WO2022127368A1

WO2022127368A1 - Transmission method

Info

Publication number: WO2022127368A1
Application number: PCT/CN2021/125554
Authority: WO
Inventors: 容爱琼; 李俊豪; 李炬佳; 伍国熙
Original assignee: 广州城市理工学院
Priority date: 2020-12-18
Filing date: 2021-10-22
Publication date: 2022-06-23
Also published as: CN112516555B; CN112516555A

Abstract

The present invention provides a transmission method. A transmission structure comprises a first driving device, a second driving device, a guide device, and movable supports; in the present invention, a first driven gear is pre-arranged on movable supports, then the first driving device extends out, and when a driven member is close to the first driven gear and engaged with the first driven gear, a driving member can act on the first driven gear; when needing to stop driving the first driven gear, only the first driving device needs to be controlled to retract so as to drive the driven member to be separated from the first driven gear; a second driven gear is pre-arranged between the movable supports and the driven member, then the first driving device retracts, and when the driven member is close to the second driven gear and engaged with the second driven gear, the driving member can act on the second driven gear; and when needing to stop driving the second driven gear, only the first driving device needs to be controlled to extend out so as to drive the driven member to be separated from the second driven gear. In this way, a driving motor is effectively protected.

Description

a transmission method

technical field

The invention relates to the field of machines, in particular to a transmission method.

Background technique

Robots have been widely used in many fields of competitive sports and national quality education, and efforts are made to improve the technical level of various robots in China, especially to design intelligent robot mechanisms suitable for various sports training purposes and improve their control level. The advantages of application promotion will further promote the efficient development and steady improvement of national health and competitive sports. In the prior art, a friction wheel is used to serve the ball; however, the cost is high, the friction wheel is easy to wear, and the rotation speed of the motor must be large enough, and excessive friction will cause damage to the ball. Because the existing technology mostly uses friction wheels to launch, the cost is high, and the sphere is easily damaged, and only has a single launch function, which is inconvenient to move.

In order to solve the above problems, the application number in China is 202010858385.0; the patent document with the publication date of 2020.10.30 discloses a wheeled football robot; the robot includes: a chassis; the lower end surface is a polygonal frame structure; The array is connected to the lower end surface of the chassis and used to drive the chassis to move; the translation positioning mechanism is fixedly arranged in the middle of the upper end surface of the chassis, and is used to record the coordinate record of the omnidirectional wheel mechanism driving the chassis to move; the kicking mechanism is set on the upper end surface of the chassis. The side is used to drive the football to move; the football retractable mechanism is arranged on the other side of the upper end face of the chassis and used to receive and release the football.

When the robot kicks the ball, it drives the ratchet wheel to rotate through the stepping motor, thereby driving the swing rod to swing toward the middle of the chassis; and then stops driving the stepping motor, the swing rod is reset under the elastic force of the spring itself, and the football is kicked out; but One part of the spring is connected with the diamond-shaped bearing seat, and the other end is connected with the lower part of the first connecting frame; and there is no device restricting the direction of movement of the spring between the diamond-shaped bearing seat and the lower part of the first connecting frame; in this way, the two ends of the spring are allowed to shrink when they shrink. Bending closer; the elasticity of the spring's return is weakened; and the kicking effect is poor; at the same time, the swing rod and the auxiliary rod are connected to the rotating rod through the flange; when the swing rod is reset, the rotating rod will also rotate; Reverse rotation will occur under the drive of the rod; and because of the action of the chain, the sprocket will also rotate; but because the stepper motor is in a stopped state at this time; when the motor stops, the reverse rotation of the sprocket will speed up the step. The wear of the motor; furthermore, the effect of the sprocket and the ratchet is poor; thus, the kicking effect of the robot is affected; the robot does not have a protective effect on the driving motor driving the kicking ball when the robot is kicking the ball.

SUMMARY OF THE INVENTION

The invention provides a transmission method of a transmission mechanism which can protect the driving device and facilitate switching between two different states.

In order to achieve the above purpose, the technical scheme of the present invention is: a transmission method, the transmission structure includes a frame and a drive mechanism; the drive mechanism includes a first drive device, a second drive device, a guide device and a moving bracket; the moving bracket is provided with two The second drive device is installed on the two movable brackets; the first drive device is connected with the two movable brackets; a guide device is connected between the movable bracket and the frame; the first drive device drives the second drive device along the guide direction of the guide device device action.

The guide device includes a moving guide rail and a moving sliding piece; the moving guide rail is arranged on the frame; the moving sliding piece is slidably arranged on the moving guide rail; the movable end of the first driving device is connected with one end of the moving support; the other end of the moving support is connected with the moving slide piece connection.

The second driving device includes a moving part 1, a moving part 2, a driving motor, a driving component and a driven component; there are two moving

parts

1 and 2; the driving motor is installed on the frame; between the moving brackets; the two moving parts are located between the two moving parts one; the driving component and the driven component are located between the two moving parts; the moving part two is provided with a first connecting hole and a second connecting hole; the first connecting hole It is located at one end of the moving part 2; the second connecting hole is located at the other end of the moving part 2; the moving part 1 is provided with a third connecting hole and a fourth connecting hole; Move the other end of piece one.

The moving sliding piece includes a moving base and a moving piece; the moving piece is connected with the moving base; and the moving piece includes a moving rotating shaft and a moving bearing assembly.

The drive motor is provided with a drive shaft; the drive assembly includes a drive member and a drive bearing assembly; the drive shaft passes through the two first connection holes, the drive bearing assembly and is connected with the drive member; the drive bearing assembly is arranged in the drive shaft and the first connection hole between.

The driven assembly includes a driven member, a driven bearing assembly and a transmission shaft; the transmission shaft passes through the two third connection holes, the two second connection holes, the driven bearing assembly and is connected with the driven member; the driven bearing assembly is provided Between the transmission shaft and the second connection hole, the transmission shaft and the third connection hole; the movable shaft is penetrated through the movable bearing assembly, the two fourth connection holes and connected with the movable bracket; the movable bearing assembly is arranged between the movable shaft and the fourth connection between the holes.

The transmission method of the transmission structure includes the following steps:

(1) Preset the first driven gear away from the moving bracket; and the follower can mesh with the first driven gear; at this time, the first driving device is in a retracted state, and step (2) is performed.

(2). The first driving device extends, and the first driving device drives the moving member to move upward.

(3). The first moving member drives the moving member two to swing away from the moving bracket; the driven member moves towards the direction close to the first driven gear.

(4). When the follower meshes with the first driven gear; start the drive motor; the drive acts on the first driven gear through the follower; if it needs to stop, go to step (5).

(5). The first driving device is retracted, and the first driving device drives the moving member to move downward.

(6). The first moving member drives the moving member two to swing toward the moving bracket; the driven member moves away from the first driven gear; and step (7) is performed after the driven member is separated from the first driven gear.

(7). The drive motor stops working.

In the above method, by presetting the first driven gear on the moving bracket, the first drive is extended, and when the driven member is close to and meshed with the first driven gear, the driving member can act on the first driven gear; so that the transmission mechanism In one state, when it is necessary to stop and drive the first driven gear, it is only necessary to control the first drive to retract to drive the follower to separate from the first driven gear; so that the transmission mechanism is in another state, through the first drive The extension and retraction of the device can realize switching between the two states, and the operation is convenient and reliable.

Further, in step (1), on the basis of providing a first driven gear; a second driven gear is preset between the moving bracket and the driven member; and the driven member can be connected with the first driven gear, The second driven gear meshes; at this time, the driven member is located between the first driven gear and the second driven gear and the driven member is not in contact with the first driven gear and the second driven gear, and then go to step (14) .

(14). If the first driven gear needs to be driven, go to step (15); if the second driven gear needs to be driven, go to step (18).

(15). Go to steps (2)-(5); then go to step (16).

(16). The first moving member drives the moving member to swing toward the moving bracket; the driven member moves away from the first driven gear and does not contact the second driven gear; when the driven member is in contact with the first driven gear After the teeth are separated, step (17) is performed.

(17). The drive motor stops working; then proceed to step (14).

(18). The first driving device is retracted, and the first driving device drives the moving member to move downward.

(19). The first moving member drives the moving member two to swing in a direction close to the moving bracket; the driven member moves in a direction close to the second driven gear.

(20). When the follower meshes with the second driven gear; start the drive motor; the drive acts on the second driven gear through the follower; if it needs to stop, go to step (21).

(21). The first driving device extends, and the first driving device drives the moving member to move upward.

(22). The first moving member drives the moving member to swing away from the moving bracket; the driven member moves away from the second driven gear and is in contact with the first driven gear; when the driven member is in contact with the second driven gear Step (17) is carried out after separation.

The above method, by presetting the first driven gear and the second driven gear; only need to control the action of the first driving device, by changing the position of the follower to drive the first driven gear, the second driven gear or stop working control between; this is easy to control.

Further, the drive bearing assembly includes a drive first bearing; the drive first bearing is provided with two; the drive member is located between the two drive first bearings; the drive first bearing is arranged between the drive shaft and the first connection hole.

The driven bearing assembly includes a driven first bearing and a driven second bearing; both the driven first bearing and the driven second bearing are provided with two; the driven part is located between the two driven first bearings; The driven first bearing is located between the two driven second bearings; the driven first bearing is arranged between the transmission shaft and the second connection hole; the driven second bearing is arranged between the transmission shaft and the third connection hole.

Further, in step (3), step (6), step (16) and step (19), the specific steps are: the first moving member swings on the transmission shaft through the driven second bearing; the second moving member is driven by the first bearing. Swing on the drive shaft.

The present invention provides another transmission method. The transmission structure includes a frame and a driving mechanism; the driving mechanism includes a first driving device, a second driving device, a guiding device and a moving bracket; two moving brackets are provided; the second driving device is installed on the The first driving device is connected with the two movable brackets; a guiding device is connected between the movable bracket and the frame; the first driving device drives the second driving device to act along the guiding direction of the guiding device.

parts

(1A). Only the second driven gear is preset between the moving bracket and the follower; and the follower can mesh with the second driven gear; at this time, the first drive device is in the extended state, and step (8) ).

(8). The first driving device is retracted, and the first driving device drives the moving member to move downward.

(9). The first moving part drives the moving part two to swing in the direction close to the moving bracket; the driven part moves in the direction close to the second driven gear.

(10). When the driven member meshes with the second driven gear; start the driving motor; the driving member acts on the second driven gear through the driven member; if it needs to stop, go to step (11).

(11). The first driving device extends, and the first driving device drives the moving member to move upward;

(12). The first moving member drives the moving member to swing away from the moving bracket; the driven member moves away from the second driven gear; and the step (13) is performed after the driven member is separated from the second driven gear.

(13). The drive motor stops working.

In the above method, by presetting the second driven gear between the moving bracket and the driven member; then the first driving device is retracted, and when the driven member is close to and meshed with the second driven gear, the driving member can The driven gear acts; when it is necessary to stop and drive the second driven gear, it is only necessary to control the first drive to extend to drive the driven piece to separate from the second driven gear; this effectively protects the drive motor.

Further, in step (9) and step (12), the specific steps are: the first moving member swings on the transmission shaft through the driven second bearing; the second moving member swings on the driving shaft by driving the first bearing.

Description of drawings

FIG. 1 is a schematic three-dimensional structure diagram of a transmission structure using this solution.

FIG. 2 is a schematic three-dimensional structural diagram of a second driving device and a moving sliding member using the transmission structure of the present solution.

FIG. 3 is an exploded view of the second driving device using the transmission structure of the present solution.

FIG. 4 is a schematic three-dimensional structural diagram of the second moving member using the transmission structure of this solution.

FIG. 5 is an exploded view of the drive assembly and the driven assembly using the transmission structure of this solution.

FIG. 6 is a schematic three-dimensional structure diagram of a moving sliding member using the transmission structure of this solution.

FIG. 7 is a schematic three-dimensional structural diagram of a moving bracket using the transmission structure of the present solution.

FIG. 8 is a state diagram of the use of Example 1 of this scheme.

FIG. 9 is a use state diagram of Example 2 of this scheme.

FIG. 10 is a flow chart of driving the first driven gear according to the scheme.

FIG. 11 is the use state of Example 3 of this scheme.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in Figure 1-11; a transmission method, the transmission structure includes a frame 1 and a driving mechanism; the driving mechanism includes a first driving device 2, a second driving device 3, a guiding device 4 and a moving bracket 5; the moving bracket 5 is provided with There are two; the second driving device 3 is installed on the two movable brackets 5; the first driving device 2 is connected with the two movable brackets 5; the guiding device 4 is connected between the movable bracket 5 and the frame 1; The guiding direction of the guiding device 4 drives the second driving device 3 to act.

The guide device 4 includes a moving guide rail 41 and a moving sliding piece 42; the moving guide rail 41 is arranged on the frame 1; the moving sliding piece 42 is slidably arranged on the moving guide rail 41; ; The other end of the moving bracket 5 is connected with the moving slider 42 . In this embodiment, the first driving device 2 is an air cylinder. This control effect is good.

The second driving device 3 includes a moving part 1 31, a moving part 2 32, a driving motor (not shown in the figure), a driving assembly 33 and a driven assembly 34; the first moving part 31 and the second moving part 32 are provided with two; The driving motor is installed on the frame 1 through the motor support 11; the two moving parts 31 are located between the two moving brackets 5; the two moving parts 32 are located between the two moving parts 31; Between the two moving parts 32; the moving part 2 32 is provided with a first connecting hole 321 and a second connecting hole 322; the first connecting hole 321 is located at one end of the moving part 2 32; The other end; the moving piece 31 is provided with a third connecting hole 311 and a fourth connecting hole 312 ; the third connecting hole 311 is located at one end of the moving piece 31 ;

The moving sliding piece 42 includes a moving base 421 and a moving piece; the moving piece is connected with the moving base 421; the moving piece includes a first fixing piece 422, a second fixing piece 423, a third fixing piece 424, a moving shaft 425 and a moving bearing assembly 426; The second fixing piece 423 and the third fixing piece 424 are located between the first fixing piece 422 and the moving base 421; the second fixing piece 423 is connected with the moving base 421 and one end of the first fixing piece 422; the third fixing piece 424 is connected with the moving base 421 The base 421 and the other end of the first fixing member 422 are connected. In this way, the moving part is connected to the moving base 421 stably. An installation space 427 is formed between the first fixing member 422 , the second fixing member 423 , the third fixing member 424 and the moving base 421 ; the moving shaft 425 is arranged in the installation space 427 . In this way, the moving shaft 425 and the moving member are movably arranged. The moving shaft 425 passes through the moving bearing assembly 426 .

The drive motor is provided with a drive shaft (not shown in the figure); the drive assembly 33 includes a drive member 331 and a drive bearing assembly 332 ; the drive shaft passes through the two first connection holes 321 and the drive bearing assembly 332 and is connected to the drive member 331 ; The drive bearing assembly 332 is arranged between the drive shaft and the first connecting hole 321; the driven assembly 34 includes a driven member 341, a driven bearing assembly and a drive shaft 342; the drive shaft 342 passes through the two third connecting holes 311, Two second connection holes 322, on the driven bearing assembly and connected with the driven member 341; the driven bearing assembly is arranged between the transmission shaft 342 and the second connection hole 322, the transmission shaft 342 and the third connection hole 311; the moving shaft The movable bearing assembly 425 passes through the movable bearing assembly 426 , the two fourth connection holes 312 and is connected to the movable support 5 ; the movable bearing assembly 426 is arranged between the movable shaft 425 and the fourth connection hole 312 . In this embodiment, the driving member 331 and the driven member 341 are gears.

The drive bearing assembly 332 includes a drive first bearing 3321; there are two drive first bearings 3321; the drive member 331 is located between the two drive first bearings 3321; the drive first bearing 3321 is arranged between the drive shaft and the first connection hole 321 between. In this way, the rotation effect between the moving two and the driving bearing assembly 332 is good.

The driven bearing assembly includes a driven first bearing 343 and a driven second bearing 344; two driven first bearings 343 and driven second bearings 344 are provided; the driven member 341 is located in the two driven

first bearings

343 and 344. between the bearings 343; the two driven first bearings 343 are located between the two driven second bearings 344; the driven first bearings 343 are arranged between the transmission shaft 342 and the second connecting hole 322; the driven second bearings 344 are arranged between the transmission shaft 342 and the third connection hole 311 . In this way, the rotation effect between the second moving member 32 and the driven bearing assembly is good. The moving bearing assembly 426 includes moving first bearings 4261 ; two moving first bearings 4261 are provided; and the moving first bearings 4261 are arranged between the moving rotating shaft 425 and the fourth connecting hole 312 . In this way, the rotation effect between the mobile one and the driven bearing assembly is good.

A limiting member 34 is protruded from the outer wall of the second moving member 32 facing away from the driving assembly 33 . The swing limit of the second movable member 32 is realized by the contact of the second movable member 32 with the limiting member 34 .

The driving shaft and the second moving member 32 are connected by setting the driving bearing assembly 332; the movable member 2 32 and the driving member 331 are movably connected; The follower 341 is movably connected; at the same time, the driven bearing assembly is connected with the moving piece 31; in this way, the moving piece 31 is movably connected with the follower 341; and then the driving component 33, the driven component 34, the moving piece 31 and the moving piece When the moving part 1 31 drives the moving part 2 to move, it will not affect the rotation of the driving part 331 and the driven part 341; the moving shaft 425 and the moving part 1 31 are connected through the moving bearing assembly 426; The bracket 5 is connected with the moving sliding member 42; in this way, the moving member 1 31 and the moving sliding member 42 are also movably arranged; when the moving member 1 31 is moved between the moving brackets 5, it will not affect the moving sliding member 42 on the moving guide rail 41. By setting the first driving device 2 to drive the moving bracket 5 to move; realizing the reciprocating movement of the moving sliding member 42 on the moving guide rail 41; when the moving sliding member 42 rises, the moving shaft 425 will also rise; Under the action of the moving part one 31 and the moving bearing assembly 426 will also rise; at the same time, because the moving part one 31 and the moving part two 32 are movably arranged; when the moving part one 31 rises, it will drive the moving part two 32 Swing away from the moving bracket 5; when the moving sliding member 42 descends, the moving shaft 425 will also descend; under the action of the moving bearing assembly 426; the end of the moving member 31 connected to the moving bearing assembly 426 will also descend; At the same time, because the moving part one 31 and the moving part two 32 are movably arranged; when the moving part one 31 descends, the moving part two 32 will be driven to swing in the direction close to the moving bracket 5; thus, the movement of the follower 341 is realized; and When the follower 341 is moving, the driver 331 still acts with the follower 341 .

As shown in Figure 10; this scheme includes the following steps:

(1). If the first driven gear is preset away from the moving bracket; and the follower can mesh with the first driven gear; at this time, the first driving device is in a retracted state, and then proceed to step (2); A second driven gear is preset between the driven member and the driven member; and the driven member can mesh with the second driven gear; at this time, the first driving device is in an extended state, and step (8) is performed;

(2). The first drive device extends, and the first drive device drives the moving member to move upward;

(3). The moving part one drives the moving part two to swing away from the moving bracket; the follower moves in the direction close to the first driven gear;

(4). When the driven member meshes with the first driven gear; start the driving motor; the driving member acts on the first driven gear through the driven member; if it needs to stop, go to step (5);

(5). The first driving device retracts, and the first driving device drives the moving member to move downward;

(6). Moving member one drives the moving member two to swing in the direction of approaching the moving bracket; the follower moves in the direction away from the first driven gear; when the follower is separated from the first driven tooth, step (7) is performed;

(7). The drive motor stops working.

In the above method, by presetting the first driven gear on the moving bracket, the first drive extends out, and when the follower is close to and meshes with the first driven gear, the drive can act on the first driven gear; when it needs to stop When driving the first driven gear, it is only necessary to control the first drive to retract to drive the driven piece to separate from the first driven gear;

Example 2

By presetting the second driven gear between the moving bracket and the driven member; then the first driving device is retracted, and when the driven member is close to and meshed with the second driven gear, the driving member can drive the second driven gear. Function; when it is necessary to stop and drive the second driven gear, it is only necessary to control the first drive to extend to drive the driven piece to separate from the second driven gear; this effectively protects the drive motor.

The above method:

In step (1), if the first driven gear is preset away from the movable bracket at the same time, the second driven gear is preset between the movable bracket and the driven member; The two driven gears are meshed; at this time, the driven member is located between the first driven gear and the second driven gear and the driven member is not in contact with the first driven gear and the second driven gear, and step (14) is performed;

(14). If the first driven gear needs to be driven, go to step (15); if the second driven gear needs to be driven, go to step (18);

(15). Carry out steps (2)-(5); then carry out step (16);

(16). The first moving member drives the moving member to swing toward the moving bracket; the driven member moves away from the first driven gear and does not contact the second driven gear; when the driven member is in contact with the first driven gear After the teeth are separated, step (17) is performed;

(17). The drive motor stops working; then proceed to step (14);

(18). Carry out steps (8)-(11); then carry out step (19);

(19). The moving member drives the moving member to swing away from the moving bracket in two directions; the follower moves in the direction away from the second driven gear and contacts the first driven gear; when the follower is connected to the second driven gear Step (17) is carried out after separation.

Example 3

A transmission method; the transmission structure includes a frame and a drive mechanism; the drive mechanism includes a first drive device, a second drive device, a guide device and a moving bracket; the moving bracket is provided with two; the second driving device is installed on the two moving brackets The first driving device is connected with the two moving brackets; a guiding device is connected between the moving bracket and the frame; the first driving device drives the second driving device to move along the guiding direction of the guiding device;

The guide device includes a moving guide rail and a moving sliding piece; the moving guide rail is arranged on the frame; the moving sliding piece is slidably arranged on the moving guide rail; the movable end of the first driving device is connected with one end of the moving support; the other end of the moving support is connected with the moving slide piece connection;

parts

1 and 2; the driving motor is installed on the frame; between the moving brackets; the two moving parts are located between the two moving parts one; the driving component and the driven component are located between the two moving parts; the moving part two is provided with a first connecting hole and a second connecting hole; the first connecting hole It is located at one end of the moving part 2; the second connecting hole is located at the other end of the moving part 2; the moving part 1 is provided with a third connecting hole and a fourth connecting hole; the other end of the moving piece one;

The moving sliding piece includes a moving base and a moving piece; the moving piece is connected with the moving base; the moving piece includes a moving shaft and a moving bearing assembly;

The drive motor is provided with a drive shaft; the drive assembly includes a drive member and a drive bearing assembly; the drive shaft passes through the two first connection holes, the drive bearing assembly and is connected with the drive member; the drive bearing assembly is arranged in the drive shaft and the first connection hole between;

The driven assembly includes a driven member, a driven bearing assembly and a transmission shaft; the transmission shaft passes through the two third connection holes, the two second connection holes, the driven bearing assembly and is connected with the driven member; the driven bearing assembly is provided Between the transmission shaft and the second connection hole, the transmission shaft and the third connection hole; the movable shaft is penetrated through the movable bearing assembly, the two fourth connection holes and connected with the movable bracket; the movable bearing assembly is arranged between the movable shaft and the fourth connection between the holes;

(1A). Only the second driven gear is preset between the moving bracket and the follower; and the follower can mesh with the second driven gear; at this time, the first drive device is in the extended state, and step (8) );

(8). The first driving device retracts, and the first driving device drives the moving member to move downward;

(9). The first moving part drives the moving part two to swing in the direction close to the moving bracket; the driven part moves in the direction close to the second driven gear;

(10). When the driven member meshes with the second driven gear; start the driving motor; the driving member acts on the second driven gear through the driven member; if it needs to stop, go to step (11);

(12). The first moving member drives the moving member to swing in the direction away from the moving bracket; the follower moves in the direction away from the second driven gear; when the follower is separated from the second driven gear, step (13) is performed;

(13). The drive motor stops working.

Claims

A transmission method is characterized in that: the transmission structure comprises a frame and a driving mechanism; the driving mechanism comprises a first driving device, a second driving device, a guiding device and a moving bracket; two moving brackets are provided; on the two movable brackets; the first driving device is connected with the two movable brackets; a guiding device is connected between the movable bracket and the frame; the first driving device drives the second driving device to act along the guiding direction of the guiding device;

The guide device includes a moving guide rail and a moving sliding piece; the moving guide rail is arranged on the frame; the moving sliding piece is slidably arranged on the moving guide rail; the movable end of the first driving device is connected with one end of the moving support; the other end of the moving support is connected with the moving slide piece connection;

The second driving device includes a moving part 1, a moving part 2, a driving motor, a driving component and a driven component; there are two moving parts 1 and 2; the driving motor is installed on the frame; between the moving brackets; the two moving parts are located between the two moving parts one; the driving component and the driven component are located between the two moving parts; the moving part two is provided with a first connecting hole and a second connecting hole; the first connecting hole It is located at one end of the moving part 2; the second connecting hole is located at the other end of the moving part 2; the moving part 1 is provided with a third connecting hole and a fourth connecting hole; the other end of the moving piece one;

The moving sliding piece includes a moving base and a moving piece; the moving piece is connected with the moving base; the moving piece includes a moving shaft and a moving bearing assembly;

The drive motor is provided with a drive shaft; the drive assembly includes a drive member and a drive bearing assembly; the drive shaft passes through the two first connection holes, the drive bearing assembly and is connected with the drive member; the drive bearing assembly is arranged in the drive shaft and the first connection hole between;

The driven assembly includes a driven member, a driven bearing assembly and a transmission shaft; the transmission shaft passes through the two third connection holes, the two second connection holes, the driven bearing assembly and is connected with the driven member; the driven bearing assembly is provided Between the transmission shaft and the second connection hole, the transmission shaft and the third connection hole; the movable shaft is penetrated through the movable bearing assembly, the two fourth connection holes and connected with the movable bracket; the movable bearing assembly is arranged between the movable shaft and the fourth connection between the holes;

The transmission method of the transmission structure includes the following steps:

(1). Preset the first driven gear away from the moving bracket; and the follower can mesh with the first driven gear; at this time, the first drive device is in a retracted state, and step (2) is performed;

(2). The first drive device extends, and the first drive device drives the moving member to move upward;

(3). The moving part one drives the moving part two to swing away from the moving bracket; the follower moves in the direction close to the first driven gear;

(4). When the driven member meshes with the first driven gear; start the driving motor; the driving member acts on the first driven gear through the driven member; if it needs to stop, go to step (5);

(5). The first driving device retracts, and the first driving device drives the moving member to move downward;

(6). Moving member one drives the moving member two to swing in the direction of approaching the moving bracket; the follower moves in the direction away from the first driven gear; when the follower is separated from the first driven tooth, step (7) is performed;

(7). The drive motor stops working.
A transmission method according to claim 1, wherein:

In step (1), on the basis of the first driven gear, a second driven gear is preset between the moving bracket and the driven member; and the driven member can be connected with the first driven gear, the second driven gear The driven gear is meshed; at this time, the driven member is located between the first driven gear and the second driven gear, and the driven member is not in contact with the first driven gear and the second driven gear, and step (14) is performed;

(14). If the first driven gear needs to be driven, go to step (15); if the second driven gear needs to be driven, go to step (18);

(15). Carry out steps (2)-(5); then carry out step (16);

(16). The first moving member drives the moving member to swing toward the moving bracket; the driven member moves away from the first driven gear and does not contact the second driven gear; when the driven member is in contact with the first driven gear After the teeth are separated, step (17) is performed;

(17). The drive motor stops working; then proceed to step (14);

(18). The first driving device is retracted, and the first driving device drives the moving member to move downward;

(19). The first moving member drives the moving member to swing toward the moving bracket; the driven member moves toward the second driven gear;

(20). When the driven member meshes with the second driven gear; start the driving motor; the driving member acts on the second driven gear through the driven member; if it needs to stop, go to step (21);

(21). The first driving device extends, and the first driving device drives the moving member to move upward;

(22). The first moving member drives the moving member to swing away from the moving bracket in two directions; the driven member moves away from the second driven gear and contacts the first driven gear; when the driven member is in contact with the second driven gear Step (17) is carried out after separation.
A transmission method according to claim 2, wherein: the drive bearing assembly comprises a drive first bearing; the drive first bearing is provided with two; the drive member is located between the two drive first bearings; The bearing is arranged between the drive shaft and the first connection hole;

The driven bearing assembly includes a driven first bearing and a driven second bearing; both the driven first bearing and the driven second bearing are provided with two; the driven part is located between the two driven first bearings; The driven first bearing is located between the two driven second bearings; the driven first bearing is arranged between the transmission shaft and the second connection hole; the driven second bearing is arranged between the transmission shaft and the third connection hole.
A transmission method according to claim 3, characterized in that: in step (3), step (6), step (16) and step (19), specifically: the first moving part is driven by the driven second bearing The transmission shaft swings; the moving part 2 swings on the drive shaft by driving the first bearing.
A transmission method is characterized in that: the transmission structure comprises a frame and a driving mechanism; the driving mechanism comprises a first driving device, a second driving device, a guiding device and a moving bracket; two moving brackets are provided; on the two movable brackets; the first driving device is connected with the two movable brackets; a guiding device is connected between the movable bracket and the frame; the first driving device drives the second driving device to act along the guiding direction of the guiding device;

The guiding device includes a moving guide rail and a moving sliding piece; the moving guide rail is arranged on the frame; the moving sliding piece is slidably arranged on the moving guide rail; the movable end of the first driving device is connected with one end of the moving support; the other end of the moving support is connected with the moving slide piece connection;

The second driving device includes a moving part 1, a moving part 2, a driving motor, a driving component and a driven component; there are two moving parts 1 and 2; the driving motor is installed on the frame; between the moving brackets; the two moving parts are located between the two moving parts one; the driving component and the driven component are located between the two moving parts; the moving part two is provided with a first connecting hole and a second connecting hole; the first connecting hole It is located at one end of the moving part 2; the second connecting hole is located at the other end of the moving part 2; the moving part 1 is provided with a third connecting hole and a fourth connecting hole; the other end of the moving piece one;

The moving sliding piece includes a moving base and a moving piece; the moving piece is connected with the moving base; the moving piece includes a moving shaft and a moving bearing assembly;

The drive motor is provided with a drive shaft; the drive assembly includes a drive member and a drive bearing assembly; the drive shaft passes through the two first connection holes, the drive bearing assembly and is connected with the drive member; the drive bearing assembly is arranged in the drive shaft and the first connection hole between;

The driven assembly includes a driven member, a driven bearing assembly and a transmission shaft; the transmission shaft passes through the two third connection holes, the two second connection holes, the driven bearing assembly and is connected with the driven member; the driven bearing assembly is provided Between the transmission shaft and the second connection hole, the transmission shaft and the third connection hole; the moving shaft is penetrated through the moving bearing assembly, the two fourth connecting holes and connected with the moving bracket; the moving bearing assembly is arranged between the moving shaft and the fourth connection between the holes;

The transmission method of the transmission structure includes the following steps:

(1A). Only the second driven gear is preset between the moving bracket and the follower; and the follower can mesh with the second driven gear; at this time, the first driving device is in the extended state, and step (8) );

(8). The first driving device is retracted, and the first driving device drives the moving member to move downward;

(9). The first moving part drives the moving part two to swing in the direction close to the moving bracket; the driven part moves in the direction close to the second driven gear;

(10). When the driven member meshes with the second driven gear; start the driving motor; the driving member acts on the second driven gear through the driven member; if it needs to stop, go to step (11);

(11). The first driving device extends, and the first driving device drives the moving member to move upward;

(12). Moving part one drives the moving part two to swing away from the direction of the moving bracket; The follower moves in the direction away from the second driven gear; Step (13) is carried out after the follower is separated from the second driven tooth;

(13). The drive motor stops working.
A transmission method according to claim 5, wherein: the drive bearing assembly comprises a drive first bearing; the drive first bearing is provided with two; the drive member is located between the two drive first bearings; The bearing is arranged between the drive shaft and the first connection hole;

The driven bearing assembly includes a driven first bearing and a driven second bearing; both the driven first bearing and the driven second bearing are provided with two; the driven part is located between the two driven first bearings; The driven first bearing is located between the two driven second bearings; the driven first bearing is arranged between the transmission shaft and the second connection hole; the driven second bearing is arranged between the transmission shaft and the third connection hole.
A transmission method according to claim 6, characterized in that: in step (9) and step (12), specifically: the first movable member swings on the transmission shaft through the driven second bearing; the second movable member is driven by The first bearing swings on the drive shaft.