Tracked robot gearbox

Abstract

The utility model discloses a tracked robot gearbox which comprises a box body, a power input shaft, a left power output shaft, a right power output shaft, a middle shaft, a gear shifting shaft, a left variable speed shaft and a right variable speed shaft are arranged in the box body, and a left planetary reducer and a right planetary reducer are arranged on the left variable speed shaft and the right variable speed shaft respectively. A steering shaft for receiving the torque of the steering motor and a reverse shaft for reversely outputting the torque of the steering shaft are also arranged in the box body, and a steering gear for transmitting the torque to the left planetary reducer or the right planetary reducer is arranged on each of the steering shaft and the reverse shaft; the left variable-speed shaft and the right variable-speed shaft are sleeved with a left steering control gear and a right steering control gear respectively, and the planet carrier transmits torque to the left power output shaft and the right power output shaft respectively. According to the tracked robot gearbox, in the steering process of a robot, power is continuously output to crawlers on the two sides, power of the crawlers on one side cannot be cut off, and the robot steers stably and is good in continuity and high in steering precision.

Description

Technical Field

[0001] The utility model relates to a gearbox, in particular to a gearbox which is installed in a crawler robot to drive a crawler. Background Art

[0002] Tracked robots have better passing performance than wheeled robots and can adapt to various complex road conditions. They are widely used in field inspections, firefighting, nuclear pollution detection, etc. Tracked robots in the prior art mostly use clutch control when turning, that is, the clutch cuts off the power of one side of the track during turning, so that the robot turns to that side. When this clutch control is used for steering, the robot's steering action is obviously jerky, and it is difficult to achieve precise steering. In addition, since the power of one side of the track is cut off during the turning process, only the track on the side where the power is not cut off drives the robot. Therefore, the output power of the robot track is reduced by half. When the robot is turning on a slope, the power is obviously insufficient. Utility Model Content

[0003] The technical problem to be solved by the utility model is: in view of the shortcomings of the existing technology, a crawler robot gearbox is provided, which continuously outputs power to the tracks on both sides during the steering process of the robot, will not cut off the power of the track on one side, and the robot turns smoothly, continuously and with high steering accuracy.

[0004] The technical solution adopted to solve the technical problem is as follows: a crawler robot gearbox, including a box body, in which are arranged: a power input shaft for receiving the torque of a driving motor, a left power output shaft for outputting torque to a left crawler track, a right power output shaft for outputting torque to a right crawler track, an intermediate shaft for transmitting the torque of the power input shaft to the left power output shaft and the right power output shaft respectively, a shift shaft connected to an external shift lever to complete the shift transmission between the power input shaft and the intermediate shaft, a plurality of active gears with different numbers of teeth are arranged on the power input shaft, a plurality of driven gears correspondingly meshed with the active gears are arranged on the intermediate shaft, a synchronizer controlled by a shift fork to selectively rotate the intermediate shaft and the driven gear correspondingly is arranged on the intermediate shaft corresponding to each driven gear, a left speed change shaft and a right speed change shaft that can change the transmission speed ratio between the two shafts are arranged between the left power output shaft and the intermediate shaft, and a left planetary gear is respectively installed on the left speed change shaft and the right speed change shaft The reducer and the right planetary reducer are provided with a steering shaft for receiving the torque of the steering motor and a reverse shaft for outputting the torque of the steering shaft in reverse in the housing. A steering gear for transmitting torque to the left planetary reducer or the right planetary reducer is respectively installed on the steering shaft and the reverse shaft. The left planetary reducer and the right planetary reducer respectively include a rotating ring gear, a rotating sun gear, a planet carrier and a plurality of planetary gears. External teeth for receiving the torque of the intermediate shaft are provided on the outer circumference of the rotating ring gear, and internal teeth meshing with the planetary gears are provided on the inner circumference of the rotating ring gear. A left steering control gear and a right steering control gear for transmitting the torque of the steering shaft or the reverse shaft to the rotating sun gear are respectively installed on the left speed change shaft and the right speed change shaft. The planet carrier transmits the torque to the left power output shaft and the right power output shaft respectively. The steering shaft controls the left planetary reducer to increase speed and the right planetary reducer to decrease speed or the left planetary reducer to decrease speed and the right planetary reducer to increase speed through forward / reverse rotation, thereby forming a steering differential between the left power output shaft and the right power output shaft.

[0005] As a further improvement of the present invention: the number of teeth of the left steering control gear and the right steering control gear is greater than twice the number of teeth of the rotating sun gear and greater than three times the number of teeth of the steering gear.

[0006] As a further improvement of the present invention: the synchronizer is a ring body that rotates synchronously with the intermediate shaft and can slide axially on the intermediate shaft, a fork ring groove that cooperates with the shift fork is provided on the outer cylindrical surface of the ring body, a plurality of axial synchronization columns arranged in a ring array are provided on the end surface of one side of the ring body, and an axial synchronization hole that cooperates with the synchronization column is provided on the end surface of the driven gear.

[0007] As a further improvement of the utility model: an outer chamfer is provided at the top end of the axial synchronous column, and an inner chamfer is provided at the edge of the synchronous shaft hole.

[0008] As a further improvement of the present invention: the synchronous shaft hole is an arc hole concentric with the intermediate shaft.

[0009] As a further improvement of the present invention: the box body is composed of a cylindrical shell and two end plates that close the two ends of the cylindrical shell. A central partition plate parallel to the end plates is provided in the middle of the cylindrical shell. A plurality of bearing mounting grooves for fixing bearings are provided on the end plates and the central partition plate. Each shaft is installed in the box body through bearings at both ends.

[0010] Beneficial effects: The crawler robot gearbox of the utility model has both the functions of speed change and steering due to the use of a speed change mechanism and a steering differential mechanism in the box body. The crawler robot gearbox of the utility model has the functions of speed change and steering. The speed ratio of the left planetary reducer and the right planetary reducer is controlled by the steering motor, and the output of the steering motor is coupled with the output of the driving motor, so that a steering differential is formed between the left power output shaft and the right power output shaft, and the output power of the left power output shaft and the right power output shaft are equal. Therefore, during the robot steering process, the crawler robot gearbox of the utility model can continuously output power to the crawlers on both sides without cutting off the power of one crawler. The robot steering is stable, continuous, and has high steering accuracy, especially meeting the needs of large slope steering. Due to the technical feature that the number of teeth of the left steering control gear and the right steering control gear is greater than the number of teeth of the rotating sun gear and the number of teeth of the steering gear, a larger gear ratio is used to realize the one-way transmission of the steering control power, so that when the steering motor has no power output, the rotation speed of the left power output shaft and the right power output shaft is the same, and the crawler robot walks in a straight line. Due to the technical features that the synchronizer is a ring body that rotates synchronously with the intermediate shaft and can slide axially on the intermediate shaft, a fork ring groove that matches the fork is provided on the outer cylindrical surface of the ring body, a plurality of axial synchronization columns arranged in a ring array are provided on the end face of one side of the ring body, and an axial synchronization hole that matches the synchronization column is provided on the end face of the driven gear, the synchronization mechanism in the crawler robot gearbox of the utility model is simpler and occupies less space, which is convenient for the miniaturization and lightweight design of the robot gearbox. Due to the technical features that the top of the axial synchronization column is provided with an outer chamfer and the edge of the synchronization shaft hole is provided with an inner chamfer, the axial synchronization column is easier to insert into the synchronization shaft hole. Due to the technical feature that the synchronization shaft hole is an arc hole concentric with the intermediate shaft, the gear shifting is smoother. Due to the technical characteristics that the box body is composed of a cylindrical shell and two end plates that close the two ends of the cylindrical shell, a central partition plate parallel to the end plates is provided in the middle of the cylindrical shell, and a plurality of bearing mounting grooves for fixing bearings are provided on the end plates and the central partition plate, and each shaft is installed in the box body through bearings at both ends, the rotation of each shaft in the gearbox is smoother, and the crawler robot gearbox has stronger seismic resistance and higher reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The crawler robot gearbox of the present invention is further described in detail below in conjunction with the accompanying drawings.

[0012] Figure 1 This is the overall structure diagram of the crawler robot gearbox of the utility model;

[0013] Figure 2 This is a three-dimensional structural diagram of the internal structure of the crawler robot gearbox of the utility model;

[0014] Figure 3 It is a stereoscopic diagram of the steering mechanism part in the gearbox of the crawler robot of the utility model;

[0015] Figure 4 This is an exploded view of the planetary reducer in the crawler robot gearbox of the utility model;

[0016] Figure 5 It is a structural diagram of the shifting mechanism part in the crawler robot gearbox of the utility model. DETAILED DESCRIPTION

[0017] like Figure 1 As shown, the crawler robot gearbox of the utility model includes a box body, which is composed of a cylindrical shell 1 and two end plates 2 that close the two ends of the cylindrical shell. A central partition plate parallel to the end plates is provided in the middle of the cylindrical shell, and a plurality of bearing mounting grooves for fixing bearings are provided on the end plates and the central partition plate. Each shaft is installed in the box body through bearings 22 at both ends.

[0018] In order to show the internal structure of the gearbox, Figure 2 The cabinet is hidden. Figure 2 As shown, the housing is provided with: a power input shaft 21 for receiving the torque of the driving motor, a left power output shaft 4 for outputting the torque to the left track, a right power output shaft 20 for outputting the torque to the right track, an intermediate shaft 12 for transmitting the torque of the power input shaft to the left power output shaft and the right power output shaft respectively, a shift shaft 5 connected to an external shift lever to complete the shift transmission between the power input shaft and the intermediate shaft, a plurality of active gears 14 with different numbers of teeth are provided on the power input shaft, a plurality of driven gears 15 corresponding to the active gears are provided on the intermediate shaft, and a synchronizer 17 is provided on the intermediate shaft corresponding to each driven gear, which is controlled by a shift fork 19 and selectively causes the intermediate shaft to rotate synchronously with the driven gear.

[0019] like Figure 3As shown, a left speed change shaft 81 and a right speed change shaft 91 which can change the transmission speed ratio between the two shafts are provided between the left power output shaft and the intermediate shaft and between the right power output shaft and the intermediate shaft respectively. A left planetary reducer 8 and a right planetary reducer 9 are respectively provided on the left speed change shaft and the right speed change shaft. A steering shaft 3 which receives the torque of the steering motor and a reverse shaft 10 which outputs the torque of the steering shaft in reverse are also provided in the housing. A steering gear 6, 7 which transmits the torque to the left planetary reducer or the right planetary reducer is respectively provided on the steering shaft and the reverse shaft.

[0020] The left planetary reducer of the utility model has the same structure as the right planetary reducer. Figure 4 Taking the right planetary reducer as an example, the structures of the right planetary reducer and the left planetary reducer are described. The right planetary reducer includes a rotating ring gear 93, a rotating sun gear 96, a planet carrier 95 and a plurality of planetary gears 97. An outer tooth for receiving the intermediate shaft torque is provided on the outer circumference of the rotating ring gear, and an inner tooth for meshing with the planetary gear is provided on the inner circumference of the rotating ring gear. A right steering control gear 94 for transmitting the reverse shaft torque to the rotating sun gear is mounted on the right speed change shaft. The planet carrier transmits the torque to the right power output shaft through the right speed change shaft and the right power output gear 92. The steering shaft drives the reverse shaft to rotate by forward rotation, thereby controlling the deceleration of the right planetary reducer.

[0021] The left planetary reducer includes a rotating ring gear 83, a rotating sun gear, multiple planetary gears and a planetary carrier. External teeth for receiving the torque of the intermediate shaft are provided on the outer circumference of the rotating ring gear, and internal teeth meshing with the planetary gears are provided on the inner circumference of the rotating ring gear. A left steering control gear 84 for transmitting the steering shaft torque to the rotating sun gear is mounted on the left speed shaft. The planetary carrier transmits the torque to the left power output shaft through the left speed shaft and the left power output gear 82. The steering shaft controls the speed increase of the left planetary reducer by forward rotation, thereby forming a steering differential between the left power output shaft and the right power output shaft, so that the tracked robot turns right.

[0022] A left power receiving gear 11 meshing with the left power output gear is provided on the left power output shaft, and a right power receiving gear 18 meshing with the right power output gear is provided on the right power output shaft.

[0023] When the steering motor's rotation direction is changed, the left planetary reducer slows down and the right planetary reducer speeds up, causing the crawler robot to turn left.

[0024] During the steering process, the drive motor and the steering motor output power to the left planetary reducer and the planetary reducer are equal, and the output power of the left power output shaft and the right power output shaft is also equal. When the speed of the power output shaft on one side decreases, the torque it outputs increases, thereby avoiding the defect of insufficient power on one side when the crawler robot adopts clutch steering. The crawler robot gearbox of the utility model can enable the robot to turn stably on a road with a large slope. At the same time, by controlling the speed of the steering motor, the stepless control of the crawler robot's turning can be achieved, so that the crawler robot no longer has a sense of frustration when turning, and the turning angle control is more precise.

[0025] Preferably, the number of teeth of the left steering control gear and the right steering control gear is greater than 2 times the number of teeth of the rotating sun gear and greater than 3 times the number of teeth of the steering gear. Such a large gear ratio transmission makes the gear transmission unidirectional, and the left power output shaft and the right power output shaft will not reversely interfere with the steering shaft during the walking process of the crawler robot, so that as long as the steering motor does not work, there is no need to set a special steering brake or locking device, and the crawler robot can keep walking in a straight line.

[0026] like Figure 5 As shown, the synchronizer is a ring body that rotates synchronously with the intermediate shaft and can slide axially on the intermediate shaft. A shift fork ring groove 23 that matches the shift fork is provided on the outer cylindrical surface of the ring body, and a plurality of axial synchronization columns 16 arranged in a ring array are provided on the end surface of one side of the ring body. An axial synchronization hole 13 that matches the synchronization column is provided on the end surface of the driven gear. An outer chamfer is provided on the top of the axial synchronization column, and an inner chamfer is provided on the edge of the synchronization shaft hole. The synchronization shaft hole is an arc hole concentric with the intermediate shaft. The arc hole structure can increase the rotation angle range when the axial synchronization column can be inserted into the synchronization shaft hole, so that during the rotation of the driven gear, the synchronization column is easier to insert into the synchronization shaft hole, and the gear shifting is smoother.

Claims

1. A crawler robot gearbox, comprising a housing, in which are arranged: a power input shaft for receiving the torque of a driving motor, a left power output shaft for outputting the torque to the left crawler track, a right power output shaft for outputting the torque to the right crawler track, an intermediate shaft for transmitting the torque of the power input shaft to the left power output shaft and the right power output shaft respectively, a shift shaft connected to an external shift lever to complete the shift transmission between the power input shaft and the intermediate shaft, a plurality of active gears with different numbers of teeth are arranged on the power input shaft, a plurality of driven gears correspondingly meshed with the active gears are arranged on the intermediate shaft, and a synchronizer is arranged on the intermediate shaft corresponding to each driven gear, which is controlled by a shift fork and selectively makes the intermediate shaft and the driven gear rotate synchronously, wherein: A left speed change shaft and a right speed change shaft are provided between the left power output shaft and the intermediate shaft, and between the right power output shaft and the intermediate shaft respectively, and a left planetary reducer and a right planetary reducer are provided on the left speed change shaft and the right speed change shaft respectively. A steering shaft for receiving the torque of the steering motor and a reverse shaft for outputting the torque of the steering shaft in reverse are also provided in the housing. A steering gear for transmitting torque to the left planetary reducer or the right planetary reducer is provided on the steering shaft and the reverse shaft respectively. The left planetary reducer and the right planetary reducer respectively include a rotating ring gear, a rotating sun gear, a planet carrier and a plurality of planetary gears. External teeth for receiving the torque of the intermediate shaft are provided on the outer circumference of the rotating ring gear, and internal teeth meshing with the planetary gears are provided on the inner circumference of the rotating ring gear. A left steering control gear and a right steering control gear for transmitting the torque of the steering shaft or the reverse shaft to the rotating sun gear are respectively mounted on the left speed change shaft and the right speed change shaft. The planetary carrier transmits the torque to the left power output shaft and the right power output shaft respectively. The steering shaft controls the speed increase of the left planetary reducer and the speed reduction of the right planetary reducer or the speed reduction of the left planetary reducer and the speed increase of the right planetary reducer through forward / reverse rotation, thereby forming a steering differential between the left power output shaft and the right power output shaft.

2. The crawler robot gearbox according to claim 1 is characterized in that: The number of teeth of the left steering control gear and the right steering control gear is greater than twice the number of teeth of the rotating sun gear and greater than three times the number of teeth of the steering gear.

3. The crawler robot gearbox according to claim 1 is characterized in that: The synchronizer is a ring body that rotates synchronously with the intermediate shaft and can slide axially on the intermediate shaft. A fork ring groove that cooperates with the shift fork is provided on the outer cylindrical surface of the ring body, and a plurality of axial synchronization columns arranged in a ring array are provided on the end surface of one side of the ring body. An axial synchronization hole that cooperates with the synchronization column is provided on the end surface of the driven gear.

4. The crawler robot gearbox according to claim 3 is characterized in that: An outer chamfer is arranged on the top end of the axial synchronous column, and an inner chamfer is arranged on the edge of the synchronous shaft hole.

5. The crawler robot gearbox according to claim 4 is characterized in that: The synchronous shaft hole is an arc hole concentric with the intermediate shaft.

6. The crawler robot gearbox according to any one of claims 1 to 5, characterized in that: The box body is composed of a cylindrical shell and two end plates that close the two ends of the cylindrical shell. A central partition plate parallel to the end plates is provided in the middle of the cylindrical shell. A plurality of bearing mounting grooves for fixing bearings are provided on the end plates and the central partition plate. Each shaft is installed in the box body through bearings at both ends.

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