CN201651184U - Two-gear speed change mechanism for small mobile robot - Google Patents
Two-gear speed change mechanism for small mobile robot Download PDFInfo
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- CN201651184U CN201651184U CN201020168561XU CN201020168561U CN201651184U CN 201651184 U CN201651184 U CN 201651184U CN 201020168561X U CN201020168561X U CN 201020168561XU CN 201020168561 U CN201020168561 U CN 201020168561U CN 201651184 U CN201651184 U CN 201651184U
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- gear
- gearwheel
- transition axis
- tooth
- drive shaft
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Abstract
The utility model discloses a two-gear speed change mechanism suitable for a small mobile robot. The device comprises a gear shifting screw rod system, a main transmission shaft system, a transition shaft system and a gear box body, wherein two groups of gear pairs of the main transmission shaft system and the transition shaft are normally engaged, the gear shifting screw rod system is in contact with a synchronous ring on the main transmission shaft system in the axial direction through a shifting fork mechanism, and the three shaft systems are installed on the gear box body through a bearing. Through controlling the position of a sliding synchronous ring and selecting the engaged gear pair participating in the transmission, different combinations can realize different transmission ratios. The utility model remarkably improves power performance of the small mobile robot restrained by a motor and a power supply and has less moving parts, simple and reliable structure and high transmission efficiency; and all of gear sets are in normally engaged structures.
Description
Technical field
The utility model relates to a kind of gear, particularly a kind of two grades of variable speed drives that are applicable on the miniature mobile robot.
Background technique
Miniature mobile robot is one of present scientific research popular domain, has a lot of miniature mobile robots to be widely used in occasions such as fire-fighting, explosive, patrol, investigation both at home and abroad.The movable robot structurally is generally crawler or wheeled construction, and its Transmitted chains is generally fixed drive ratio.The movable robot, the movable robot who uses under the situation usually needs stronger driving force to satisfy the requirement of ascending stair especially in the open air, often speed is had higher requirement simultaneously in the process of travelling in the level land.Under the situation that Transmitted chains is fixed, just there is one group of contradiction in this: big power requires power section that big output torque is provided, and requires power section that high output speed is provided at a high speed.This contradiction exists all the time in the general arrangement of robot.
In order to solve this contradiction, usual method is to select powerful power unit for use now, as heavy-duty motor etc.But in the miniature mobile robot design process, be subjected to the especially restriction of power supply of volume, weight, power section can not unrestrictedly enlarge, often final terrain trafficability and the ground top speed of robot can only be compromised, choose the one side that more needs and design, this has just limited the performance index of robot.
Another kind method adopts the shift speed change transmission device exactly, and existing gearshift is used for fields such as automobile or lathe more, and volume weight still is that adaptability all can't directly be used on miniature mobile robot.
Summary of the invention
The technical problem that the utility model solved is to provide a kind of two grades of gears that are applicable to miniature mobile robot of simple compactness.
The technical solution that realizes the utility model purpose is a kind of miniature mobile robot with two grades of gears, it is characterized in that, the gearbox casing that comprises gear shift screw mandrel system, main drive shaft system, transition axis system and support said mechanism, main drive shaft system, transition axis have two groups of gear pairs often to mesh, gear shift screw mandrel system fastens synchronizing ring by shifting fork mechanism and main drive shaft and contacts in the axial direction, above-mentioned three axles be by Bearing Installation on gearbox casing; Described main drive shaft is to comprise input shaft, small gear, synchronous tooth, drive shaft bearing, output shaft, empty cover gearwheel, synchronizing ring, input shaft is connected by drive shaft bearing with output shaft, thereby can radially rotate mutually, input shaft is away from the output shaft one end small gear that is connected, the other end synchronizing tooth ring that is connected, the end that output shaft links to each other with input shaft is a spline structure, be with on this spline structure can with its synchronizing ring of sliding mutually, the middle part of output shaft empty cover gearwheel, empty cover gearwheel has synchronous tooth near spline one end, when the input shaft side is arrived in above-mentioned synchronizing ring slippage, be meshed with synchronizing tooth ring, slippage is meshed with synchronous tooth on the empty cover gearwheel during to opposite side, and slippage is during to the middle part, with synchronizing tooth ring, empty cover gearwheel does not mesh; Described transition axis is to comprise that transition axis gearwheel, transition axis gear shaft, transition axis gearwheel are connected in the transition axis gear shaft away from gear one end, and transition axis is by bearings; Described gear shift screw mandrel is to comprise stepper motor, screw mandrel, feed screw nut, shifting fork mechanism, and the output shaft and the screw mandrel of stepper motor are connected, and this screw mandrel cooperates with the feed screw nut, and feed screw nut and shifting fork mechanism are connected; The small gear that above-mentioned main drive shaft is is meshed with the transition axis gearwheel of transition axis system, and the sky cover gearwheel of main drive shaft system is meshed with the transition axis gear shaft of transition axis system.
The utility model compared with prior art, its remarkable advantage: 1) the type principle is simple, and volume weight is little.Top gear is that direct-connected transmission velocity ratio is 1, and bottom gear increases double reduction, and the high and low shift velocity ratio can 9 times with the biggest gap.Under the prerequisite that satisfies the maximum output speed of top gear, bottom gear is can output torque bigger 9 times than top gear, and top gear satisfies the rate request of robot, and bottom gear satisfies torque demand, has solved the contradiction between robot speed and the terrain trafficability.2) working condition of ground mobile robot single task is generally more fixing, so the gearshift action is not frequent, uses influence little to the robot manipulation.Gearshift action is finished by step motor control, control simple and reliablely, can also be attached to level sensor, and that guarantees to shift gears and move finishes.3) the utility model promotes obviously the miniature mobile robot power performance that is subjected to motor, power limitations, and movable part is few, and gear train all is normal meshing engagement structure, and is simple and reliable for structure, the transmission efficiency height.
Below in conjunction with accompanying drawing the utility model is described in further detail.
Description of drawings
Fig. 1 is that two grades of variable speed drive structures on the miniature mobile robot are always schemed.
Fig. 2 is that the gear shift screw axis binds composition.
Fig. 3 is that main drive shaft binds composition.
Fig. 4 is that main drive shaft is an erection drawing.
Fig. 5 is synchronizing ring, synchronous toothing figure.
Fig. 6 is the transition axis structural drawing.
Fig. 7 is two grades of variable speed drive transmission principle figure of the present utility model.
Fig. 8 is certain transmission part figure of robot.
Embodiment
In conjunction with Fig. 1, Fig. 8, a kind of three-gear gear shifting mechanism for small mobile robot of the present utility model, comprise that the gear shift screw mandrel is 1, main drive shaft is 2, transition axis is 3 and supports the gearbox casing of said mechanism, main drive shaft is 2, transition axis 3 has two groups of gear pairs often to mesh, the gear shift screw mandrel is 1 to be that synchronizing ring 16 contacts in the axial direction on 2 by shifting fork mechanism 7 and main drive shaft, above-mentioned three axles system by Bearing Installation on gearbox casing.
In conjunction with Fig. 3, Fig. 4, described main drive shaft is 2 to comprise input shaft 9, small gear 10, synchronous tooth 11, drive shaft bearing 12, output shaft 13, empty cover gearwheel 14, synchronizing ring 16, input shaft 9 is connected by drive shaft bearing 12 with output shaft 13, thereby can radially rotate mutually, input shaft 9 is away from the output shaft 13 1 ends small gear 10 that is connected, the other end synchronizing tooth ring 11 that is connected, the end that output shaft 13 links to each other with input shaft 9 is a spline structure, be with on this spline structure can with its synchronizing ring of sliding mutually 16, the middle part of output shaft 13 empty cover gearwheel 14, empty cover gearwheel 14 has synchronous tooth near spline one end, when input shaft 9 sides are arrived in above-mentioned synchronizing ring 16 slippages, be meshed with synchronizing tooth ring 11, slippage is meshed with synchronous tooth on the empty cover gearwheel 14 during to opposite side, when the middle part is arrived in slippage, with synchronizing tooth ring 11, empty cover gearwheel 14 does not mesh; Above-mentioned empty cover gearwheel 14 is enclosed within on the output shaft 13 by bearing 15 skies.
In conjunction with Fig. 6, described transition axis is 3 to comprise transition axis gearwheel 21, transition axis gear shaft 22, and transition axis gearwheel 21 is connected in transition axis gear shaft 22 away from gear one end, and transition axis is by bearings; Above-mentioned transition axis is 3 to be installed on the casing by bearing 23.
In conjunction with Fig. 2, described gear shift screw mandrel is 1 to comprise stepper motor 4, screw mandrel 5, feed screw nut 6, shifting fork mechanism 7, and the output shaft of stepper motor 4 and screw mandrel 5 are connected, and this screw mandrel 5 cooperates with feed screw nut 6, and feed screw nut 6 is connected with shifting fork mechanism 7; When stepper motor 4 drove screw mandrel 5 rotations, feed screw nut 6 can slide front and back, slided thereby drive shifting fork mechanism 7.Above-mentioned gear shift screw mandrel is 1 to be installed on the casing by bearing 8.
Above-mentioned main drive shaft is 2 small gear 10 with transition axis is that 3 transition axis gearwheel 21 is meshed, and main drive shaft is 2 sky cover gearwheel 14 with transition axis is that 3 transition axis gear shaft 22 is meshed.
In conjunction with Fig. 7, when two grades of gears were in the low gear state, main drive shaft was that the synchronizing ring 16 on 2 is meshed with empty cover gearwheel 14.This moment, Transmitted chains was as being: the input shaft end 9--empty cover of the small gear 10--transition axis gearwheel 21--transition axis small gear 22--gearwheel 14--synchronizing ring 16--output shaft 13 that is connected.Transmitted chains reaches output shaft through two pairs of gear engagement of transition axis, and the elongated velocity ratio that increased of Transmitted chains has increased output torque.
In conjunction with Fig. 7, main drive shaft was that synchronizing ring 16 on 2 is meshed with synchronous tooth 11 when two grades of gears were in the high gear state, and two pairs of gear pair skies hang on the output shaft 13, do not participate in transmission, and this moment, transmission ratio was 1, did not change Transmitted chains.
In conjunction with Fig. 7, when two grades of gears were in the neutral position state, main drive shaft was that the synchronizing ring 16 on 2 does not mesh with synchronizing tooth ring 11, empty cover gearwheel 14.
In conjunction with Fig. 5, tooth 11 is outer toothing synchronously, this external tooth 19 is a fillet with the increment of synchronizing ring 16 engagements one end, synchronizing ring 16 is with tooth 11, the empty end of engagement that overlaps gearwheel 14 are interior toothing synchronously, the increment of this internal tooth 18 is a fillet, synchronizing ring 16 is provided with internal spline 17, and this synchronizing ring can be slided on output shaft 13, and the internal tooth 18 of synchronizing ring is meshed with synchronizing ring 16, the empty external tooth 19 that overlaps gearwheel 14 respectively.
Claims (5)
1. a miniature mobile robot is with two grades of gears, it is characterized in that, the gearbox casing that comprises gear shift screw mandrel system (1), main drive shaft system (2), transition axis system (3) and support said mechanism, main drive shaft system (2), transition axis system (3) have two groups of gear pairs often to mesh, gear shift screw mandrel system (1) contacts in the axial direction by synchronizing ring (16) in shifting fork mechanism (7) and the main drive shaft system (2), above-mentioned three axles be by Bearing Installation on gearbox casing;
Described main drive shaft system (2) comprises input shaft (9), small gear (10), synchronous tooth (11), drive shaft bearing (12), output shaft (13), empty cover gearwheel (14), synchronizing ring (16), input shaft (9) is connected by drive shaft bearing (12) with output shaft (13), thereby can radially rotate mutually, input shaft (9) is away from output shaft (13) the one ends small gear (10) that is connected, the other end synchronizing tooth ring (11) that is connected, the end that output shaft (13) links to each other with input shaft (9) is a spline structure, be with on this spline structure can with its synchronizing ring of sliding mutually (16), the middle part of output shaft (13) empty cover gearwheel (14), empty cover gearwheel (14) has synchronous tooth near spline one end, when input shaft (9) side is arrived in above-mentioned synchronizing ring (16) slippage, be meshed with synchronizing tooth ring (11), slippage is meshed with synchronous tooth on the empty cover gearwheel (14) during to opposite side, when the middle part is arrived in slippage, with synchronizing tooth ring (11), empty cover gearwheel (14) does not mesh;
Described transition axis system (3) comprises transition axis gearwheel (21), transition axis gear shaft (22), and transition axis gearwheel (21) is connected in transition axis gear shaft (22) away from gear one end, and transition axis is by bearings;
Described gear shift screw mandrel system (1) comprises stepper motor (4), screw mandrel (5), feed screw nut (6), shifting fork mechanism (7), the output shaft of stepper motor (4) and screw mandrel (5) are connected, this screw mandrel (5) cooperates with feed screw nut (6), feed screw nut (6) is connected with shifting fork mechanism (7), when stepper motor (4) drives screw mandrel (5) rotation, feed screw nut (6) can slide front and back, slides thereby drive shifting fork mechanism (7);
The small gear (10) of above-mentioned main drive shaft system (2) is meshed with the transition axis gearwheel (21) of transition axis system (3), and the sky cover gearwheel (14) of main drive shaft system (2) is meshed with the transition axis gear shaft (22) of transition axis system (3).
2. miniature mobile robot according to claim 1 is characterized in that with two grades of gears when two grades of gears were in the low gear state, the synchronizing ring (16) in the main drive shaft system (2) was meshed with empty cover gearwheel (14).
3. miniature mobile robot according to claim 1 is characterized in that with two grades of gears the synchronizing ring (16) when two grades of gears are in the high gear state in the main drive shaft system (2) is meshed with synchronous tooth (11).
4. miniature mobile robot according to claim 1 is with two grades of gears, it is characterized in that, when two grades of gears were in the neutral position state, the synchronizing ring (16) in the main drive shaft system (2) did not mesh with synchronizing tooth ring (11), empty cover gearwheel (14).
5. miniature mobile robot according to claim 1 is with two grades of gears, it is characterized in that, tooth (11) is outer toothing synchronously, this external tooth (19) is a fillet with the increment of synchronizing ring (16) engagement one end, synchronizing ring (16) and synchronous tooth (11), the end of engagement of empty cover gearwheel (14) is interior toothing, the increment of this internal tooth (18) is a fillet, synchronizing ring (16) is provided with internal spline (17), this synchronizing ring can go up be slided at output shaft (13), the internal tooth (18) that makes synchronizing ring respectively with synchronizing ring (16), external tooth (19) engagement of empty cover gearwheel (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020168561XU CN201651184U (en) | 2010-04-23 | 2010-04-23 | Two-gear speed change mechanism for small mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020168561XU CN201651184U (en) | 2010-04-23 | 2010-04-23 | Two-gear speed change mechanism for small mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN201651184U true CN201651184U (en) | 2010-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201020168561XU Expired - Fee Related CN201651184U (en) | 2010-04-23 | 2010-04-23 | Two-gear speed change mechanism for small mobile robot |
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| CN (1) | CN201651184U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102897335A (en) * | 2012-09-14 | 2013-01-30 | 昆山古鳌电子机械有限公司 | Paper money clamping hand moving mechanism of paper money binding machine |
| CN104289629A (en) * | 2014-09-05 | 2015-01-21 | 冯广建 | Automatic discharge speed-changing device of following type steel bar straightening bending-shearing machine |
| CN105042008A (en) * | 2015-07-12 | 2015-11-11 | 北京理工大学 | Speed change device used for ground robot |
| CN108673487A (en) * | 2018-06-05 | 2018-10-19 | 芜湖易迅生产力促进中心有限责任公司 | A kind of transmission component for packing robot |
| CN110385700A (en) * | 2019-08-13 | 2019-10-29 | 中国科学院深圳先进技术研究院 | Transmission device and exoskeleton robot |
| CN111646381A (en) * | 2020-04-27 | 2020-09-11 | 国网浙江嘉善县供电有限公司 | Stable electric pulley |
| CN112304497A (en) * | 2020-10-22 | 2021-02-02 | 吉林大学 | Inertia test stand for wet brake of mine car |
| CN112719937A (en) * | 2020-12-18 | 2021-04-30 | 宁波职业技术学院 | Control mechanism capable of carrying out accurate position adjustment |
| CN113952689A (en) * | 2021-10-31 | 2022-01-21 | 浙江师范大学行知学院 | Portable multifunctional fitness equipment |
-
2010
- 2010-04-23 CN CN201020168561XU patent/CN201651184U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102897335A (en) * | 2012-09-14 | 2013-01-30 | 昆山古鳌电子机械有限公司 | Paper money clamping hand moving mechanism of paper money binding machine |
| CN104289629A (en) * | 2014-09-05 | 2015-01-21 | 冯广建 | Automatic discharge speed-changing device of following type steel bar straightening bending-shearing machine |
| CN104289629B (en) * | 2014-09-05 | 2016-11-30 | 冯广建 | The discharging automatic transimission of trailing type bar straightening curved scissors machine |
| CN105042008A (en) * | 2015-07-12 | 2015-11-11 | 北京理工大学 | Speed change device used for ground robot |
| CN108673487A (en) * | 2018-06-05 | 2018-10-19 | 芜湖易迅生产力促进中心有限责任公司 | A kind of transmission component for packing robot |
| CN110385700A (en) * | 2019-08-13 | 2019-10-29 | 中国科学院深圳先进技术研究院 | Transmission device and exoskeleton robot |
| CN111646381A (en) * | 2020-04-27 | 2020-09-11 | 国网浙江嘉善县供电有限公司 | Stable electric pulley |
| CN111646381B (en) * | 2020-04-27 | 2021-07-27 | 国网浙江嘉善县供电有限公司 | Stable electric pulley |
| CN112304497A (en) * | 2020-10-22 | 2021-02-02 | 吉林大学 | Inertia test stand for wet brake of mine car |
| CN112719937A (en) * | 2020-12-18 | 2021-04-30 | 宁波职业技术学院 | Control mechanism capable of carrying out accurate position adjustment |
| CN112719937B (en) * | 2020-12-18 | 2022-04-12 | 宁波职业技术学院 | Control mechanism capable of carrying out accurate position adjustment |
| CN113952689A (en) * | 2021-10-31 | 2022-01-21 | 浙江师范大学行知学院 | Portable multifunctional fitness equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101124 Termination date: 20120423 |