Wheel type hybrid transmission walking mechanical transmission system

Abstract

The invention relates to the technical field of vehicle transmission, in particular to a wheel type hybrid transmission walking mechanical transmission system which is mainly composed of a terrain recognition module, a control module, a motor transmission module, a speed change module, a clutch module, a hydraulic transmission module, an energy storage module and a suspension module. The terrain environment around the wheel type walking machine is scanned in real time; the motor transmission module is directly connected with a driving wheel of the wheel type walking machine, and the walking machine is driven to advance or retreat through rotation of a motor. The hydraulic transmission module provides power for the wheel type walking machine through a hydraulic motor. The speed change module performs speed change control according to the instruction sent by the control module; the clutch module is used for disconnecting and connecting the corresponding motor transmission module and hydraulic transmission module according to the terrain requirement of the control module; the invention aims to provide a walking mechanical transmission system which is efficient, flexible and suitable for various terrains.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle transmission, and in particular to a wheeled hybrid transmission walking mechanical transmission system. Background Art

[0002] Large wheeled walking machinery, such as tractors and loaders, plays an important role in agricultural production and engineering construction. These equipment are usually driven by engines and are often in a state of frequent start and stop. However, in this working state, the braking energy is often dissipated in the form of heat, resulting in energy waste. At the same time, the engine has poor working conditions and poor emissions, which seriously pollutes the environment. Therefore, the use of wheeled hybrid transmission walking machinery transmission system (MMITHS) has become an effective way to solve these problems.

[0003] Although the hybrid transmission system of wheeled walking machinery has significant advantages in improving energy utilization, transmission efficiency and adapting to complex working conditions, the hybrid transmission system of walking machinery in the prior art usually has poor ability to perceive changes in terrain environment, making it difficult to adjust the transmission mode and parameters in real time to adapt to environmental requirements.

[0004] To sum up, how to solve the problem that the hybrid transmission walking machinery transmission system in the prior art usually has a poor ability to perceive terrain environment changes, making it difficult to adjust the transmission mode and parameters in real time to adapt to environmental requirements has become a difficult problem that needs to be solved urgently in this field. Therefore, it is necessary to propose a wheeled hybrid transmission walking machinery transmission system. Summary of the invention

[0005] To solve the above problems, the present invention provides a wheeled hybrid transmission walking machine transmission system, which is used to integrate multiple transmission technologies and intelligent control strategies to enable the walking machine to adjust the transmission mode and parameters in real time to adapt to the terrain environment requirements and automatically switch its output power.

[0006] In order to achieve the above-mentioned object, the technical solution of the present invention is as follows: A wheel-type hybrid transmission walking machine transmission system, comprising:

[0007] The terrain recognition module includes a plurality of cameras and laser radars arranged on the wheeled walking machine, and uses the cameras and laser radars to scan the surrounding environment of the wheeled walking machine in real time to generate terrain environment data around the wheeled walking machine.

[0008] The motor transmission module includes a motor installed inside the wheeled walking machine, and the motor is used to provide motor transmission power for the wheeled walking machine.

[0009] The hydraulic transmission module includes a hydraulic motor installed inside the wheeled traveling machinery, and the hydraulic motor is used to provide hydraulic transmission power for the wheeled traveling machinery.

[0010] The speed change module comprises a multi-stage speed change gear unit, and the multi-stage speed change gear unit is used for performing multi-stage speed change on the wheeled walking machinery.

[0011] The control module is used to analyze the terrain environment data around the wheeled walking machine, generate control data, and control and switch the motor transmission module and the hydraulic transmission module respectively; and control the multi-stage speed change of the multi-stage speed change gear unit.

[0012] The clutch module includes a clutch unit, and the clutch unit is used to utilize control data to perform power switching control between the motor transmission module and the hydraulic transmission module.

[0013] The energy storage module includes an energy storage unit, which is used to store electric energy and provide electric energy for the motor drive module and the control module.

[0014] The technical principles of the above scheme are as follows:

[0015] The terrain recognition module uses cameras and laser radars to scan the terrain environment around the wheeled walking machine in real time; the motor transmission module is directly connected to the driving wheels of the wheeled walking machine, and drives the walking machine forward or backward through the rotation of the motor. The hydraulic transmission module uses a hydraulic motor to provide power for the wheeled walking machine; hydraulic transmission has the characteristics of high power density and strong environmental adaptability, and is particularly suitable for working environments that require large torque and frequent start and stop. The hydraulic transmission module transports hydraulic oil to the hydraulic motor through a hydraulic pump, and the hydraulic motor converts hydraulic energy into mechanical energy to drive the movement of the walking machine; the speed change module performs speed change control according to the instructions issued by the control module; the control module is responsible for power switching control between the motor transmission module and the hydraulic transmission module according to the real-time terrain to adapt to the terrain environment requirements; the clutch module disconnects and engages the corresponding motor transmission module and hydraulic transmission module according to the terrain requirements of the control module, thereby achieving smooth power switching.

[0016] The above scheme has the following beneficial effects:

[0017] 1. The present invention improves the perception ability of wheeled walking machinery to the surrounding terrain environment by integrating a terrain recognition module; the terrain recognition module uses advanced camera and laser radar technology to obtain environmental data around the walking machinery in real time and accurately, and provides accurate terrain information for the control module; the control module can intelligently adjust the transmission mode and parameters based on real-time terrain data, thereby optimizing the power output and driving performance of the walking machinery and improving operating efficiency.

[0018] 2. The motor transmission module of the present invention has the characteristics of high efficiency, environmental protection, and good controllability, and is suitable for flat or light-load conditions; while the hydraulic transmission module has the characteristics of high power density and strong adaptability, and is particularly suitable for complex terrain or heavy-load conditions; through the intelligent scheduling of the control module, the system can automatically switch between motor transmission and hydraulic transmission according to the real-time terrain environment and operating requirements, thereby achieving the best matching of power and efficient use of energy, reducing the waste of braking energy and engine emission pollution.

[0019] 3. The multi-stage speed change gear unit of the present invention can accurately change speed according to the instructions of the control module, so that the walking machine can better adapt to the requirements of different terrains and operating speeds.

[0020] Furthermore, the motor transmission module includes an energy recovery unit, which is used to convert the kinetic energy during deceleration and braking of the wheeled walking machine into electrical energy and store it in the energy storage unit when the wheeled walking machine decelerates and brakes.

[0021] Beneficial effects: By introducing an energy recovery unit, the present invention can recover part of the kinetic energy when the walking machine decelerates and brakes, and convert it into electrical energy for storage, thereby improving the energy utilization rate of the entire system and further reducing energy waste.

[0022] Furthermore, the multi-speed gear unit includes a gearbox, which is driven by the motor transmission module.

[0023] Beneficial effects: The gearbox is directly driven by the motor, which can achieve fast and accurate speed control, and improve the adaptability of the walking machinery to different terrains and working requirements.

[0024] Furthermore, the clutch unit includes a clutch, and the clutch is driven by the gearbox output shaft.

[0025] Beneficial effects: The clutch can disconnect and engage the corresponding motor transmission module and hydraulic transmission module according to the terrain requirements of the control module, thereby achieving smooth switching of power and ensuring the realization of subsequent effects.

[0026] Furthermore, the hydraulic transmission module includes a hydraulic output unit, which includes a hydraulic power gear. The hydraulic power gear is driven by a clutch output shaft, and the power gear is meshed with a transmission gear. A rotating shaft is eccentrically fixedly connected to the side wall of the power gear, and a crank is sleeved on the outer side of the rotating shaft, and the crank and the rotating shaft are rotatably matched; a connecting rod is hingedly connected to the end of the crank away from the rotating shaft; an annular groove eccentric to the transmission gear is opened on the side wall of the transmission gear, and a support rod is slidably matched in the annular groove, and a lever is rotatably matched at one end of the support rod away from the annular groove, and one end of the lever is hinged to the end of the connecting rod away from the crank; a U-shaped block is fixedly connected to the end of the lever away from the connecting rod, and a groove is opened on the U-shaped block, and a slider is slidably matched in the groove, the slider is hinged to the output shaft of the hydraulic cylinder, and the output end of the hydraulic cylinder is connected to the input end of the hydraulic motor.

[0027] Beneficial effects: The hydraulic output unit achieves cost reduction and efficiency improvement through special design. The transmission gear is driven by the hydraulic power gear. At the same time, through the cooperation of the crank and the lever, compared with the existing single crank-driven hydraulic cylinder, its hydraulic power can be doubled, so that the hydraulic output unit can output greater power.

[0028] Furthermore, the motor transmission module also includes a travel unit, the travel unit includes a driving wheel, and the driving mode of the driving wheel is switched by the clutch unit; wherein the driving mode includes: one of: a gearbox output shaft drive and a hydraulic motor output shaft drive.

[0029] Beneficial effect: Through the selection and switching of the clutch unit, the travel unit can select the most suitable driving mode according to the needs, thereby improving the power and economy of the travel machinery.

[0030] Furthermore, in the control module, the terrain environment data around the machine includes ground slope data, ground material data, ground slipperiness data, obstacle location data, and surrounding lighting condition data.

[0031] Beneficial effects: The control module can acquire and process a variety of terrain environment data, providing more comprehensive and accurate environmental information for the mobile machinery; it helps the control module to make more intelligent and reasonable decisions, thereby improving the operating efficiency and safety of the mobile machinery.

[0032] Furthermore, in the control module, the control data includes driving power and speed command data of the motor transmission module, hydraulic pressure and flow command data of the hydraulic transmission module, speed ratio command data of the multi-stage transmission gear unit, switching state command data of the clutch unit and charging and discharging command data of the energy storage module.

[0033] Beneficial effects: The control module can generate and output a variety of control data to accurately control each module of the walking machine; it helps to improve the performance and stability of the walking machine, and also provides users with a more flexible and convenient operating experience.

[0034] Further, in the control module, the control algorithm includes the following steps:

[0035] S1, Environmental Perception and Assessment: The control module receives the terrain environment data from the terrain recognition module, performs a comprehensive assessment, and generates an environmental assessment result.

[0036] S2, power demand and transmission mode decision: Based on the environmental assessment results, choose to use one of the motor transmission module and the hydraulic transmission module, and then generate the corresponding control data.

[0037] S3, speed change and clutch control: according to the control data, the speed ratio of the multi-speed gear unit is adjusted, and the clutch unit selects one of the gearbox output shaft drive and the hydraulic motor output shaft drive.

[0038] S4, energy management and execution feedback: monitor the power status of the energy storage module and store the recovered electric energy in the energy storage unit.

[0039] Beneficial effects: The environmental perception and assessment steps ensure that the system can obtain and understand the surrounding environment in real time and accurately, providing a solid foundation for subsequent decision-making; the power demand and transmission mode decision step intelligently selects the most appropriate transmission mode and parameters based on the environmental assessment results, thereby optimizing the power output and driving performance of the walking machinery.

[0040] Furthermore, it also includes a suspension module, which includes a suspension adjustment unit. The suspension adjustment unit includes a plurality of shock absorbers installed on the driving wheels. The suspension adjustment unit is used to automatically adjust the stiffness and damping of the shock absorbers by using the terrain environment data around the wheeled walking machine.

[0041] Beneficial effects: The present invention can automatically adjust the stiffness and damping of the suspension adjustment unit according to terrain environment data, thereby improving the stability and comfort of the walking machine on different terrains.

[0042] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of a wheeled hybrid transmission walking machine transmission system in an embodiment of the present invention.

[0044] Figure 2 It is an axonometric view of the hydraulic output unit in an embodiment of the present invention.

[0045] Figure 3 It is a front view of the hydraulic output unit in the embodiment of the present invention.

[0046] Figure 4 It is a front cross-sectional view of the hydraulic power gear and the transmission gear in the embodiment of the present invention.

[0047] Figure 5 Schematic diagram of the power transmission structure of the wheeled walking machine in an embodiment of the present invention.

[0048] The figure marks in the drawings of the specification include: 1. hydraulic power gear; 2. transmission gear; 3. rotating shaft; 4. crank; 5. connecting rod; 6. annular slide groove; 7. support rod; 8. lever; 9. U-shaped block; 10. slider; 11. hydraulic cylinder. DETAILED DESCRIPTION

[0049] The following is further described in detail through specific implementation methods:

[0050] Embodiment 1:

[0051] As attached Figure 1 and Figure 5 As shown: a wheeled hybrid transmission walking machine transmission system, mainly composed of a terrain recognition module, a control module, a motor transmission module, a speed change module, a clutch module, a hydraulic transmission module, an energy storage module and a suspension module, wherein the terrain recognition module uses a camera and a laser radar to scan the terrain environment around the wheeled walking machine in real time; the motor transmission module is directly connected to the driving wheel of the wheeled walking machine, and drives the walking machine forward or backward through the rotation of the motor; the hydraulic transmission module uses a hydraulic motor to provide power for the wheeled walking machine; the speed change module performs speed change control according to the instructions issued by the control module; the clutch module disconnects and engages the corresponding motor transmission module and the hydraulic transmission module according to the terrain requirements of the control module; the energy storage module is used to store electrical energy and provide electrical energy to the motor transmission module and the control module.

[0052] The following is a detailed explanation of the functions of each module:

[0053] The terrain recognition module includes a plurality of cameras and laser radars arranged on the wheeled walking machine, and uses the cameras and laser radars to scan the surrounding environment of the wheeled walking machine in real time to generate terrain environment data around the wheeled walking machine.

[0054] Specifically, first, high-definition cameras and lidar are used to scan the vehicle's surroundings in real time to generate terrain environment data. The terrain environment data includes ground slope data, ground material data, ground wetness data, obstacle location data, and surrounding lighting condition data.

[0055] The motor transmission module includes a motor installed inside the wheeled walking machine, and the motor is used to provide motor transmission power for the wheeled walking machine.

[0056] The motor transmission module includes an energy recovery unit, which is used to convert the kinetic energy during deceleration and braking of the wheeled walking machine into electrical energy and store it in the energy storage unit when the wheeled walking machine decelerates and brakes.

[0057] The motor transmission module also includes a travel unit, which includes a driving wheel. The driving mode of the driving wheel is switched by a clutch unit; the driving mode includes: one of a gearbox output shaft drive and a hydraulic motor output shaft drive.

[0058] Specifically, first, the motor transmission module directly drives the driving wheels of the wheeled walking machinery through the motor to achieve forward or backward movement; when the walking machinery needs to accelerate or travel at a constant speed, the motor adjusts the speed and power output according to the instructions of the control module; in addition, the energy recovery unit plays a role when the walking machinery decelerates and brakes, and converts the mechanical energy generated by the motor braking into electrical energy through the generator principle, and stores it in the energy storage module to achieve energy recycling.

[0059] The hydraulic transmission module includes a hydraulic motor installed inside the wheeled traveling machinery, and the hydraulic motor is used to provide hydraulic transmission power for the wheeled traveling machinery.

[0060] The hydraulic transmission module uses a hydraulic motor to provide hydraulic transmission power for walking machinery, which is particularly suitable for working environments that require large torque or frequent starts and stops. Specifically, first, the hydraulic output unit draws the hydraulic oil from the tank and pressurizes it, and then transports it to the hydraulic motor through a hydraulic pipeline. The hydraulic motor converts hydraulic energy into mechanical energy to drive the driving wheels of the wheeled walking machinery to achieve forward or backward movement. The hydraulic transmission module has the characteristics of high power density and strong adaptability, and can meet the needs of complex terrain and heavy-load conditions.

[0061] The speed change module includes a multi-stage speed change gear unit, which is used to perform multi-stage speed change on the wheeled walking machine; the multi-stage speed change gear unit includes a gearbox, and the gearbox is driven by the motor transmission module.

[0062] The speed change module includes a multi-speed gear unit, which is used to adjust the transmission ratio according to the speed and load requirements of the walking machine; specifically, first, the gearbox is driven by the motor transmission module, and the switching of different speed ratios is achieved through the internal gear transmission; the multi-speed gear unit can quickly adjust the speed ratio according to the speed ratio command data of the control module, ensuring that the walking machine can maintain the best power and economy under different road conditions.

[0063] The clutch module includes a clutch unit, which is used to use control data to control power switching between the motor transmission module and the hydraulic transmission module; the clutch unit includes a clutch, and the clutch is driven by the output shaft of the gearbox.

[0064] The clutch module is used to control the power switching between the motor transmission module and the hydraulic transmission module. Specifically, first, the clutch is driven by the output shaft of the gearbox, and the power connection and disconnection are achieved through friction plates or mechanical structures. When it is necessary to switch to hydraulic transmission, the clutch disconnects from the motor transmission module and connects to the output shaft of the hydraulic motor; vice versa. The fast response and precise control of the clutch module ensure the smoothness and reliability of power switching.

[0065] The control module is used to analyze the terrain environment data around the wheeled walking machine, generate control data using a control algorithm, and control and switch the motor transmission module and the hydraulic transmission module respectively; and perform multi-stage speed change control on the multi-stage speed change gear unit.

[0066] The control module is the core part of the system, responsible for analyzing terrain environment data and generating corresponding control data; specifically, first, the control module receives the terrain environment data from the terrain recognition module, and performs a comprehensive evaluation through the built-in control algorithm to determine the optimal power demand and transmission mode under the current environment; then, based on the evaluation results, the control data of the motor transmission module, hydraulic transmission module, multi-speed gear unit and clutch module are generated; these control data are sent to each module to achieve precise control and optimized operation of the system.

[0067] In the control module, the terrain environment data around the machine includes ground slope data, ground material data, ground slipperiness data, obstacle location data and surrounding lighting condition data; the control data includes the driving power and speed command data of the motor transmission module, the hydraulic pressure and flow command data of the hydraulic transmission module, the speed ratio command data of the multi-speed gear unit, the switching state command data of the clutch unit and the charge and discharge command data of the energy storage module; the control algorithm includes the following steps:

[0068] S1, Environmental Perception and Assessment: The control module receives the terrain environment data from the terrain recognition module, performs a comprehensive assessment, and generates an environmental assessment result.

[0069] S2, power demand and transmission mode decision: Based on the environmental assessment results, choose to use one of the motor transmission module and the hydraulic transmission module, and then generate the corresponding control data.

[0070] S3, speed change and clutch control: according to the control data, the speed ratio of the multi-speed gear unit is adjusted, and the clutch unit selects one of the gearbox output shaft drive and the hydraulic motor output shaft drive.

[0071] S4, energy management and execution feedback: monitor the power status of the energy storage module and store the recovered electric energy in the energy storage unit.

[0072] This embodiment takes the application of a wheeled hybrid transmission walking mechanical transmission system in an off-road expedition vehicle as an example. For example, the off-road expedition vehicle is equipped with the above-mentioned hybrid transmission walking mechanical transmission system, so that it can demonstrate excellent passability and versatility in complex and changeable field environments; when the expedition vehicle enters a rugged mountain, the terrain recognition module is quickly started, the camera captures the terrain features in front, and the laser radar accurately measures the ground slope data and obstacle distance data. These two data are transmitted to the control module in real time for comprehensive analysis.

[0073] After receiving the ground slope data and obstacle distance data, the control module immediately starts its built-in control algorithm; after the environmental perception and evaluation steps, the control module recognizes that the current terrain is a steep mountain and determines that greater traction and stable driving force are required; therefore, it decides to start the hydraulic transmission module to cope with complex road conditions.

[0074] Subsequently, the control module sends a switching command to the clutch module. The clutch of the clutch unit disconnects the connection between the drive wheel and the output shaft of the gearbox. At the same time, the clutch engages the drive wheel with the output shaft of the hydraulic motor. At the same time, the multi-stage transmission gear unit adjusts the output shaft speed of the automatic transmission to a low-speed and high-torque mode suitable for mountain crawling according to the speed ratio command data of the control module, providing sufficient power to the hydraulic motor.

[0075] During the climbing process of the expedition vehicle, the hydraulic transmission module fully utilizes its high power density and strong adaptability to provide the vehicle with stable hydraulic transmission power; when encountering particularly steep or slippery sections, the control module will also dynamically adjust the hydraulic oil pressure and flow based on real-time feedback of terrain data to ensure that the vehicle can pass safely and stably.

[0076] When the expedition vehicle completes the mountain climb and enters a flat road, the control module decides to switch back to the motor transmission mode to save energy based on the terrain environment data. At this time, the clutch unit comes into play again, disconnecting the connection between the drive wheel and the output shaft of the hydraulic motor, engaging the connection between the drive wheel and the output shaft of the gearbox, and recovering kinetic energy through the energy recovery unit when the vehicle decelerates and brakes, converting it into electrical energy and storing it in the energy storage module.

[0077] During the entire driving process, the control module also continuously monitors the power status of the energy storage module to ensure that the power can be replenished in time when needed to maintain the stable operation of the system. At the same time, the suspension module also automatically adjusts the stiffness and damping of the shock absorber according to the terrain environment data around the expedition vehicle. When the terrain is steep, by reducing the stiffness and damping of the shock absorber, the suspension adjustment unit can have a better shock absorption effect, better absorb and disperse these vibrations, thereby protecting the vehicle structure and improving ride comfort. At the same time, the soft suspension can also help the vehicle fit the ground better, improve grip and passability. When the terrain is relatively flat, the vehicle's stability and handling are improved by increasing the stiffness and damping of the shock absorber. This is because on flat terrain, the vehicle needs better handling response and stability to ensure driving safety. Increasing stiffness and damping can improve the rigidity of the suspension system, reduce the shaking and roll of the body, and improve the vehicle's handling accuracy and stability.

[0078] The present invention improves the wheeled walking machine's ability to perceive the surrounding terrain environment by integrating a terrain recognition module; the terrain recognition module uses advanced camera and laser radar technology to obtain environmental data around the walking machine in real time and accurately, and provides precise terrain information for the control module; the control module can intelligently adjust the transmission mode and parameters based on real-time terrain data, thereby optimizing the power output and driving performance of the walking machine and improving operating efficiency.

[0079] Embodiment 2:

[0080] As attached Figure 2-Figure 4 As shown, the difference from Example 1 is that the hydraulic transmission module includes a hydraulic output unit, which includes a hydraulic power gear 1 and a hydraulic cylinder 11. The hydraulic power gear 1 is driven by the clutch output shaft, and the hydraulic power gear 1 is meshed with a transmission gear 2. A rotating shaft 3 is eccentrically integrally formed on the side wall of the hydraulic power gear 1, and a crank 4 is sleeved on the outer side of the rotating shaft 3, and the crank 4 and the rotating shaft 3 are rotatably matched; a connecting rod 5 is hinged on the end of the crank 4 away from the rotating shaft 3; an annular groove 6 eccentric to the transmission gear 2 is opened on the side wall of the transmission gear 2, and a support rod 7 is slidably matched in the annular groove 6, and a lever 8 is rotatably matched at one end of the support rod 7 away from the annular groove 6, and one end of the lever 8 is hinged to the end of the connecting rod 5 away from the crank 4; a U-shaped block 9 is integrally formed at one end of the lever 8 away from the connecting rod 5, and a groove is opened on the U-shaped block 9, and a slider 10 is slidably matched in the groove, and the slider 10 is hinged to the output shaft of the hydraulic cylinder 11, and the output end of the hydraulic cylinder 11 is connected to the input end of the hydraulic motor.

[0081] The specific implementation process is as follows:

[0082] When a working environment requires large torque or frequent starting and stopping, the control module controls the clutch to disconnect the connection between the drive wheel and the clutch output shaft. At the same time, the clutch engages the drive wheel with the hydraulic motor output shaft. Since the hydraulic power gear 1 is driven by the clutch output shaft at this time, the hydraulic power gear 1 starts to rotate.

[0083] Since the hydraulic power gear 1 is meshed with the transmission gear 2, the rotation of the hydraulic power gear 1 drives the transmission gear 2 to rotate; since a rotating shaft 3 is eccentrically integrally formed on the side wall of the hydraulic power gear 1, a crank 4 is sleeved on the outer side of the rotating shaft 3, and the crank 4 and the rotating shaft 3 rotate in coordination, at this time, the rotation of the hydraulic power gear 1 can make the rotating shaft 3 rotate on the crank 4 while driving the crank 4 to move up and down. Since the crank 4 is hinged with a connecting rod 5 at one end away from the rotating shaft 3, the up and down movement of the crank 4 drives the connecting rod 5 to move up and down at the same time, and the end of the support rod 7 away from the annular slide groove 6 is rotated with a lever 8, and one end of the lever 8 is hinged to the end of the connecting rod 5 away from the crank 4. At this time, when the connecting rod 5 moves up and down, it can drive the lever 8 to support The rod 7 is a fulcrum, and under the limiting action of the annular slide groove 6, it drives the lever 8 to move up and down away from the end of the connecting rod 5; because the lever 8 is integrally formed with a U-shaped block 9 at the end away from the connecting rod 5, a slide groove is opened on the U-shaped block 9, and a slider 10 is slidably matched in the slide groove, the slider 10 is hinged with the output shaft of the hydraulic cylinder 11, and the output end of the hydraulic cylinder 11 is connected to the input end of the hydraulic motor; at this time, the end of the lever 8 that moves up and down away from the end of the connecting rod 5 can drive the U-shaped block 9 and then drive the slider 10 in the U-shaped block 9 and then drive the output shaft of the hydraulic cylinder 11 to move up and down, so that the hydraulic oil in the hydraulic cylinder 11 can be pumped into the hydraulic motor to rotate and then drive the driving wheel to provide hydraulic driving force for the wheeled walking machinery.

[0084] Since the side wall of the transmission gear 2 is provided with an annular groove 6 which is eccentric to the transmission gear 2, the support rod 7 slides in the annular groove 6. At this time, the transmission gear 2 rotates to make the annular groove 6 rotate eccentrically and drive the support rod 7 to slide in the annular groove 6. Since the annular groove 6 is eccentric to the transmission gear 2, Figure 3 For example, when the annular groove 6 rotates to the upper position of the transmission gear 2, the annular groove 6 can provide an upward lifting force for the support rod 7 under the limiting action of the support rod 7, thereby driving the lever 8 to lift upward, thereby increasing the force of the lever 8 to move the lever 8; when the annular groove 6 rotates to the lower position of the transmission gear 2, the annular groove 6 can provide a downward pulling force for the support rod 7 under the limiting action of the support rod 7, thereby driving the lever 8 to pull downward, thereby providing a double force to the hydraulic cylinder 11, further increasing the transmission efficiency of the hydraulic transmission module, and reducing the energy loss in the transmission process compared to a single crankshaft working on the lever 8 to drive the hydraulic cylinder 11.

[0085] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A wheeled hybrid transmission walking machine transmission system, characterized in that: include: A terrain recognition module includes a plurality of cameras and laser radars arranged on the wheeled walking machine, and uses the cameras and laser radars to scan the surrounding environment of the wheeled walking machine in real time to generate terrain environment data around the wheeled walking machine; The motor transmission module includes a motor installed inside the wheeled walking machine, and the motor is used to provide motor transmission power for the wheeled walking machine; A hydraulic transmission module, comprising a hydraulic motor installed inside the wheeled traveling machine, the hydraulic motor being used to provide hydraulic transmission power for the wheeled traveling machine; A speed change module, including a multi-stage speed change gear unit, wherein the multi-stage speed change gear unit is used for performing multi-stage speed change on the wheeled walking machine; The control module is used to analyze the terrain environment data around the wheeled walking machine, generate control data using the control algorithm, and control and switch the motor transmission module and the hydraulic transmission module respectively; and control the multi-stage speed change of the multi-stage speed change gear unit; The clutch module includes a clutch unit, and the clutch unit is used to control power switching between the motor transmission module and the hydraulic transmission module by using control data; The energy storage module includes an energy storage unit, which is used to store electric energy and provide electric energy for the motor drive module and the control module.

2. The wheeled hybrid transmission walking machine transmission system according to claim 1, characterized in that: The motor transmission module includes an energy recovery unit, which is used to convert the kinetic energy during deceleration and braking of the wheeled walking machine into electrical energy and store it in the energy storage unit when the wheeled walking machine decelerates and brakes.

3. The wheeled hybrid transmission walking machine transmission system according to claim 2, characterized in that: The multi-speed gear unit includes a gearbox, which is driven by a motor transmission module.

4. The wheeled hybrid transmission walking machine transmission system according to claim 3, characterized in that: The clutch unit includes a clutch, which is driven by the gearbox output shaft.

5. The wheeled hybrid transmission walking machine transmission system according to claim 4, characterized in that: The hydraulic transmission module comprises a hydraulic output unit, and the hydraulic output unit comprises a hydraulic power gear (1) and a hydraulic cylinder (11); The hydraulic power gear (1) is driven by the clutch output shaft, and the hydraulic power gear (1) is meshed with a transmission gear (2); a rotating shaft (3) is eccentrically fixedly connected to the side wall of the hydraulic power gear (1), a crank (4) is sleeved on the outer side of the rotating shaft (3), and the crank (4) and the rotating shaft (3) are rotatably matched; a connecting rod (5) is hingedly connected to one end of the crank (4) away from the rotating shaft (3); An annular slide groove (6) eccentric to the transmission gear (2) is formed on the side wall of the transmission gear (2), a support rod (7) is slidably matched in the annular slide groove (6), an end of the support rod (7) away from the annular slide groove (6) is rotatably matched with a lever (8), one end of the lever (8) is hinged to an end of the connecting rod (5) away from the crank (4); an end of the lever (8) away from the connecting rod (5) is fixedly connected to a U-shaped block (9), a slide groove is formed on the U-shaped block (9), a slider (10) is slidably matched in the slide groove, the slider (10) is hinged to the output shaft of the hydraulic cylinder (11), and the output end of the hydraulic cylinder (11) is connected to the input end of the hydraulic motor.

6. The wheeled hybrid transmission walking machine transmission system according to claim 5, characterized in that: The motor transmission module also includes a travel unit, which includes a driving wheel, and the driving mode of the driving wheel is switched by a clutch unit; The driving mode includes: one of a gearbox output shaft drive and a hydraulic motor output shaft drive.

7. The wheeled hybrid transmission walking machine transmission system according to claim 6, characterized in that: In the control module, the terrain environment data around the machine includes ground slope data, ground material data, ground slipperiness data, obstacle location data and surrounding lighting condition data.

8. The wheeled hybrid transmission walking machine transmission system according to claim 7, characterized in that: In the control module, the control data includes the driving power and speed command data of the motor transmission module, the hydraulic pressure and flow command data of the hydraulic transmission module, the speed ratio command data of the multi-stage transmission gear unit, the switching state command data of the clutch unit and the charging and discharging command data of the energy storage module.

9. The wheeled hybrid transmission walking machine transmission system according to claim 8, characterized in that: In the control module, the control algorithm includes the following steps: S1, environmental perception and assessment: The control module receives the terrain environment data from the terrain recognition module, performs comprehensive assessment, and generates environmental assessment results; S2, power demand and transmission mode decision: based on the environmental assessment results, choose to use one of the motor transmission module and the hydraulic transmission module, and then generate the corresponding control data; S3, speed change and clutch control: according to the control data, the speed ratio of the multi-speed gear unit is adjusted, and the clutch unit selects one of the gearbox output shaft drive and the hydraulic motor output shaft drive; S4, energy management and execution feedback: monitor the power status of the energy storage module and store the recovered electric energy in the energy storage unit.

10. The wheeled hybrid transmission walking machine transmission system according to claim 9, characterized in that: It also includes a suspension module, which includes a suspension adjustment unit. The suspension adjustment unit includes a plurality of shock absorbers installed on the driving wheels. The suspension adjustment unit is used to automatically adjust the stiffness and damping of the shock absorbers by using the terrain environment data around the wheeled walking machine.

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