the second planetary gear set 3. Specifically, the second planetary gear set 3 is mounted in a hole in one side of the chassis frame 9 by an outer ring gear boss feature, and the outer ring gear of the second planetary gear set 3 is connected with the driven gear 601. The driving gear 602 is fixedly arranged on one side of an output shaft of the reduction gearbox 603, one side of an input shaft of the reduction gearbox 603 is connected with the second motor 5, and the driving gear 602 is meshed with the driven gear 601.

After the power of the second motor 5 is amplified by the reduction box to a torque, the power is transmitted to the outer ring gear of the second planetary gear set 3 through the meshing of the driving gear 602 and the driven gear 601, so that the transmission ratio of the second planetary gear set 3 can be changed.

The first driven pulley 11 is mounted to the front side of the chassis frame 9 by a mounting pin. Each set of road wheels 12 is mounted on one end of a suspension 15, the other end of the suspension 15 is hinged to the chassis frame 9 by a mounting pin 1502, and a torsion spring 1503 provides a torsional return moment for the suspension 15, so that the road wheels 12 can undulate according to road conditions and provide chassis fall cushioning. The left crawler belt 13 connects the first output driving wheel 8, the first driven wheel 11 and the 4 sets of bogie wheels 11. The right side track 14 on the other side of the chassis has a similar function, and the tracks on the two sides drive the chassis to run together.

When the chassis needs to walk linearly, the first motor 2 rotates, the second motor 5 stops, and the left crawler belt 13 and the right crawler belt 14 have the same speed. When steering is needed, the second motor 5 rotates, and the left crawler belt 13 and the right crawler belt 14 are driven to steer at different speeds; the rotating radius is influenced by the speed difference of the crawler belts on the two sides, and the pulse frequency, the size and the direction of the output voltage of the first motor 2 and the second motor 5 can be set according to the setting.

It can be seen from the present embodiment that the same power is used to drive two sets of gears to achieve straight-line driving, and the other power is used to drive one set of the gears to change the conventional ratio thereof to achieve differential output steering, which is the key to achieve the core of the present invention.

Claims

1. The utility model provides a differential device, includes first driving source, first gear train, second driving source, chassis frame, the output of first gear train with the output of second gear train is outside output power respectively, characterized by: the first gear set is fixedly connected with the chassis frame, the first driving source is synchronously connected with the input end of the first gear set and the input end of the second gear set, the first gear set and the second gear set have the same transmission ratio, and the second driving source is connected with the support of the second gear set through a transmission pair.

2. The differential apparatus of claim 1 wherein: the first gear set and/or the second gear set comprise/s but are not limited to one of a planetary gear set and a parallel shaft gear set; further, when a planetary set is adopted, the second driving source is connected with a support of the second gear set through a transmission pair, wherein the support of the second gear set comprises one of a planet carrier and an outer gear ring.

3. A differential device according to claim 1 or 2 wherein: the transmission pair for connecting the second driving source and the bracket of the second gear set through the transmission pair includes, but is not limited to, one of a gear set, a pulley transmission mechanism and a chain transmission mechanism.

4. A differential device as claimed in any one of claims 1 to 3 wherein: the mode of realizing that first driving source synchronous connection first gear train's input and second gear train's input includes: the first driving source is a coaxial double-output driving source, an output shaft on one side of the coaxial double-output driving source is connected with the input end of the first gear set, and an output shaft on the other side of the coaxial double-output driving source is connected with the input end of the second gear set.

5. A differential device as claimed in any one of claims 1 to 3 wherein: the mode of realizing that first driving source synchronous connection first gear train's input and second gear train's input includes: and a transfer case is additionally arranged at the output end of the first driving source, an output shaft at one side of the transfer case is connected with the input end of the first gear set, and an output shaft at the other side of the transfer case is connected with the input end of the second gear set.

6. Differential device according to any of claims 1 to 5, wherein: the device further comprises a rotating speed detection device, and the installation position of the rotating speed detection device comprises but is not limited to one or more combinations of the tail output end of the first driving source, the tail output end of the second driving source, the first gear set output end, the first gear set input end, the second gear set output end and the second gear set input end.

7. The differential device according to any one of claims 1 to 6 wherein: the first driving source and/or the second driving source include, but are not limited to, one or a combination of a motor, a pneumatic pump, a hydraulic pump, and an internal combustion engine, and further, when the first driving source and/or the second driving source is a motor, the motor includes, but is not limited to, one of a brush or brushless dc motor, a stepping motor, and a servo motor.

8. A chassis to which the differential apparatus of claim 1 is applied, characterized in that: the driving wheel is respectively arranged on output shafts on two sides of the differential device, the driven wheel is arranged on the chassis frame, one end of the suspension is arranged on the chassis, the bogie wheel is arranged at the other end of the suspension, and the driving wheel, the driven wheel and the bogie wheel are connected through the crawler.

9. The chassis of claim 8, wherein: the suspension includes a torsion spring.

10. A chassis to which the differential apparatus of claim 1 is applied, characterized in that: the driving wheels are respectively arranged on output shafts on two sides of the differential device, the driven wheels are arranged at one end of the chassis frame and are connected with the driving wheels in a front-back mode through the synchronizing mechanism, and further the synchronizing mechanism comprises but is not limited to one of a gear set, a belt wheel mechanism and a multi-link mechanism.