CN115709637A

CN115709637A - Self-walking tool and transmission device thereof

Info

Publication number: CN115709637A
Application number: CN202110967534.1A
Authority: CN
Inventors: 付慧星
Original assignee: Nanjing Chervon Industry Co Ltd
Current assignee: Nanjing Chervon Industry Co Ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2023-02-24

Abstract

The embodiment of the invention discloses a self-walking tool and a transmission device thereof. This from running tool is provided with second transmission, and second transmission includes: a driving wheel rotating under the driving force of a second motor; the transmission assembly comprises a gear box and two output shafts; two output shafts of the transmission assembly are respectively connected with two traveling wheels of the execution device; the gear box comprises a driven wheel and a walking driving wheel set; the driven wheel can be driven by the driving wheel to drive the walking driving wheel set to rotate, so that the two walking wheels on the two output shafts walk; the walking driving wheel set comprises a plurality of walking driving wheels, and the relative rotation state of the plurality of walking driving wheels in the wheel set can be changed according to the walking state of the self-walking tool, so that the two walking wheels on the two output shafts can move straight or turn; the two road wheels have different rotating speeds and the same rotating direction when turning. The second transmission device can simplify the transmission mode of walking from the walking tool.

Description

Self-walking tool and transmission device thereof

Technical Field

The embodiment of the invention relates to the technical field of electric tool control, in particular to a self-walking tool and a transmission device thereof.

Background

The snow sweeper can be used as an important device for removing snow in winter, has the important advantages of high efficiency, economy, environmental protection and the like, and is gradually popularized and used at home and abroad along with increasing economy and continuous social progress. The walking process of the snow sweeper comprises straight walking and steering, two steering control devices on two walking wheels need to be matched for realizing steering walking, and the transmission process is complex.

Disclosure of Invention

The invention provides a self-walking tool and a transmission device thereof, which can simplify the transmission mode of walking of the self-walking tool.

In a first aspect, the embodiments of the present invention provide

A self-propelled tool, comprising:

a housing;

a first motor for providing a driving force for the self-walking tool to work;

an execution device comprising an execution component;

the first transmission device is connected with a motor shaft of the first motor and the execution device so as to transmit the power of the first motor to the execution device;

the second motor is used for providing driving force for the self-walking tool to walk;

the second transmission device is connected with a motor shaft of the second motor and used for controlling the travelling wheel of the self-travelling tool to travel;

the second transmission device includes:

a driving wheel rotating by a driving force of the second motor;

the transmission assembly comprises a gear box and two output shafts;

two output shafts of the transmission assembly are respectively connected with two traveling wheels of the execution device;

the gear box comprises a driven wheel and a walking driving wheel set;

the driven wheel can be driven by the driving wheel to drive the walking driving wheel set to rotate, so that the two walking wheels on the two output shafts walk;

the walking driving wheel set comprises a plurality of walking driving wheels, and the relative rotation state between the plurality of walking driving wheels in the wheel set can be changed according to the walking state of the self-walking tool, so that the two walking wheels on the two output shafts can move straight or turn; the two road wheels have different rotating speeds and the same rotating direction when turning.

Optionally, the walking drive wheel set comprises:

a ring gear, a pair of drive gears and two sets of speed change gears;

the ring gear, the pair of driving gears and the two groups of speed change gears form a transmission whole, when the self-walking tool approximately moves straight, the two groups of speed change gears in the transmission whole do not transmit by self, and the two walking wheels on the two output shafts have the same rotating direction and basically consistent rotating speed;

when the self-walking tool turns, the rotating speed of the target walking wheel is reduced, the target driving gear drives a set of speed change gears meshed with the target driving gear to automatically transmit so as to drive another set of speed change gears to automatically transmit, the self-transmission of another set of speed change gears drives another driving gear to increase the rotating speed, and then drives another walking wheel to increase the rotating speed, the rotating directions of the two walking wheels are the same, and the self-walking tool faces the direction of the target walking wheel to turn.

Optionally, the second transmission further comprises:

and the two groups of speed change gears and the pair of driving gears are fixed together through a connecting structure to form the transmission whole.

Optionally, the pair of drive gears and the two sets of speed gears are located at least partially within the ring gear.

Optionally, the set of speed gears comprises a set of planet gears; two groups of planet wheels of the two groups of speed change gears are meshed.

Optionally, the self-walking tool further comprises: the speed control device comprises a movable induction trigger and a sensing element, wherein the movable induction trigger is operated by a user, the movable induction trigger moves relative to the sensing element under the rotation operation of the user, and the sensing element outputs a sensing signal according to the relative movement;

a controller electrically connected to at least the speed control device and the second motor;

the controller is configured to:

acquiring the sensing signal; when the variation of the sensing signal relative to a set value is larger than or equal to a variation threshold, the second motor is controlled to reduce the speed, so that the second transmission device changes the transmission state after the second motor reduces the speed, and the self-walking tool turns.

Optionally, the sensing element is a hall element.

The movable induction trigger is fixedly provided with a first magnet and a second magnet which are separated by a preset distance, when a user rotates the movable induction trigger, the first magnet and the second magnet move relative to the Hall element, and the Hall element outputs a sensing signal according to the relative movement.

Optionally, when the midpoint of the first magnet and the second magnet is aligned with the position of the hall element, the sensing signal acquired by the controller is the set value.

Optionally, a difference between a variation of the sensing signal with respect to the set value and the variation threshold is positively correlated with a speed of the second motor decreasing.

In a second aspect, an embodiment of the present invention further provides a transmission device for a self-propelled tool, where the self-propelled tool includes: a housing; a first motor for providing a driving force for the operation of the self-propelled tool; an execution device comprising an execution component; the first transmission device is connected with a motor shaft of the first motor and the execution device so as to transmit the power of the first motor to the execution device; a second motor for providing a driving force for the self-walking tool to walk; the second transmission device is connected with a motor shaft of the second motor and used for controlling the travelling wheel of the self-travelling tool to travel; it is characterized in that the preparation method is characterized in that,

the second transmission device includes:

a driving wheel rotating by a driving force of the second motor;

the transmission assembly comprises a gear box and two output shafts;

two output shafts of the transmission assembly are respectively connected with two traveling wheels of the executing device;

the gear box comprises a driven wheel and a walking driving wheel set;

the walking driving wheel set comprises a plurality of walking driving wheels, and the relative rotation state between the plurality of walking driving wheels in the wheel set can be changed according to the walking state of the self-walking tool, so that the two walking wheels on the two output shafts can move straight or turn;

the two road wheels have different rotating speeds and the same rotating direction when turning.

The present invention provides a self-propelled tool and a transmission device thereof, the self-propelled tool is provided with a second transmission device, the second transmission device includes: a driving wheel rotating by a driving force of a second motor; the transmission assembly comprises a gear box and two output shafts; two output shafts of the transmission assembly are respectively connected with two traveling wheels of the execution device; the gear box comprises a driven wheel and a walking driving wheel set; the driven wheel can be driven by the driving wheel to drive the walking driving wheel set to rotate, so that the two walking wheels on the two output shafts walk; the walking driving wheel set comprises a plurality of walking driving wheels, and the relative rotation state of the plurality of walking driving wheels in the wheel set can be changed according to the walking state of the self-walking tool, so that the two walking wheels on the two output shafts can move straight or turn; the two road wheels have different rotating speeds and the same rotating direction when turning. Therefore, the second transmission device can simplify the transmission mode of the self-walking tool to walk, and realize the straight walking and turning of the self-walking tool.

Drawings

FIG. 1 is a schematic perspective view of a snow sweeper according to an embodiment of the present invention;

FIG. 2 is a front elevational view of a portion of the structure of the snow blower of FIG. 1;

FIG. 3 is a perspective view of a portion of the structure of the snow sweeper of FIG. 1;

FIG. 4 is an exploded view of a portion of the structure of the snow sweeper of FIG. 1;

FIG. 5 is a perspective view of a portion of the second drive of the snow sweeper provided in an embodiment of the present invention;

FIG. 6 is a first exploded view of a second transmission provided in an embodiment of the present invention;

FIG. 7 is a second exploded view of a second transmission provided in an embodiment of the present invention;

FIG. 8 is a third exploded view of a second transmission provided in an embodiment of the present invention;

FIG. 9 is a perspective view of a second transmission and a second motor connection for a snow sweeper provided in an embodiment of the present invention;

FIG. 10 is a partially enlarged view showing a part of the structure of a second transmission device of FIG. 9;

FIG. 11 is an enlarged, fragmentary illustration of a portion of another alternative transmission provided in the embodiment of the invention of FIG. 9;

FIG. 12 is an enlarged, fragmentary schematic view of a portion of another alternative embodiment of the second transmission of FIG. 9;

FIG. 13 is a perspective view of a portion of the speed control device of the snowplow of FIG. 1;

FIG. 14 is a partial circuit diagram of a snow sweeper provided in accordance with an embodiment of the present invention;

fig. 15 is a flowchart of a steering control method of a snow sweeper according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.

The self-walking tool provided by the embodiment of the invention comprises a shell; a first motor for providing a driving force for the operation of the self-propelled tool; an execution device comprising an execution component; the first transmission device is connected with a motor shaft of the first motor and the execution device so as to transmit the power of the first motor to the execution device; a second motor for providing a driving force for traveling from the traveling tool; the second transmission device is connected with a motor shaft of the second motor and used for controlling a travelling wheel of the self-travelling tool to travel; the second transmission device includes: a driving wheel rotating under the driving force of a second motor; the transmission assembly comprises a gear box and two output shafts; two output shafts of the transmission assembly are respectively connected with two traveling wheels of the execution device; the gear box comprises a driven wheel and a walking driving wheel set; the driven wheel can be driven by the driving wheel to drive the walking driving wheel set to rotate so as to enable the two walking wheels on the two output shafts to walk; the walking driving wheel set comprises a plurality of walking driving wheels, and the relative rotation state between the plurality of walking driving wheels in the wheel set can be changed according to the walking state of the self-walking tool, so that the two walking wheels on the two output shafts can move straightly or turn; the two road wheels have different rotating speeds and the same rotating direction when turning. The self-propelled tool can be a mower, a snowplow, or the like. When the self-walking tool is a mower, the executing device is a blade; when the self-walking tool is a snow sweeper, the execution device is a snow sweeping device.

As an example of the self-walking tool, the self-walking tool may be a snow sweeper that is a hand-push type power tool. The execution device comprises a function element and realizes the function of a tool. As shown in fig. 1, when the self-propelled tool is a snow blower 100, the actuator is a snow blower. Specifically, the snow sweeper 100 is a hand-propelled snow sweeper. Fig. 1 is a schematic perspective view of a snow sweeper according to an embodiment of the present invention, fig. 2 is a front view of a partial structure of the snow sweeper in fig. 1, fig. 3 is a perspective view of a partial structure of the snow sweeper in fig. 1, and fig. 4 is an exploded view of a partial structure of the snow sweeper in fig. 1; as shown in fig. 1 to 4, the snow sweeper 100 comprises an energy source device 11, a driving device 12, a first transmission device 13, a self-walking device 14, a speed control device 15, a casing assembly 16, a snow sweeping device 17 and a snow throwing device 18. The first transmission 13 serves to transmit kinetic energy from the drive device 12 to the snow plough 17.

As shown in fig. 1 and 2, the energy source device 11 is used to provide energy to the snowplow 100. The energy source device 11 includes at least one battery pack 111, and in the present embodiment, the energy source device 11 includes a dual battery pack 111, and the battery pack 111 includes a lithium battery disposed inside a battery pack case 111a. The energy device 11 is disposed in the casing assembly 16, specifically, the energy device 11 is disposed in the battery compartment of the casing assembly 16, the casing assembly 16 includes a main case 161, the main case 161 includes a battery compartment cover 162 and a battery compartment body 163, and the battery compartment cover 162 and the battery compartment body 163 of the main case 161 surround to form the battery compartment for accommodating the battery pack 111. In this embodiment, at least a portion of the battery compartment body 163 is accommodated in the accommodating cavity formed by the main body case 161. The battery compartment includes two first cavities 163a and two second cavities 163b divided by the battery compartment body 163, and the two battery packs 111 are respectively mounted in the first cavities 163a and the second cavities 163 b. The battery compartment cover 162 in fig. 1 is in an open state. The battery pack 111 includes a power display lamp 111a for displaying the power of the battery pack 111.

Referring to fig. 1 to 4, the driving device 12 includes a first motor 121 for driving the snow sweeper 17 to operate, and in particular, the first motor 121 is used for driving the snow sweeper 171 and the propeller 173 of the snow sweeper 17 to operate. The first motor 121 includes a main first motor shaft, and the first motor 121 is a brushless motor in this embodiment. The housing assembly 16 includes a motor case in which the first motor 121 is received in the housing assembly 16.

And a first transmission device 13 connecting the first motor shaft and the snow-sweeping paddle 171 to transmit the power of the first motor 121 to the snow-sweeping paddle 171. Further, the first transmission device 13 includes a gear assembly, specifically, a first gear assembly 131 and a second gear assembly 132. The first gear assembly 131 is located between the first motor 121 and the propeller 173 of the snow sweeper 17, and the second gear assembly 132 is located between the first motor 121 and the snow sweeper 171. The housing assembly 16 further comprises a gear box for accommodating at least part of the first gear 13, in this embodiment the gear box and the motor box are combined into one box, i.e. the motor box, and at least part of the first gear 13 is accommodated in the motor box. Specifically, the first gear assembly 131 is accommodated in the motor casing, and the second gear assembly 132 is disposed outside the motor casing. The first transmission device 13 between the first motor 121 and the snow-removing paddle 171 adopts a split output shaft for transmission. In this embodiment, the first gear assembly 131 employs a two-stage gear reduction structure, and the second gear assembly 132 employs a three-stage gear reduction structure.

The snow sweeper 17 includes a snow sweeper paddle 171, and the snow sweeper paddle 171 is a functional element of the snow sweeper 100 for agitating the snow on the ground. The snow grooming device 17 further comprises a snow grooming bucket 172, a propeller 173, a snow scraping element 175, and a ski boot 176. The main motor 121 of the driving device 12 is used for driving the snow-sweeping paddle 171 and the propeller 173 to work. The snow sweeping bucket 172 is used for accommodating the snow sweeping paddle 171, the snow sweeping paddle 171 rotates in the snow sweeping bucket 172, and the snow sweeping bucket 172 and the motor box body form fixed connection or detachable connection. The snow-removing bucket 172 includes two side walls 172a substantially perpendicular to the ground and parallel to each other, and the snow-removing paddle 171 is mounted between the two side walls 172 a. The snow removing bucket 172 is provided with a snow inlet 172b for feeding snow and a snow outlet 172c for discharging snow, the snow inlet 172b faces forward, the snow outlet 172c faces upward, in the present embodiment, the snow removing bucket 172 is an integrally formed metal structure, the propeller 173 is installed inside the snow removing bucket 172, the rear side of the snow removing paddle 171 is, under the action of the snow removing paddle 171, snow enters the snow removing bucket 172 from the snow inlet 172b of the snow removing bucket 172, and is discharged from the snow outlet 172c after further action of the propeller 173. The snow scraping element 175 is used for scraping snow on the ground, and is disposed at the bottom of the snow sweeping bucket 172, and is fixedly or detachably connected to the snow sweeping bucket 172, and in this embodiment, the snow scraping element 175 is a metal member. The snow scraping element 175 is spaced approximately 1 to 5 mm from the ground surface to prevent the snow scraping element 175 from scratching the ground surface. The ski shoes 176 are disposed at the bottom of the two side walls 172a of the snow removing bucket 172, and are fixedly or detachably connected to the snow removing bucket 172, specifically, connected to the side walls 172a of the snow removing bucket 172 by fasteners such as screws. The material of the ski boot 176 is not critical, and in this embodiment the ski boot 176 is made of metal. The ski boot 176 is used to support the snow plow 172, and the ski boot 176 makes surface contact with the ground when the snow plow 100 is in operation.

In some embodiments, the snowplow 100 further includes an illumination device for providing illumination to the snowplow 100 during low light conditions. In the present embodiment, referring to fig. 4, the lighting device includes a lighting assembly 174 mounted to a location above the snow hopper 172. Of course, the lighting device may be installed in other reasonable positions, and is not limited in particular.

Referring to fig. 1 to 4, the snow thrower 18 includes a turning portion 183, a snow throwing groove 181, a snow throwing drive assembly (not shown), a locking assembly (not shown), and a support bar 182. The snow throwing groove 181 is mounted to the snow outlet 172c of the snow sweeper 17 and is in rotational connection with the snow sweeper 17, and the turning part 183 is mounted to the top of the snow throwing groove 181 and is in rotational connection with the snow throwing groove 181. Specifically, the snow throwing groove 181 rotates in a plane parallel to the plane of the snow outlet 172c, and the range of the rotation angle is about 200 degrees; in this embodiment, the snow throwing groove 181 can be rotated 100 degrees to both the left and right sides. In addition, the support bar 183 is used for supporting the snow throwing transmission assembly, and the support bar 182 is connected to the snow sweeping device 17, and the support bar 182 is detachable and adjustable.

Fig. 5 is a perspective view of a partial structure of a second transmission of the snow sweeper provided in the embodiment of the present invention. Referring to fig. 5, the second transmission 19 includes: a capstan 193 rotated by a driving force of a second motor; a transmission assembly comprising a gear box 19A and two output shafts; two output shafts of the transmission assembly are respectively connected with two traveling wheels of the execution device; a gear box 19A including a driven wheel 194 and a running drive wheel group 19B; a driven wheel 194, which can be driven by the driving wheel 193 to drive the walking driving wheel set 19B to rotate, so that two walking wheels on two output shafts walk; the walking driving wheel set 19B comprises a plurality of walking driving wheels, and can change the relative rotation state between the plurality of walking driving wheels in the wheel set according to the walking state of the self-walking tool so as to enable the two walking wheels on the two output shafts to go straight or turn; the two road wheels have different rotating speeds and the same rotating direction when turning.

Wherein, action wheel 193 is connected with the motor shaft of second motor, and action wheel 193 meshes with driven wheel 194, and action wheel 193 rotates under the drive of second motor, and action wheel 193 rotates and can drive driven wheel 194 and rotate. The transmission assembly includes two output shafts, such as a first output shaft 191 and a second output shaft 192 shown in fig. 5, and taking the snow sweeper with the two-wheel type actuating device as an example, the first output shaft 191 can be connected with one road wheel of the snow sweeper, such as a left road wheel, and the second output shaft 192 can be connected with the other road wheel of the snow sweeper, such as a right road wheel. Specifically, the walking function of the snow sweeper is realized by the following steps: the driving wheel 193 rotates under the driving force of the second motor, and due to the fact that the driving wheel 193 is meshed with the driven wheel 194, the driven wheel 194 rotates along with the rotation of the driving wheel 193, the driven wheel 194 rotates to drive the walking driving wheel set 19B to rotate, so that the first output shaft 191 drives the left walking wheel of the snow sweeper to rotate, the second output shaft 192 drives the left walking wheel of the snow sweeper to rotate, and then the snow sweeper walks. In the concrete implementation, the running of the snow sweeper comprises straight running and steering, when the snow sweeper runs straight, the driving wheel 193 is meshed with the driven wheel 194 and drives the driven wheel 194 to rotate, and the driven wheel 194 and the running driving wheel set 19B form a transmission whole, so that the two output shafts can be driven to rotate at the same speed and in the same direction to drive the mower to run straight.

It should be noted that when the snowplow needs to steer, the friction resistance on the left and right road wheels is different, for example, when the snowplow steers to the left, the ground resistance on the left road wheel is increased, and the wheels are decelerated; when the vehicle turns to the right, the ground resistance on the right road wheel is increased, and the speed of the wheels is reduced. In the embodiment, when the snowplow needs to steer, the speed difference between the two road wheels can be realized through the second transmission device 19, so that the steering is realized.

For the turning process of the snow sweeper based on the second transmission device 19, taking the left turning of the snow sweeper as an example: because the resistance or friction force of the ground on the left travelling wheel is larger than that of the right travelling wheel, the left travelling wheel decelerates, and because the first output shaft 191 is connected with the left travelling wheel, the rotating speed of the first output shaft 191 is reduced, so that the relative rotating state among a plurality of travelling driving wheels in the travelling driving wheel set 19B is changed, namely the rotating speed of the left travelling wheel is smaller than that of the right travelling wheel, and the snow sweeper turns to the left. Similarly, the principle of the right turn is similar to that of the left turn, and is not described herein again.

Fig. 6 is a first exploded view of a second actuator provided in an embodiment of the present invention, fig. 7 is a second exploded view of the second actuator provided in an embodiment of the present invention, and fig. 8 is a third exploded view of the second actuator provided in an embodiment of the present invention. Fig. 9 is a perspective view showing a connection structure of a second transmission and a second motor of the snow sweeper provided in the embodiment of the present invention, fig. 10 is a partially enlarged view of a partial structure of one of the second transmissions of fig. 9, fig. 11 is a partially enlarged view of another one of the second transmissions of fig. 9 provided in the embodiment of the present invention, and fig. 12 is a partially enlarged view of another one of the second transmissions of fig. 9. As an embodiment, optionally, the driven wheel is a ring gear; the walking driving wheel group includes: a pair of drive gears and two sets of speed change gears; the ring gear, the pair of driving gears and the two groups of speed change gears form a transmission whole, when the self-walking tool approximately walks straight, the two groups of speed change gears in the transmission whole do not conduct self-transmission, and the two walking wheels on the two output shafts have the same rotating direction and basically consistent rotating speed.

When the self-walking tool turns, the rotating speed of the target walking wheel is reduced, the target driving gear drives one group of speed change gears meshed with the target driving gear to automatically transmit so as to drive the other group of speed change gears to automatically transmit, the self-transmission of the other group of speed change gears drives the other driving gear to increase the rotating speed, and further drives the other walking wheel to increase the rotating speed, the rotating directions of the two walking wheels are the same, and the self-walking tool turns towards the direction of the target walking wheel.

For example, referring to fig. 5-12, driven wheel 193 may be a ring gear; a pair of driving gears such as a first driving gear 197a and a second driving gear 198a shown in fig. 8, the first driving gear 197a can be connected to the first output shaft 191, the first driving gear 197a can drive the first output shaft 191 to rotate, the second driving gear 198a can be connected to the second output shaft 192, the second driving gear 198a can drive the second output shaft 192 to rotate, and the first driving gear 197a and the second driving gear 198a can be wholly or partially embedded in a ring gear; two sets of speed gears, such as the first set of speed gears 197 and the second set of speed gears 198 shown in fig. 8, the first set of speed gears 197 and the second set of speed gears 198 can be self-transmitting, the first set of speed gears 197 can rotate around the first driving gear 197a in a meshing manner, the second set of speed gears 198 can rotate around the second driving gear 198a in a meshing manner, and the first set of speed gears 197 and the second set of speed gears 198 can be wholly or partially embedded in a ring gear. The ring gear, the first driving gear 197a, the second driving gear 198a, the first group speed change gear 197 and the second group speed change gear 198 form a transmission whole. When the snow sweeper runs approximately straight, the first group of speed change gears 197 and the second group of speed change gears 198 in the transmission whole do not transmit by self, the driven wheel 194, namely the ring gear, is driven by the driving wheel 193 to rotate and respectively drive the first output shaft 191 and the second output shaft 192 to rotate at the same rotating speed, so that the left travelling wheel and the right travelling wheel are driven to rotate along the same rotating direction and at the same speed, and the straight travelling of the snow sweeper is realized.

Assuming that the left running wheel is the target running wheel, the left running wheel is connected with the first output shaft 191, and when the snowplow turns to the left (assuming that the left running wheel rotates clockwise at this time), the rotation speed of the first output shaft 191 is reduced due to the reduction of the rotation speed of the left running wheel. The reduction in the rotation speed of the first output shaft 191 reduces the rotation speed of the first drive gear 197a, and the first group speed change gear 197 meshing with the first drive gear 197a cannot perform self-transmission in the counterclockwise direction while maintaining the non-self-transmission state during the execution of the snowplow. The self-rotation of the first set of ratio gears 197 causes the second set of ratio gears 198 to also self-rotate in a clockwise direction. That is, the direction of self-transmission of the second group speed change gear 198 is the same as the walking rotation direction of the left and right road wheels, so that the second group speed change gear 198 has self-transmission in the same rotation direction as the second drive gear 198a while revolving around it, thereby being able to increase the rotation speed of the second drive gear 198a in the clockwise direction. The increased rotational speed of the second drive gear 198a drives the increased rotational speed of the second output shaft 192, which in turn drives the increased rotational speed of the right road wheel, such that the left road wheel and the right road wheel of the snowplow have the same rotational direction, but the rotational speed of the left road wheel is lower than that of the right road wheel, thereby achieving a left turn. Similarly, the implementation process of turning the snow sweeper to the right is similar to turning the snow sweeper to the left, and the detailed description is omitted here.

The technical scheme of this embodiment is through providing a from running tool, and this from running tool is provided with second transmission, and this second transmission includes: a driving wheel rotating under the driving force of a second motor; the transmission assembly comprises a gear box and two output shafts; two output shafts of the transmission assembly are respectively connected with two traveling wheels of the execution device; the gear box comprises a driven wheel and a walking driving wheel set; the driven wheel can be driven by the driving wheel to drive the walking driving wheel set to rotate, so that the two walking wheels on the two output shafts walk; the walking driving wheel set comprises a plurality of walking driving wheels, and the relative rotation state between the plurality of walking driving wheels in the wheel set can be changed according to the walking state of the self-walking tool, so that the two walking wheels on the two output shafts can move straightly or turn; the two road wheels have different rotating speeds and the same rotating direction when turning. Therefore, the second transmission device can simplify the transmission mode of the self-walking tool to walk, and realize the straight walking and turning of the self-walking tool.

Optionally, the second transmission further comprises: and the two gear covers fix the two groups of speed change gears and the pair of driving gears together through a connecting structure to form a transmission whole when the snow sweeper moves straightly.

Exemplary, referring to fig. 5-12, the second transmission further comprises: the first gear cover 19C and the second gear cover 19D are connected through a connecting structure 19E, and the first driving gear 197a, the second driving gear 198a, the first group speed change gear 197 and the second group speed change gear 198 are fixed together and form a transmission whole with the ring gear. The two gear covers are used for protecting the first driving gear 197a, the second driving gear 198a, the first group of speed change gears 197 and the second group of speed change gears 198 from entering an ash layer, being damaged by external force and the like.

The connecting structure 19E may be a bolt structure, and the first gear cover 19C and the second gear cover 19D may be connected by matching with a nut.

Optionally, the pair of drive gears and the two sets of speed change gears are located at least partially within the ring gear.

Illustratively, referring to fig. 5-12, the first drive gear 197a, the second drive gear 198a, the first set of speed gears 197 and the second set of speed gears 198 are at least partially disposed within the ring gear for forming a drive assembly with the ring gear.

For example, referring to fig. 5-12, the first set of ratio gears 197 includes a first set of planet gears including a first planet gear 197b, a second planet gear 197c, and a third planet gear 197d; the second set of speed change gears 198 includes a second set of planet gears that includes a fourth planet gear 198b, a fifth planet gear 198c, and a sixth planet gear 198d. Wherein the first set of planet wheels and the second set of planet wheels are meshed. When the first group of planet wheels are in self-transmission, the second group of planet wheels are in self-transmission in the same direction. That is, when the first set of planet wheel took place the self-transmission along the clockwise, the second set of planet wheel also followed the clockwise self-transmission, and when the first set of planet wheel took place the self-transmission along the anticlockwise, the second set of planet wheel also followed the anticlockwise self-transmission.

Referring to fig. 1 to 12, the self traveling apparatus 14 includes a traveling wheel 143 and a second motor 141 driving the traveling wheel 143 to travel. The second motor 141 may also be referred to as a self-propelled motor, and the second motor 141 may be a brushless motor. The second transmission device 19 is connected with a motor shaft of the second motor 141 and used for controlling the snow sweeper to walk.

Referring to fig. 9-12, the second transmission 19 further includes a transmission assembly 195 and a first support shaft 196. The driving wheel 193 is coaxially and fixedly connected with the first support shaft 196, and the driving wheel 193 rotates along with the rotation of the first support shaft 196. The transmission assembly 195 comprises a first gear 195a, a second support shaft 195b and a second gear 195c, the first gear 195a is fixedly connected with the second support shaft 195b, the second support shaft 195b rotates along with the rotation of the first gear 195a, the second gear 195c is coaxially and fixedly connected with the first support shaft 196, and the first support shaft 196 rotates along with the rotation of the second gear 195 c; the second motor shaft 141a is provided with a screw structure, the second motor shaft 141a is engaged with the first gear 195a, the second support shaft 195b is provided with a screw structure, and the second support shaft 195b is engaged with the second gear 195 c.

Alternatively, when the snow sweeper travels straight, the driving wheel 193 drives the driven wheel 194 to rotate, and the driven wheel 194 drives the first output shaft 191 and the second output shaft 192 to rotate.

Specifically, when the snow sweeper travels linearly, assuming that the controller controls the second motor 141 to rotate clockwise (assuming that the snow sweeper travels linearly forward when the motor rotates clockwise), since the second motor shaft 141a is engaged with the first gear 195a, the second motor shaft 141a drives the first gear 195a to rotate counterclockwise, since the second support shaft 195b is fixedly connected with the first gear 195a coaxially, the second support shaft 195b rotates counterclockwise following the counterclockwise rotation of the first gear 195a, since the second support shaft 195b is engaged with the second gear 195c, the second gear 195c rotates clockwise following the counterclockwise rotation of the second support shaft 195b, since the second gear 195c is fixedly connected with the first support shaft 196, the driving wheel 193 is fixedly connected with the first support shaft 196, the first support shaft 196 rotates clockwise following the second gear 195c, the driving wheel rotates clockwise following the first support shaft 196, since the driven wheel 194 is engaged with the driving wheel 193, the driven wheel 194 rotates counterclockwise, the driven wheel 194 drives the first output shaft 191 and the second output shaft 191 to rotate clockwise, thereby realizing the linear travel of the snow sweeper 193. In the straight line running, the first group of speed change gears 197 and the second group of speed change gears 198 only rotate around the respective driving gears and do not transmit power.

If the running speed of the snow sweeper is too high during running, the second transmission device 19 may have the problems of large steering range and unobvious steering effect due to the speed difference between the left and right travelling wheels during steering.

Fig. 13 is a perspective view of a partial structure of a speed control device of the snow sweeper shown in fig. 1, and fig. 14 is a partial circuit diagram of the snow sweeper according to the embodiment of the present invention. Referring to fig. 13 and 14, the speed control device 15 includes a motion sensing trigger 151 and a sensing element 152, wherein the motion sensing trigger 151 is operated by a user, the motion sensing trigger 151 moves relative to the sensing element 152 under a user rotation operation, and the sensing element 152 outputs a sensing signal according to the relative movement.

The controller 200 is configured to: acquiring a sensing signal; when the variation of the sensing signal with respect to the set value is greater than or equal to the variation threshold, the second motor 141 is controlled to decelerate. The second transmission device 19 controls the snowplow to turn after the second motor 141 decelerates.

Referring to fig. 14, the snow blower 100 includes a controller 200, a power supply circuit 201, a drive circuit 202, a second motor 141, an energy source device 11, a capacitive element C0, and a sensing element 152. The circuitry diagram shown in fig. 14 does not show the first motor 121, and it will be appreciated that the first motor 121 is electrically connected similarly to the second motor 141. In the present embodiment, the first motor 121 and the second motor 141 are brushless motors. The controller 200 is used to control the operation of the snowplow 100, and in particular, at least the operation of the first and

second motors

121 and 141. Optionally, the controller 200 includes any one or a combination of a single chip microcomputer or a Micro Control Unit (MCU), an ARM chip (high-performance Reduced Instruction Set Computing (RISC) microprocessor, an Advanced RISC Machine), and a DSP chip (general digital signal processor).

The power circuit 201 is electrically connected to the controller 200 for converting the electric power from the energy source device 11 into electric power operable by the controller 200 and other circuit components. In the present embodiment, the energy device 11 includes at least one battery pack 10, and the power circuit 201 may include a DC-DC conversion chip.

The driving circuit 202 is electrically connected to the three-phase winding of the second motor 141 for driving the rotor of the second motor to operate, and the driving circuit 202 includes a switching element. The drive circuit 202 shown in fig. 14 includes switching elements VT1, VT2, VT3, VT4, VT5, VT6, the switching element VT1 and the switching element VT4 are connected to the first phase winding a, the switching element VT3 and the switching element VT6 are connected to the second phase winding B, and the switching element VT5 and the switching element VT2 are connected to the third phase winding C. The switching elements VT1 to VT6 may be field effect transistors, IGBT transistors, or the like. The gate terminal of each switching element is electrically connected to the driving signal output terminal of the controller 200, and the drain or source of each switching element is electrically connected to the winding of the motor. The switching elements VT1 to VT6 change the on state according to the driving signal outputted from the controller 200, thereby changing the voltage state applied to the winding of the motor by the energy source device 11 to drive the brushless motor to operate.

Wherein the position of the sensing element 152 is fixed, the movable sensing trigger 151 will move relative to the sensing element 152 under the rotating operation of the user. Specifically, when the snowplow travels straight, the movable sensing trigger 151 is stationary relative to the sensing element 152, so the strength or the magnitude of the signal sensed by the sensing element 152 is substantially unchanged, and when the snowplow needs to turn, the palm of the user drives the movable sensing trigger 151 to rotate left and right by a certain angle to turn the movable sensing trigger, in the process, the movable sensing trigger 151 moves relative to the sensing element 152 under the operation of the user, so the strength or the magnitude of the signal sensed by the sensing element 152 changes to a certain extent. The set value is the intensity or magnitude of the signal sensed by the sensing element 152 when the snowplow travels straight, and the threshold of the variation may be set according to the actual situation, which is not specifically limited herein.

Specifically, the sensing element 152 is electrically connected to the controller 200, when the movable sensing trigger 151 moves relative to the sensing element 152 under the rotation operation of the user, the sensing element 152 outputs a sensing signal to the controller 200 according to the relative movement, and the controller 200 performs a judgment analysis on the sensing signal according to the received sensing signal, that is, when the variation of the sensing signal relative to the set value is greater than or equal to the variation threshold, the second motor 141 is controlled to decelerate, so that the second transmission device 19 controls the snow sweeper to complete the steering action at a lower speed after the second motor decelerates, thereby avoiding that the snow sweeper does not make time to turn when the user needs to turn because the linear walking speed is too fast.

Therefore, the speed control device of the snow sweeper is provided with the movable sensing trigger and the sensing element, the movable sensing trigger moves relative to the sensing element under the rotation operation of a user, the sensing element outputs a sensing signal to the controller according to the relative movement, and the controller controls the rotating speed of the motor according to the variation of the sensing signal relative to a set value so as to control the snow sweeper to walk. When the variation of the sensing signal acquired by the controller relative to the set value is larger than or equal to the variation threshold, the controller controls the second motor to decelerate so that the second transmission device controls the snowplow to turn after the second motor decelerates, and therefore the snowplow can get to turn when the snowplow is fast in walking speed and needs to turn suddenly, and good turning is achieved.

As an embodiment, optionally, the sensing element is a hall element.

Wherein the hall element is a semiconductor to which the hall effect is applied. The hall effect is a physical phenomenon in which a lateral potential difference is generated when a magnetic field acts on carriers in a current-carrying metal conductor or a semiconductor.

As an embodiment, optionally, referring to fig. 13 again, the first magnet 153 and the second magnet 154 are fixedly disposed on the activity sensing trigger 151 at a predetermined distance, when the user rotates the activity sensing trigger 151, the first magnet 153 and the second magnet 154 move relative to the hall element 1521, and the hall element 1521 outputs a sensing signal according to the relative movement.

The predetermined distance may be set according to the actual structural dimensions of the movable sensing trigger 151, the first magnet 153 and the second magnet 154, which is not specifically limited herein. A certain magnetic field signal is generated between the first magnet 153, the second magnet 154 and the hall element 1521, and the hall element 1521 can sense the magnetic field signal.

The first magnet 153 and the second magnet 154 are fixedly arranged on the movable sensing trigger 151, the first magnet 153 and the second magnet 154 can move along with the movable sensing trigger 151, and the hall element 1521 is fixed, when a user operates the movable sensing trigger 151 to rotate, the first magnet 153 and the second magnet 154 move along with the movable sensing trigger 151 relative to the hall element 1521, so that the strength or the size of a magnetic field signal sensed by the hall element 152 can be changed to a certain extent, the hall element 1521 outputs a sensed magnetic field signal to the controller 200 according to the relative movement, the controller 200 analyzes the sensed magnetic field signal according to the sensed magnetic field signal, and when the variation of the strength of the sensed magnetic field signal relative to a set value is greater than or equal to a variation threshold, the second motor 141 is controlled to be decelerated, so that the second transmission device 19 controls the snow sweeper to complete steering at a lower speed after the second motor 141 is decelerated, thereby preventing the speed from being too fast for straight walking, and avoiding the situation that the snow sweeper does not make a turn when the snow. The set value is the strength or magnitude of the magnetic field signal of the first magnet 153 and the second magnet 154 sensed by the hall element 1521 when the snow sweeper travels straight.

Alternatively, referring to fig. 13, when the midpoint of the first magnet 153 and the second magnet 154 is aligned with the position of the hall element 1521, the sensing signal obtained by the controller is a set value.

When the midpoint of the first magnet 153 and the second magnet 154 is aligned with the hall element 1521, it can be approximately considered that the movable sensing trigger 151 is stationary relative to the hall element 1521, that is, at this time, the movable sensing trigger 151 does not rotate, the snow sweeper moves linearly, the strength or magnitude of the magnetic field signal sensed by the hall element 1521 is a set value, and at this time, the controller 200 controls the snow sweeper to travel linearly at a certain speed (for example, running at full speed).

Optionally, the difference between the variation of the sensing signal relative to the set value and the variation threshold is positively correlated with the speed of the second motor.

The larger the angle of the movable sensing trigger 151 rotating to the left or right is, the larger the distance between the midpoint positions of the first magnet 153 and the second magnet 154 moving relative to the hall element 1521 is, the more the hall element 1521 senses the change of the intensity of the magnetic field signal of the magnet, that is, the larger the difference between the change of the sensing signal relative to the set value and the change threshold value is, the faster the controller 20 controls the second motor 141 to slow down, and vice versa.

Fig. 15 is a flowchart of a steering control method of a snow sweeper according to an embodiment of the present invention. The embodiment of the invention also provides a steering control method of the snow sweeper, which is executed by the snow sweeper, and the snow sweeper comprises the following steps: a housing; a first motor accommodated in the housing, the motor including a first motor shaft; the snow sweeping device comprises a snow sweeping paddle and a snow stirring device, wherein the snow sweeping paddle is used for stirring snow on the ground; the transmission device is connected with the first motor shaft and the snow-sweeping paddle so as to transmit the power of the first motor to the snow-sweeping paddle; the self-walking device comprises a walking wheel and a second motor for driving the walking wheel to walk; the self-propelled motor comprises a second motor shaft; the speed control device comprises a movable induction trigger and a sensing element, wherein the movable induction trigger is operated by a user, the movable induction trigger moves relative to the sensing element under the rotation operation of the user, and the sensing element outputs a sensing signal according to the relative movement; and the second transmission device is connected with the second motor shaft and is used for controlling the steering of the snow sweeper.

Referring to fig. 15, the steering control method of the snow sweeper includes the following specific steps:

step 110, acquiring a sensing signal;

the position of the sensing element is fixed, the movable sensing trigger moves relative to the sensing element under the rotating operation of a user, and the sensing element outputs a sensing signal to the controller according to the relative movement.

And step 120, when the variation of the sensing signal relative to the set value is greater than or equal to the variation threshold, controlling the second motor to decelerate so that the second transmission device controls the snowplow to steer after the second motor decelerates.

The set value refers to the intensity or the size of a signal sensed by the sensing element when the snow sweeper walks in a straight line. When the user rotates the activity induction trigger to rotate, the activity induction trigger moves relative to the sensing element, the strength of the signal sensed by the sensing element changes, and when the variation of the strength of the sensing signal relative to a set value is larger than or equal to a variation threshold value, the controller controls the second motor to decelerate, so that the second transmission device controls the snowplow to complete steering action at a lower speed after the second motor decelerates, and the situation that the snowplow cannot turn when the user needs to turn can be avoided due to the fact that the straight line walking speed is too high.

In the technical solution of the present embodiment, there is provided a steering control method for a snow sweeper, which is executed by a snow sweeper, the snow sweeper including: a housing; a first motor accommodated in the housing, the motor including a first motor shaft; the snow sweeping device comprises a snow sweeping paddle and a snow stirring device, wherein the snow sweeping paddle is used for stirring snow on the ground; the transmission device is connected with the first motor shaft and the snow-sweeping paddle so as to transmit the power of the first motor to the snow-sweeping paddle; the self-walking device comprises a walking wheel and a second motor for driving the walking wheel to walk; the self-propelled motor comprises a second motor shaft; the speed control device comprises a movable induction trigger and a sensing element, wherein the movable induction trigger is operated by a user, the movable induction trigger moves relative to the sensing element under the rotation operation of the user, and the sensing element outputs a sensing signal according to the relative movement; the second transmission device is connected with the second motor shaft and used for controlling the steering of the snow sweeper; the control method comprises the following steps: acquiring a sensing signal; when the variation of the sensing signal relative to the set value is larger than or equal to the variation threshold, the second motor is controlled to decelerate, so that the second transmission device controls the snowplow to steer after the second motor decelerates. The snow sweeper is arranged, the speed control device is provided with a movable induction trigger and a sensing element, the movable induction trigger moves relative to the sensing element under the rotation operation of a user, the sensing element outputs a sensing signal to the controller according to the relative movement, and the controller controls the rotating speed of the motor according to the variation of the sensing signal relative to a set value so as to control the snow sweeper to walk. When the variation of the sensing signal acquired by the controller relative to the set value is larger than or equal to the variation threshold, the controller controls the second motor to decelerate so that the second transmission device controls the snowplow to turn after the second motor decelerates, and therefore the snowplow can get to turn when the snowplow is fast in walking speed and needs to turn suddenly, and good turning is achieved.

The embodiment of the invention also provides a transmission device suitable for the self-walking tool, and the self-walking tool comprises: a housing; a first motor for providing a driving force for the operation of the self-propelled tool; an execution device comprising an execution component; the first transmission device is connected with a motor shaft of the first motor and the execution device so as to transmit the power of the first motor to the execution device; a second motor for providing a driving force for traveling from the traveling tool; the second transmission device is connected with a motor shaft of the second motor and used for controlling a travelling wheel of the self-travelling tool to travel; the second transmission device includes: a driving wheel rotating by a driving force of a second motor; the transmission assembly comprises a gear box and two output shafts; two output shafts of the transmission assembly are respectively connected with two traveling wheels of the execution device; the gear box comprises a driven wheel and a walking driving wheel set; the driven wheel can be driven by the driving wheel to drive the walking driving wheel set to rotate, so that the two walking wheels on the two output shafts walk; the walking driving wheel set comprises a plurality of walking driving wheels, and the relative rotation state between the plurality of walking driving wheels in the wheel set can be changed according to the walking state of the self-walking tool, so that the two walking wheels on the two output shafts can move straightly or turn; the two road wheels have different rotating speeds and the same rotating direction when turning.

The technical solution of this embodiment is through providing a transmission suitable for from the running tool, this from the running tool includes: a second transmission is provided, the second transmission comprising: a driving wheel rotating by a driving force of a second motor; the transmission assembly comprises a gear box and two output shafts; two output shafts of the transmission assembly are respectively connected with two traveling wheels of the execution device; the gear box comprises a driven wheel and a walking driving wheel set; the driven wheel can be driven by the driving wheel to drive the walking driving wheel set to rotate so as to enable the two walking wheels on the two output shafts to walk; the walking driving wheel set comprises a plurality of walking driving wheels, and the relative rotation state between the plurality of walking driving wheels in the wheel set can be changed according to the walking state of the self-walking tool, so that the two walking wheels on the two output shafts can move straightly or turn; the two road wheels have different rotating speeds and the same rotating direction when turning. It follows that the self-propelled tool can be steered straight and turned by providing a second transmission.

It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.

Claims

1. A self-propelled tool, comprising:

a housing;

a first motor for providing a driving force for the operation of the self-propelled tool;

an execution device comprising an execution component;

it is characterized in that the preparation method is characterized in that,

the second transmission device includes:

a driving wheel rotating by a driving force of the second motor;

the transmission assembly comprises a gear box and two output shafts;

the gear box comprises a driven wheel and a walking driving wheel set;

the walking driving wheel set comprises a plurality of walking driving wheels, and the relative rotation state between the plurality of walking driving wheels in the walking driving wheel set can be changed according to the walking state of the self-walking tool, so that the two walking wheels on the two output shafts can move straight or turn; the two road wheels have different rotating speeds and the same rotating direction when turning.

2. A self-propelled tool according to claim 1 and wherein said driven wheel is a ring gear; the walking driving wheel group comprises:

a pair of drive gears and two sets of speed change gears;

3. The self-propelled tool of claim 2,

the second transmission further includes:

4. The self-propelled tool of claim 2,

the pair of drive gears and the two sets of speed change gears are located at least partially within the ring gear.

5. The self-propelled tool of claim 2,

the group of speed change gears comprises a group of planet wheels;

and two groups of planet wheels of the two groups of speed change gears are meshed.

6. The self-propelled tool of claim 1,

further comprising:

the speed control device comprises a movable induction trigger and a sensing element, wherein the movable induction trigger is operated by a user, the movable induction trigger moves relative to the sensing element under the rotation operation of the user, and the sensing element outputs a sensing signal according to the relative movement;

the controller is configured to:

7. A self-propelled tool according to claim 6,

the sensing element is a Hall element;

8. The self-propelled tool of claim 7,

when the midpoint of the first magnet and the second magnet is aligned with the position of the Hall element, the sensing signal acquired by the controller is the set value.

9. The self-propelled tool as set forth in claim 6, wherein a difference between the amount of change of the sensing signal with respect to the set value and the threshold amount of change is positively correlated with the rate at which the second motor is decelerated.

10. A transmission adapted for use with a self-propelled tool, the self-propelled tool comprising: a housing; a first motor for providing a driving force for the operation of the self-propelled tool; an execution device comprising an execution component; the first transmission device is connected with a motor shaft of the first motor and the execution device so as to transmit the power of the first motor to the execution device; a second motor for providing a driving force for the self-walking tool to walk; the second transmission device is connected with a motor shaft of the second motor and used for controlling the travelling wheel of the self-travelling tool to travel; it is characterized in that the preparation method is characterized in that,

the second transmission device includes:

a driving wheel rotating by a driving force of the second motor;

the transmission assembly comprises a gear box and two output shafts;

the gear box comprises a driven wheel and a walking driving wheel set;