A transmission system, hub motor, and agricultural unmanned vehicle

Abstract

This invention discloses a transmission system, a hub motor, and an agricultural unmanned vehicle. The transmission system uses spherical rollers as the transmission element in the input-output structure and incorporates a moving transmission component that adjusts with the actual rotational speed of the output structure. As the transmission component moves, the transmission ratio is adaptively adjusted, meeting the demands of low-speed high torque and / or high-speed low torque under limited power conditions. The hub motor and the agricultural unmanned vehicle can adaptively and promptly adjust the transmission ratio through a centrifugal mechanism in conjunction with the movable transmission element. This allows for the achievement of output characteristics of a motor with a fixed transmission ratio using a smaller power motor, reducing costs and enabling adaptive speed regulation in various scenarios.

Description

Technical Field

[0001] This invention relates to the field of transmission equipment technology, and in particular to a speed change system, a hub motor, and an agricultural unmanned vehicle. Background Technology

[0002] In related technologies, many motors have fixed transmission ratios, such as many hub motors. This makes it impossible to adjust the transmission ratio to achieve low-speed, high-torque or high-speed, low-torque operation when driving a single motor. The only solution is to increase the motor's output power to meet higher operating requirements. This necessitates selecting motors in vehicles using hub motors, or in other equipment using fixed-ratio motors, that are backward compatible with less frequent extreme operating conditions. This often necessitates the use of higher-power motors. However, the value of high-power motors is only realized in a limited number of situations, thus reducing the overall cost-effectiveness of the equipment. Summary of the Invention

[0003] One of the objectives of this invention is to provide a speed-changing system that, through the cooperation of a centrifugal mechanism and a transmission body, can adaptively adjust the radial position of the transmission body according to the actual rotational speed of the output structure, thereby adjusting the transmission ratio.

[0004] The second objective of this invention is to provide a hub motor that can adaptively adjust the transmission ratio according to the actual speed of the motor.

[0005] The third objective of this invention is to provide an agricultural unmanned vehicle that can achieve the output characteristics of a high-power motor in traditional solutions using a smaller motor, making it suitable for low-speed high-torque and / or high-speed low-torque application scenarios.

[0006] To achieve one of the above objectives, the present invention adopts the following technical solution:

[0007] A transmission system, characterized in that,

[0008] Input structure;

[0009] Output structure;

[0010] A transmission module includes a transmission body; the transmission body is in tangential contact with the input structure and the output structure; the input structure is used to rotate about an input axis to drive the transmission body to rotate about a transmission axis, thereby driving the output structure to rotate about an output axis; the perpendicular distance from the position where the input structure contacts the transmission body to the transmission axis is R1, and the perpendicular distance from the position where the output structure contacts the transmission body to the transmission axis is R2.

[0011] A centrifugal mechanism includes a centrifugal element; as the rotational speed of the output structure changes, the centrifugal element moves toward or away from the input axis, causing the transmission body to move toward or away from the input axis, thereby changing the ratio of R2 to R1.

[0012] To achieve the second objective mentioned above, the present invention adopts the following technical solution:

[0013] A hub motor includes a speed change system as described above; the hub motor includes a fixing member, and the input structure and the output structure are rotatably mounted on the fixing member; the transmission body is movably mounted on the fixing member.

[0014] To achieve the third objective mentioned above, the present invention adopts the following technical solution:

[0015] An agricultural unmanned vehicle includes a hub motor as described in the above scheme.

[0016] The beneficial effects of this invention are as follows: the transmission system uses spherical rollers as the transmission body of the input and output structure, and is equipped with a transmission component that moves with the actual rotational speed of the output structure. As the transmission component moves, the transmission ratio is adaptively adjusted, which can meet the needs of low speed and high torque and / or high speed and low torque under limited power conditions.

[0017] This hub motor and agricultural unmanned vehicle can adaptively and timely adjust the transmission ratio by cooperating with a centrifugal mechanism and a movable transmission body. It can achieve the output characteristics of a motor with a fixed transmission ratio by using a smaller power motor, thereby reducing costs and enabling adaptive speed regulation in various scenarios. Attached Figure Description

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is an exploded view of the hub motor described in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the wheels of the agricultural unmanned vehicle described in an embodiment of the present invention;

[0021] Figure 3 This is a partial cross-sectional view of the wheels of the agricultural unmanned vehicle described in an embodiment of the present invention;

[0022] Figure 4 This is a cross-sectional view of the transmission system described in an embodiment of the present invention (the force application mechanism is omitted in the figure);

[0023] Figure 5 for Figure 4 A schematic diagram omitting the transmission module;

[0024] Figure 6 This is a schematic diagram of the transmission module described in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram illustrating the cooperation between the transmission body and the mounting shaft according to an embodiment of the present invention;

[0026] Figure 8 This is one of the cross-sectional views of the transmission system described in the embodiments of the present invention (when the transmission system is in a low-speed state);

[0027] Figure 9 This is the second cross-sectional view of the transmission system described in the embodiment of the present invention (when the transmission system is in a high-speed state);

[0028] Figure 10 for Figure 8 Enlarged view of section A in the middle;

[0029] Figure 11 for Figure 9 Enlarged view of section B in the middle;

[0030] Figure 12 This is a schematic diagram of the guiding structure according to an embodiment of the present invention;

[0031] Figure 13 This is a schematic diagram illustrating the assembly method of the guide structure and transmission module according to an embodiment of the present invention;

[0032] Figure 14 This is a schematic diagram of the modular structure of the centrifuge mechanism according to an embodiment of the present invention;

[0033] Figure 15 This is an assembly structure diagram of the centrifugal mounting column and centrifugal components according to an embodiment of the present invention;

[0034] Figure 16 This is a cross-sectional view of the centrifugal mechanism described in an embodiment of the present invention at low speed (F1 in the figure is the first direction, and F2 is the second direction);

[0035] Figure 17 This is a cross-sectional view of the centrifugal mechanism described in an embodiment of the present invention at high speed (F1 in the figure is the first direction, and F2 is the second direction).

[0036] In the diagram: 100, Input axis; 200, Output axis; 300, Transmission axis; 10, Input structure; 101, Input contact surface; 20, Output structure; 201, Output contact surface; 30, Transmission module; 31, Transmission body; 311, First conical part; 312, Second conical part; 32, Mounting seat; 3201, Seat inclined surface; 321, Seat frame; 3211, First slide groove; 322, First bearing seat; 323, Second bearing seat; 33, Mounting shaft; 40, Guide structure; 40 1. Mounting slot; 41. Cage; 42. Guide frame; 421. Tip; 422. Mating surface; 50. Centrifugal mechanism; 51. Centrifugal mounting column; 52. Centrifugal component; 53. Swashplate; 531. Disc body; 5311. Inner disc surface; 5312. Outer disc surface; 532. Disc mounting column; 54. Elastic component; 55. Disc guide block; 551. Mounting hole; 56. Sliding key; 60. Fixing component; 70. Stator; 81. First bearing; 82. Second bearing; 91. Hub; 92. Wheel body. Detailed Implementation

[0037] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected" and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] Hub motors are a type of permanent magnet synchronous motor. They consist of a stator, rotor, and output structure, typically an end cover. Their working principle involves placing permanent magnets and coils on the rotor and stator. The constant magnetic field generated by the permanent magnets interacts with the magnetic field generated by the alternating current flowing in the coils, causing the rotor to rotate. This rotor rotation drives the output motor. The most significant feature of hub motors is that they integrate both the power unit and the transmission system within the hub, greatly simplifying the mechanical components of electric vehicles.

[0041] In related technologies, many motors use a fixed transmission ratio. In hub motors, the input and output structures have a fixed transmission ratio. For example, if a planetary reduction gear is used in a hub motor, the transmission ratio is fixed. A fixed transmission ratio cannot adapt to varying operating conditions to achieve low-speed, high-torque or high-speed, low-torque operation when driving a single motor. Higher operating requirements can only be met by increasing the motor's output power. This means that vehicles using hub motors, or other equipment using fixed-ratio motors, must select motors that are backward compatible with less frequently occurring extreme operating conditions. This necessitates the use of higher-power motors. However, the value of a high-power motor is only realized in a few situations, thus reducing the overall cost-effectiveness of the equipment.

[0042] This invention provides a speed change system that can be applied to permanent magnet motors or non-permanent magnet motors. The permanent magnet motor can be, but is not limited to, a hub motor.

[0043] In this speed-changing system, the input structure 10 is connected to the output structure 20 via a transmission element 31. A centrifugal mechanism 50, including a centrifugal element 52, is also configured between the input structure 10 and the output structure 20. Firstly, the centrifugal element 52 moves with the rotational speed of the output structure 20, pushing the transmission element to move and changing the contact position between the transmission element and the input and output structures 10 and 20, thereby changing the transmission ratio and achieving automatic speed change. Secondly, the transmission ratio can be adaptively adjusted according to the actual speed of the motor. When the motor is in different application scenarios, speed and torque can be adaptively adjusted without the need for controller control or manual adjustment of the transmission ratio, reducing equipment and control costs.

[0044] This invention also provides a hub motor, which can be applied to agricultural unmanned vehicles, as well as to the wheel structure of electric vehicles, electric bicycles, electric motorcycles, electric scooters, golf carts, intelligent inspection robots, food delivery robots, automated guided vehicles, and other equipment. This hub motor employs the aforementioned transmission system, which, firstly, enables adaptive adjustment of the transmission ratio; secondly, allows the hub motor to achieve the output characteristics of higher-power motors in related technologies with a smaller motor, thereby reducing the cost of equipment using hub motors.

[0045] This invention also provides an agricultural unmanned vehicle that uses the aforementioned hub motor. Firstly, the hub motor of this agricultural unmanned vehicle can adaptively adjust the transmission ratio, which changes with the actual motor speed. In low-speed scenarios, the hub motor achieves deceleration output to obtain higher torque, aiding in vehicle starting and extrication from difficult situations; in high-speed scenarios, the hub motor achieves acceleration output, sacrificing torque for higher speed, facilitating high-speed cruising. This eliminates the need for a dedicated controller to adjust the transmission ratio, reducing control costs and making the vehicle more intelligent. Secondly, by reducing the cost of the motor in the hub motor vehicle, the overall cost-effectiveness of the vehicle can be improved.

[0046] Please refer to Figures 1 to 17 The following section explains the transmission system, hub motor, and agricultural unmanned vehicle.

[0047] The transmission system includes an input structure 10, an output structure 20, a transmission module 30, a centrifugal mechanism 50, and a fixing component 60.

[0048] The input structure 10 is rotatably mounted on the fixture 60 about the input axis 100, the output structure 20 is rotatably mounted on the fixture 60 about the output axis 200, and the transmission module 30 is movably mounted on the fixture 60. The transmission module 30 includes a transmission body 31, which is rotatable about the transmission axis 300, which is the axis of rotation passing through the transmission body 31.

[0049] When the transmission system is operating, the input structure 10 and the output structure 20 make transmission contact with the outer surface of the transmission body 31. During operation, the input structure 10 rotates around the input axis 100, driving the transmission body 31 to rotate around the transmission axis 300, which in turn drives the output structure 20 to rotate around the output axis 200. The position where the input structure 10 contacts the transmission body 31 is the first position, and the perpendicular distance from the first position to the transmission axis 300 is the first distance R1. The position where the output structure 20 contacts the transmission body 31 is the second position, and the perpendicular distance from the second position to the transmission axis 300 is the second distance R2.

[0050] The input axis 100 coincides with or is parallel to the output axis 200. The transmission body 31 is configured to move along an adjustment path, approaching or moving away from the input axis 100 as it moves along the adjustment path. The centrifugal mechanism 50 includes a centrifugal element 52. As the rotational speed of the output structure 20 changes, the centrifugal element 52 moves towards or away from the input axis 100, causing the transmission body 31 to move towards or away from the input axis 100. As the transmission body 31 moves, R1 and / or R2 change, thereby changing the ratio of R2 to R1, and thus changing the transmission ratio to achieve variable speed transmission.

[0051] In this speed change system, the principle of speed change when the transmission body 31 moves is as follows: When the rotational speed of the input structure 10 is constant, the angular velocity of the transmission component is determined. Since the radii from the first position and the second position to the rotation axis of the transmission body 31 are different, that is, R1 and R2 are different, the input structure 10 in the first position and the output structure 20 in the second position will have different linear velocities. The distance from the outer surface of the transmission body 31 to the perpendicular line of the transmission axis 300 changes continuously. By controlling the movement of the transmission body 31, R1 and / or R2 can be adjusted, thereby adjusting R2 / R1. R2 / R1 is the transmission ratio, thus achieving speed change by adjusting the transmission ratio.

[0052] To adapt to various application scenarios, the transmission system is configured to both decelerate and accelerate. The transmission module 30 has a deceleration drive position and an acceleration drive position. The transmission module 30 moves towards or away from the input axis 100 to move between the deceleration drive position and the acceleration drive position. Figure 8 , Figure 10 As shown, when the transmission module 30 is in the reduction transmission position, R1 is greater than R2, and the ratio of R2 to R1 is less than 1. The transmission system is a reducer. The linear velocity of the output structure 20 in the second position is less than the linear velocity of the input structure 10 in the first position, which is suitable for low-speed, high-torque scenarios. Figure 9 , Figure 11 As shown, when the transmission module 30 is in the speed-increasing transmission position, R1 is less than R2, and the ratio of R2 to R1 is greater than 1. The transmission system is an accelerator. The linear velocity of the output structure 20 in the second position is greater than the linear velocity of the input structure 10 in the first position, which is suitable for high-speed and low-torque scenarios.

[0053] Taking the application of the transmission system to the wheel hub motor of a vehicle as an example, the principle of the transmission system's adaptive output structure 20 to achieve automatic adjustment of the transmission ratio is explained: When the output structure 20 rotates, the centrifugal component 52 is thrown outward by the centrifugal force.

[0054] like Figure 8 , Figure 10 As shown, when the wheels rotate at low speed (such as when the vehicle is starting, under heavy load, or stuck), the output structure 20 rotates at low speed, the centrifugal component 52 is thrown out to a small extent, and the centrifugal component 52 exerts a small force on the transmission module 30 to make the transmission module 30 move outward. Under the action of the elastic component 54, the transmission module 30 can move inward, changing R1 and / or R2, so that the transmission module 30 moves to the deceleration transmission position, so that the ratio of R2 to R1 is less than 1, achieving a larger transmission ratio, sacrificing speed to obtain greater torque.

[0055] like Figure 9 , Figure 11As shown, when the wheel rotates at high speed, the output structure 20 rotates at high speed, the centrifugal component 52 is thrown out to a large extent, and the centrifugal component 52 acts on the transmission module 30 to make the transmission module 30 move outward with a large force. The transmission module 30 can move outward under the action of the centrifugal component 52 so that the transmission module 30 moves to the speed-increasing transmission position, so that the ratio of R2 to R1 is greater than 1, achieving a smaller transmission ratio and sacrificing torque to obtain greater speed.

[0056] When applied to agricultural unmanned vehicles including hub motors, the transmission system of this invention can move via the transmission body 31 to achieve deceleration output in low-speed scenarios, obtaining higher torque to aid in vehicle starting and extrication from difficult situations; and to achieve acceleration output in high-speed scenarios, sacrificing torque for higher speed to facilitate high-speed cruising. When applied to equipment with motors, this transmission system can achieve the output characteristics of higher-power motors in traditional solutions using a smaller motor, thereby reducing the cost of the motor in the equipment and improving the overall cost-effectiveness of the equipment.

[0057] In related technologies, planetary reduction systems are used in in-wheel motors and other motors to achieve deceleration. However, planetary reduction systems have a fixed transmission ratio, which cannot be changed. In some in-wheel motors, although the transmission ratio is variable, it can only achieve one function: deceleration or acceleration, which cannot meet the needs of various application scenarios. In the transmission system of this invention, as the output structure 20 rotates, the degree to which the centrifugal component 52 is thrown out under centrifugal force changes, allowing the transmission module 30 to move radially inward or outward. This achieves both deceleration and acceleration transmission functions. Compared to transmission systems that can only achieve deceleration or acceleration output, the transmission system of this invention can easily adapt to more application scenarios through its simple and compact structure, making it highly practical.

[0058] In one embodiment, when the transmission body 31 moves, both R2 and R1 change. In other embodiments, when the transmission body 31 moves, one of R2 and R1 changes while the other remains constant, causing a change in R2 / R1 to adjust the transmission ratio. Alternatively, when the transmission body 31 moves, both R2 and R1 may increase or decrease, but the rate of change of one value is greater than the rate of change of the other, causing a change in R2 / R1 to adjust the transmission ratio.

[0059] The plane containing the adjustment path of the transmission body 31 is perpendicular to the input axis 100. In other words, the transmission body 31 moves radially to approach or move away from the input axis 100. Radial refers to the radial direction of the transmission system. The transmission body 31 adjusts the transmission ratio by moving radially. The configuration of the transmission body 31 requires less axial space from the transmission system, making it easier to integrate into a motor module with a smaller radial dimension.

[0060] Below are some configuration options for centrifuge mechanism 50.

[0061] The power for the transmission module 30 to move toward the speed-increasing transmission position is provided by the centrifugal component 52. When the centrifugal component 52 is thrown outward by centrifugal force, the force of the centrifugal component 52 is applied to the transmission module 30, and the transmission module 30 moves outward radially.

[0062] A centrifugal swinging component, 52, is used as the centrifugal element. One end of the centrifugal element 52 is hinged to the output structure 20 via a hinge shaft, while the other end is a free end. The free end of the centrifugal element 52 means that it can swing around the hinge shaft. The output axis 200 coincides with or is parallel to the input axis 100. When the output structure 20 rotates, due to the connection between the centrifugal element 52 and the output structure 20, the free end of the centrifugal element 52 swings away from the output axis 200 under the centrifugal force of the rotation of the output structure 20. As the motor speed gradually increases, the more the free end of the centrifugal element 52 swings outward, the greater the radial outward thrust exerted by the free end of the centrifugal element 52 on the transmission module 30, and the greater the distance that the transmission module 30 moves away from the output axis 200. This causes R1 to decrease and R2 to increase, thereby pushing the transmission module 30 to a speed-increasing transmission position where R2 / R1 > 1, achieving a smaller transmission ratio and sacrificing torque to obtain greater speed.

[0063] Using a centrifugal oscillating element as the centrifugal element 52 facilitates its connection and assembly with other structures into a centrifugal mechanism 50 module, making disassembly and maintenance convenient. In other embodiments, the centrifugal mechanism 50 may also include a support tray, with a centrifugal medium serving as the centrifugal element 52 disposed between the output structure 20 and the support tray. The centrifugal medium can be a rolling centrifugal ball or some fluid medium.

[0064] Please continue to refer to Figures 1 to 17 A swashplate 53 is disposed between the centrifugal component 52 and the transmission module 30. The swashplate 53 converts centrifugal motion into radial movement. The swashplate 53 is positioned between the input structure 10 and the output structure 20 and is configured to move relative to both the input structure 10 and the output structure 200 along the output axis 200. The opposite sides of the swashplate 53 mate with the centrifugal component 52 and the transmission module 30, respectively. Figure 10 , Figure 16 , Figure 17 The swash plate 53 includes a plate body 531, with an inner plate surface 5311 and an outer plate surface 5312 formed on opposite sides of the plate body 531. The inner plate surface 5311 is inclined relative to the output axis 200. The free end of the centrifugal component 52 abuts against the inner plate surface 5311, and the transmission module 30 abuts against the outer plate surface 5312.

[0065] Reference Figure 16 , Figure 17At least a portion of the inner disk surface 5311 is located on the side of the free end of the centrifugal member 52 away from the output axis 200. When the free end of the centrifugal member 52 swings away from the output axis 200, the centrifugal member 52 pushes against the inner disk surface 5311 of the swashplate 53. Since the swashplate 53 is axially movable between the input structure 10 and the output structure 20, the swashplate 53 moves axially when the centrifugal member 52 pushes against it. (Refer to...) Figures 8 to 11 Since the outer disk surface 5312 contacts the transmission module 30, when the swashplate 53 moves axially, the swashplate 53 will push the transmission module 30 to move radially outward in order to adjust the ratio of R2 to R1.

[0066] The swashplate 53 facilitates the efficient conversion of centrifugal force into radial thrust on the transmission module 30, enabling the transmission body 31 to adapt to the actual rotational speed of the output structure 20 and adjust the transmission ratio. The centrifugal mechanism 50 includes multiple centrifugal components 52, and the speed change system includes multiple transmission modules 30. The multiple centrifugal components 52 and multiple transmission modules 30 are spaced around the input axis 100. At this time, the multiple centrifugal components 52 can act on the swashplate 53 simultaneously, and the swashplate 53 evenly distributes the force of the multiple centrifugal components 52 onto the multiple transmission modules 30, making the force transmission more uniform and efficient. The axial movement of the swashplate 53 is stable, and the radial movement of the transmission module 30 is stable.

[0067] In other embodiments, the swash plate 53 can be omitted, and a linkage ring frame can be set, with the mounting bases 32 of multiple transmission modules 30 connected to the linkage ring frame, and multiple centrifugal components 52 acting on the linkage ring frame.

[0068] The transmission module 30 includes a transmission body 31 and a mounting base 32. The transmission body 31 is mounted on the mounting base 32 via a shaft or bearing, and has the freedom to rotate on the mounting base 32 about the transmission axis 300. The mounting base 32 abuts against the outer disk surface 5312, so that the transmission module 30 is driven to move radially outward by pushing the mounting base 32 via the swashplate 53. The swashplate 53 does not contact the transmission body 31, thus avoiding interference between the swashplate 53 and the transmission engagement between the input structure 10, the transmission body 31, and the output structure 20.

[0069] In other embodiments, a number of balls can be provided on the outer disk surface 5312. The outer disk surface 5312 directly contacts the transmission body 31. When the swash plate 53 pushes the transmission body 31 to move radially, the transmission body 31 rotates around the transmission axis 300. The transmission body 31 and the balls on the outer disk surface 5312 roll together, which can avoid or reduce the rotation of the transmission body 31 by the swash plate 53 and ensure stable transmission between the input structure 10 and the output structure 20.

[0070] In order to improve the efficiency of the centrifugal mechanism 50 in adjusting the radial position of the transmission module 30, the outer disk surface 5312 is configured to be inclined relative to the output axis 200. Correspondingly, referring to... Figure 4 The mounting base 32 has a inclined surface 3201 on the side near the output axis 200, and the inclined surface 3201 is inclined relative to the output axis 200. The mounting base 32 includes a mounting block, which is connected to the inner side of the mounting frame 321, and the inclined surface 3201 on the side of the mounting block near the output axis 200 is also provided. (See reference...) Figure 10 The outer disk surface 5312 has the same slope as the inclined surface 3201, and the outer disk surface 5312 is always in contact with the inclined surface 3201 (unmarked in the figure), or in some cases, the outer disk surface 5312 is in contact with the inclined surface 3201. This allows for surface contact between the swashplate 53 and the transmission module 30, resulting in a large contact area and more uniform and stable force transmission between the swashplate 53 and the mounting base 32. This also better converts centrifugal force into radial movement force on the transmission module 30. When the swashplate 53 moves axially to push the transmission module 30 radially outward, the outer disk surface 5312 slides relative to the inclined surface 3201, without hindering the axial movement of the swashplate 53.

[0071] In other embodiments, the contact between the disk 531 and the mounting base 32 may not be surface-to-surface, but rather surface-to-line, to achieve force transmission.

[0072] When the inclined inner disc surface 5311 and outer disc surface 5312 are formed on both sides of the swashplate 53, in order to make the structure of the entire transmission system more compact, refer to Figure 8 The centrifugal component 52 is positioned on the side of the disc 531 near the output structure 20, as shown in section 4. Figure 10 , Figure 16 , Figure 17 The inner disc surface 5311 and the outer disc surface 5312 are inclined towards the output axis 200 from one end near the output structure 20 to the end near the input structure 10. When the centrifugal component 52 swings, it pushes the swashplate 53 axially towards the input structure 10, and the swashplate 53 pushes the transmission module 30 radially outward. This arrangement of the swashplate 53 and the centrifugal component 52 allows the centrifugal component 52 to be directly hinged to the output structure 20, enabling the centrifugal component 52 to rotate and be thrown out with the output structure 20. The swashplate 53 does not interfere with the centrifugal component 52, and the overall structure is compact.

[0073] In other embodiments, the centrifugal component 52 can also be configured on the side of the swashplate 53 near the input structure 10. However, it is necessary to first set a centrifugal mounting post 51 on the output structure 20, and then set a clearance hole in the middle of the swashplate 53. The centrifugal mounting post 51 passes through the clearance hole so that at least part of it is located between the swashplate 53 and the input structure 10. The centrifugal component 52 abuts against the side of the swashplate 53 near the input structure 10. When the centrifugal component 52 swings, it pushes the swashplate 53 axially toward the direction of approaching the output structure 20. The swashplate 53 pushes the transmission module 30 radially outward.

[0074] Reference Figures 1 to 17 The centrifugal mechanism 50 includes multiple centrifugal components 52; the centrifugal mechanism 50 includes a centrifugal mounting column 51, which is connected to the output structure 20. When the output structure 20 rotates, it drives the centrifugal mounting column 51 to rotate. The multiple centrifugal components 52 are arranged around the centrifugal mounting column 51, and the output axis 200 passes through the centrifugal mounting column 51. One end of the centrifugal component 52 is hinged to the centrifugal mounting column 51, and the other end is a free end. By setting multiple centrifugal components 52, when the output structure 20 rotates, the multiple centrifugal components 52 are scattered outward at different positions, exerting a uniform force on different positions of the swashplate 53. This allows the swashplate 53 to move stably along the axial direction without deviation. The swashplate 53 is more sensitive to changes in the magnitude of the centrifugal force, and can more accurately adjust the radial position of the transmission module 30 according to the magnitude of the centrifugal force. By setting the centrifugal mounting column 51, the multiple centrifugal components 52 are hinged to the same centrifugal mounting column 51. Compared with multiple centrifugal swinging components being directly hinged to different positions of the output structure 20, this achieves a modular design of the centrifugal mechanism 50, which is convenient for disassembly and maintenance.

[0075] In other embodiments, the centrifugal mounting column 51 can be omitted, and several protrusions can be directly welded or integrally formed on the inside of the output module, with multiple centrifugal oscillating components respectively hinged and mounted on the protrusions inside the output module.

[0076] When the transmission system is working, the swashplate 53 does not rotate. This ensures the power transmission effect of the swashplate 53 and avoids unnecessary friction between the swashplate 53 and the centrifugal component 52, and between the swashplate 53 and the transmission module 30 due to relative rotation, thus preventing power waste and ensuring the efficiency of the transmission system. The transmission system includes a fixed component 60, with the input structure 10 rotatably mounted on the fixed component 60 and the output structure 20 rotatably mounted on the fixed component 60. The swashplate 53 is slidably connected to the fixed component 60 via a mounting post 532. The swashplate 53 can slide relative to the fixed component 60 along the input axis 100, thus providing the swashplate 53 with a free end to move within a certain range axially while simultaneously restricting the rotational freedom of the swashplate 53.

[0077] Taking a hub motor as an example, the fixed component 60 includes a stator 70 and an end cover connected to it. The input structure 10 is a rotor that rotates relative to the stator 70. The input structure 10 is rotatably mounted on the end cover via a first bearing 81. The output structure 20 is rotatably mounted on the end cover via a second bearing 82. The swashplate 53 is mounted on the non-rotating stator 70. The swashplate 53 cannot rotate or move radially. The swashplate 53 can only make a limited axial translation relative to the stator 70.

[0078] In other embodiments, the swashplate 53 may also be mounted on the rotor.

[0079] The centrifuge mechanism 50 includes a disc guide block 55, which is connected to and fixed relative to the fixing member 60. The disc guide block 55 is provided with a mounting hole 551, and a disc mounting post 532 is inserted into the mounting hole 551. The outer wall of the disc mounting post 532 is provided with a first keyway, and the wall of the mounting hole 551 is provided with a second keyway. The disc mounting post 532 is inserted into the mounting hole 551, and a sliding key 56 is provided between the disc mounting post 532 and the wall of the mounting hole 551. The sliding key 56 is engaged with the first keyway and the second keyway. The slanted disc 53 is constrained by the disc guide block 55 and the sliding key 56, and can only achieve axial translation over a limited distance.

[0080] The transmission system includes elastic element 54.

[0081] The power for the transmission module 30 to move towards the speed-increasing transmission position is provided by the centrifugal element 52. The disc 531 of the swashplate 53 can move along the output axis 200 in the first direction under the centrifugal force at the free end of the centrifugal element 52. Taking the centrifugal element 52 located on the side of the swashplate 53 close to the output structure 20 as an example, when the actual rotational speed of the output structure 20 increases, the outward range of the centrifugal element 52 increases. Under the action of the centrifugal element 52, the swashplate 53 moves towards the side closer to the input structure 10, and the transmission module 30 moves radially outward under the action of the swashplate 53; the first direction is the direction closer to the input structure 10.

[0082] Reference Figure 3 , Figures 8 to 11 , Figure 16 , Figure 17The power for the transmission module 30 to move towards the deceleration transmission position is provided by the elastic element 54. The disc body 531 of the swashplate 53 can move and reset along the output axis 200 in a second direction under the action of the elastic element 54. The first direction is opposite to the second direction. Taking the centrifugal element 52 located on the side of the swashplate 53 near the output structure 20 as an example, when the actual rotation of the output structure 20 decreases, the outward range of the centrifugal element 52 decreases, the force exerted by the centrifugal element 52 on the swashplate 53 decreases, and the disc body 531 of the swashplate 53 moves radially towards the side near the output structure 20 under the action of the elastic element 54. The transmission module 30 moves radially inward under the action of the elastic element 54 or the pull of the swashplate 53; the second direction is the direction towards the output structure 20.

[0083] Elastic component 54 configuration method one: Refer to Figures 1 to 17 An elastic element 54 is disposed between the disc body 531 and the disc guide block 55. The elastic element 54 is used to exert an elastic force on the disc body 531 in a direction parallel to the output axis 200. In some embodiments, limiting grooves can be provided on the sides where the disc body 531 and the disc guide block 55 are close to each other, and the two ends of the elastic element 54 are respectively inserted into the limiting grooves at both ends.

[0084] The elastic element 54 serves to reset the swashplate 53 along the second direction when the centrifugal force decreases. To provide radially inward force to the transmission module 30 when the swashplate 53 moves along the second direction, a sliding fit assembly is provided between the swashplate 53 and the mounting base 32 of the transmission module 30. The fit between the swashplate 53 and the transmission module 30 is as follows:

[0085] The outer disk surface 5312 is inclined relative to the output axis 200; the transmission module 30 includes a transmission body 31 and a mounting base 32, the transmission body 31 being rotatably mounted on the mounting base 32; a seat inclined surface 3201 is provided on the side of the mounting base 32 near the output axis 200; the seat inclined surface 3201 is inclined relative to the output axis 200. The outer disk surface 5312 is provided with a plurality of first mating structures arranged at intervals around the input axis 100, and the seat inclined surface 3201 is provided with a plurality of second mating structures arranged at intervals around the input axis 100. Among them, the first mating structure includes a first sliding part and a first limiting part provided laterally, and the second mating structure includes a second sliding part and a second limiting part laterally; the first sliding part is a slider and the second sliding part is a groove, or the first sliding part is a groove and the second sliding part is a slider; the first limiting part is a limiting groove and the second limiting part is a limiting block, or the first limiting part is a limiting block and the second limiting part is a limiting groove; the slider is provided in the groove and the limiting block is provided in the limiting groove.

[0086] When the swash plate 53 moves in the first direction along the output axis 200 under the action of the centrifugal member 52, the swash plate 53 pushes the mounting base 32 to move away from the input axis 100. At this time, the elastic member 54 continues to exert its elastic force. Under the action of the elastic force, when the swash plate 53 moves in the second direction along the output axis 200, the first limiting part acts on the second limiting part, and the swash plate 53 drives the mounting base 32 to move closer to the input axis 100.

[0087] By configuring a sliding assembly between the inclined outer disk surface 5312 and the seat inclined surface 3201 of the mounting base 32, the swashplate 53 will not hinder the transmission module 30 from moving radially outward when the centrifugal force is large; when the centrifugal force is small, the swashplate 53 can also provide the transmission module 30 with the power to move radially inward when it moves axially towards the input structure 10 through the sliding assembly with lateral limit engagement.

[0088] Flexible component configuration method two (not shown in the figure):

[0089] An elastic element is directly installed on the outside of the transmission module 30 so that when the centrifugal force decreases, the elastic element pushes the transmission module 30 inward from the outside, causing the transmission module 30 to move to a low-speed transmission position.

[0090] The elastic element is configured as follows: the transmission system also includes a fixed component 60 and a retainer 41. The input structure 10 is rotatably mounted on the fixed component 60, the output structure 20 is rotatably mounted on the fixed component 60, and the retainer 41 is connected to the fixed component 60; the transmission module 30 is located on the side of the retainer 41 close to the input axis 100, the transmission module 30 is slidably connected to the retainer 41, and the elastic element is located between the transmission module 30 and the retainer 41.

[0091] Compared to the second configuration of the elastic element 54, the first configuration of the elastic element 54 is more conducive to the modular design of the centrifugal mechanism 50. It is not necessary to set the elastic element 54 on the outside of multiple transmission modules 30 one by one. Only one elastic element 54 needs to be set between the disc body 531 and the disc guide block 55. The entire transmission system structure is more compact and simple.

[0092] The transmission module 30 includes a transmission body 31 and a mounting base 32. The transmission body 31 is rotatably mounted on the mounting base 32, and the transmission body 31 can rotate relative to the mounting base 32 around the transmission axis 300.

[0093] The transmission system includes a fixed component 60, and an input structure 10 and an output structure 20 are rotatably mounted on the fixed component 60. The mounting base 32 is slidably mounted on the fixed component 60; when the centrifugal component 52 moves away from the input axis 100 under the drive of the output structure 20, it drives the mounting base 32 to slide relative to the fixed component 60.

[0094] The structure of the transmission body 31 and its cooperation with other components will be described below.

[0095] Please continue to refer to Figures 3 to 5 , Figure 10 , Figure 11 The transmission body 31 is configured to contact the input structure 10 and the output structure 20 through two parallel surfaces respectively, so that R1 and R2 can be changed when the transmission body 31 moves, and the transmission efficiency between the input structure 10 and the transmission body 31, and between the transmission body 31 and the output structure 20 can be guaranteed.

[0096] like Figure 4 The input structure 10 contacts the transmission body 31 in a first plane, and the output structure 20 contacts the transmission body 31 in a second plane. The first plane and the second plane are parallel, the transmission shaft 300 is inclined relative to the first plane and the second plane, and the transmission body 31 is configured to move along an adjustment path parallel to the first plane and the second plane.

[0097] Correspondingly, such as Figure 5 An input contact surface 101 is formed on one side of the input structure 10, and the input structure 10 contacts the transmission body 31 through the input contact surface 101; an output contact surface 201 is formed on one side of the output structure 20, and the output structure 20 contacts the transmission body 31 through the output contact surface 201; the input contact surface 101 and the output contact surface 201 are parallel, the transmission shaft 300 is inclined relative to the input contact surface 101 and the output contact surface 201, and the transmission body 31 is configured to move along an adjustment path parallel to the input contact surface 101 and the output contact surface 201.

[0098] In this embodiment, by configuring the transmission axis angle 300° of the transmission body 31, the outer surface characteristics of the transmission body 31, and the positions of the input structure 10 and the output structure 20, the opposite sides of the transmission body 31 are made parallel, so that the contact between the transmission body 31 and the input structure 10 and the output structure 20 is a line contact, and the contact lines are parallel to each other. The speed change system of this embodiment has the following advantages: First, compared to the point contact scheme between the transmission body 31 and the input structure 10 and the output structure 20 in related technologies, the speed change system of this embodiment can obtain a larger contact area between the transmission body 31 and the input structure 10 and the output structure 20, thereby improving transmission efficiency. Second, as... Figure 4 , Figure 10 , Figure 11As shown, with the contact lines of the transmission body 31, the input structure 10, and the output structure 20 parallel to each other, in other words, with the first plane and the second plane parallel, and the input contact surface 101 and the output contact surface 201 parallel, the transmission member can always maintain close contact with the input structure 10 and the output structure 20 when moving on a path parallel to the first plane, the second plane, the input contact surface 101, and the output contact surface 201, making the transmission more reliable.

[0099] The input axis 100 and the output axis 200 can be configured to be parallel, coincident, perpendicular, or at an angle. When the input axis 100 and the output axis 200 are parallel, they are not coaxial; when they coincide, they are coaxial. Figure 3 In this configuration, the input axis 100 and the output axis 200 are parallel or coincident. In this case, it is suitable to contact the transmission body 31 through the top or bottom end of the input axis 100, and correspondingly through the top or bottom end of the output axis 200, so that the transmission body 31 is parallel to the contact positions of the input structure 10 and the output structure 20. The coincidence of the input axis 100 and the output axis 200 allows for a more compact overall system structure.

[0100] The drive shaft 300 can be configured to be inclined relative to the input shaft 100 and / or the output shaft 200. This configuration facilitates the adjustment of R1 as the drive body 31 moves toward or away from the input shaft 100, and facilitates the adjustment of R2 as the drive body 31 moves toward or away from the output shaft 200.

[0101] The input structure 10 and the output structure 20 can be configured in series, that is, the input structure 10 and the output structure 20 are located on opposite sides of the transmission body 31; the input structure 10 and the output structure 20 can also be configured in parallel, that is, the input structure 10 and the output structure 20 are located on the same side of the transmission body 31; the input structure 10 and the output structure 20 can also be located on adjacent sides of the transmission body 31. Figures 3 to 5 , Figures 8 to 11 In this design, the input structure 10 and the output structure 20 are connected in series, which can avoid the system occupying too large a plane size and is conducive to compact design.

[0102] When the input axis 100 is parallel to or coincides with the output axis 200, the adjustment path of the transmission body 31 can be perpendicular to or parallel to the input axis 100. An adjustment path perpendicular to the input axis 100 is equivalent to the transmission body 31 moving radially along the transmission system to adjust R2 / R1. An adjustment path parallel to the input axis 100 is equivalent to the transmission body 31 moving axially along the transmission system to adjust R2 / R1.

[0103] In the embodiment shown in the accompanying drawings of this invention, the input axis 100 coincides with the output axis 200. The input structure 10 and the output structure 20 are located on opposite sides of the transmission body 31. The transmission axis 300 is inclined relative to the input axis 100 and the output axis 200. The transmission body 31 can move towards or away from the input axis 100. In other words, the adjustment path of the transmission body 31 is perpendicular to the input axis 100. The transmission body 31 moves radially along the transmission system to change R2 / R1. (Refer to...) Figures 3 to 5 , Figures 8 to 11 The transmission body 31 is axially positioned between the input structure 10 and the output structure 20. It can directly contact the top / bottom surfaces of the input and output structures 10 and 20. Speed ​​adjustment is achieved by the transmission body 31 moving radially within the gap between the input and output structures 10 and 20. The movement of the transmission body 31 does not alter the axial position of the input and output structures 10 and 20, and does not occupy additional radial space outside of these structures. By configuring the transmission body 31 to move radially, stepless adjustment of the transmission ratio can be achieved. Compared to other continuously variable transmission designs, it has lower axial space requirements and is easier to integrate into motors with limited radial dimensions, such as hub motors.

[0104] Please continue to refer to Figure 6 , Figure 7 , Figure 10 , Figure 11 The transmission body 31 is a double conical roller.

[0105] The transmission body 31 includes two connected conical portions, with the tops of the two conical portions located at opposite ends of the transmission body 31. The centerlines of both conical portions are collinear with the transmission axis 300. The input structure 10 contacts the outer surface of one of its conical portions, and the output structure 20 contacts the outer surface of the other conical portion. The two conical portions are connected to rotate synchronously under the drive of the input structure 10. It should be noted that the conical portion of the present invention can be a solid cone structure, or it can be a frustum structure formed by removing the tip 421 from a cone structure.

[0106] Figure 7 In the transmission body 31, the two conical portions are a first conical portion 311 and a second conical portion 312. The outer surface of the first conical portion 311 is formed by rotating a first generatrix around the transmission shaft 300 by 360 degrees, and the outer surface of the second conical portion 312 is formed by rotating a second generatrix around the transmission shaft 300 by 360 degrees. The first generatrix, the second generatrix, and the transmission shaft 300 have the same angle. The input structure 10 and the output structure 20 are located on opposite sides of the transmission body 31. The input structure 10 contacts the outer surface of the first conical portion 311, and the output structure 20 contacts the outer surface of the second conical portion 312.

[0107] The use of double conical rollers ensures, firstly, that the values ​​R1 and R2 remain constant during the rotation of the transmission body 31 while its radial position is fixed, thus guaranteeing a stable transmission ratio. The input structure 10 contacts the first conical portion 311 to achieve transmission. Due to the shape characteristics of the conical portion, as long as the radial position of the transmission body 31 remains fixed during the rotation of the first conical portion 311 around the transmission axis 300, the value R1 will not change. Similarly, as long as the radial position of the transmission body 31 remains fixed, the value R2 will not change.

[0108] By employing double conical rollers, secondly, when the transmission body 31 moves radially to adjust R2 / R1, it ensures close contact between the transmission body 31 and the input structure 10 and the output structure 20. By configuring the angles between the first generatrix and the transmission axis 300, and the second generatrix and the transmission axis 300, the contact positions between the input structure 10 and the first conical portion 311, and between the output structure 20 and the second conical portion 312, are parallel during the rotation of the transmission body 31. Furthermore, by making the input axis 100 parallel or coincident with the output axis 200, and by tilting the transmission axis 300 relative to the input axis 100 and the output axis 200, close contact between the transmission body 31 and the input structure 10 and the output structure 20 is maintained during the radial movement of the transmission body 31, ensuring transmission reliability.

[0109] By employing double conical rollers, and thirdly, when adjusting the R2 / R1 value as the transmission body 31 moves radially, the axial positions of the input structure 10 and the output structure 20 do not need to change. This results in a simpler structure.

[0110] The two conical portions of the transmission body 31 can be configured in at least the following ways:

[0111] Transmission body 31 conical part configuration method one: such as Figure 7 As shown, the first conical portion 311 and the second conical portion 312 are connected. The cone heights of the first conical portion 311 and the second conical portion 312 are equal; in other words, the two conical portions are the same size and symmetrical. This configuration is equivalent to the outer surface of the transmission body 31 being formed by rotating a rhombus around one of its diagonals by 180 degrees, with the transmission axis 300 being the diagonal that serves as the center line of rotation.

[0112] The two conical parts can be integrally formed or connected and fixed by welding, gluing or other methods to achieve synchronous rotation of the two conical parts.

[0113] Transmission body 31 conical part configuration method two: such as Figure 16 As shown, the first conical part 311 is connected to the second conical part 312. The cone heights of the first conical part 311 and the second conical part 312 are different; in other words, the two conical parts are slightly larger and slightly smaller.

[0114] The two conical parts can be integrally formed or connected and fixed by welding, gluing or other methods to achieve synchronous rotation of the two conical parts.

[0115] The transmission body 31 has a conical part configuration method three: the first conical part 311 and the second conical part 312 are arranged at intervals. The cone heights of the two conical parts can be the same or different. The two conical parts are fixed on the same shaft to achieve synchronous rotation of the two conical parts.

[0116] When the transmission body 31 is a rotating body formed by rotating a rhombus around its diagonal, the parallel characteristics of the opposite sides of the rhombus make the contact between the tapered roller and the input structure 10 and the output structure 20 a line contact, and the contact lines are parallel to each other. Therefore, the design of the double tapered roller has a larger contact area than the design of the circular roller that uses point contact to achieve transmission, thereby improving the transmission efficiency. At the same time, the two parallel contact lines mentioned above are the basis for the double tapered roller to achieve stepless speed change by radial movement. It also makes it possible for the roller to always be in close contact with the input structure 10 and the output structure 20 when it translates radially. Compared with the circular roller design (controlling angular rotation), it can achieve stepless speed change function with simpler operation (controlling linear translation), and the structure is more robust and reliable.

[0117] The transmission body 31 can be a solid structure or a hollow structure. The solid structure of the transmission body 31 can be formed from a solid, liquid, critical fluid, or a mixture of multiple substances.

[0118] To enable the transmission body 31 to both rotate around the transmission axis 300 to achieve input and output transmission, and to be movable to adjust its position relative to the input structure 10 and / or output structure 20, the transmission module 30 further includes a mounting base 32. The transmission body 31 is rotatably mounted on the mounting base 32, and the transmission body 31 can rotate on the mounting base 32. The mounting base 32 is movably mounted on the fixing member 60, and the mounting base 32 can move on the fixing member 60. By setting the mounting base 32, the rotational motion and the moving motion of the transmission body 31 are decoupled, making it easier to implement structurally and improving manufacturability. In other embodiments, the transmission body 31 can also be directly and rotatably mounted to the fixing member 60 via the mounting shaft 33.

[0119] Please continue to refer to Figure 3 , Figure 4 , Figure 6 , Figure 7 , Figure 13The transmission module 30 also includes a mounting shaft 33, through which the transmission body 31 is rotatably mounted on the mounting base 32. The transmission body 31 can rotate relative to the mounting shaft 33, and the mounting shaft 33 is fixed to the mounting base 32; or, the transmission body 31 is fixed to the mounting shaft 33, and the mounting shaft 33 can rotate relative to the mounting base 32. In other embodiments, the mounting shaft 33 may not be provided between the transmission body 31 and the mounting base 32, and a bearing may be provided between the transmission body 31 and the mounting base 32 to enable the transmission body 31 to rotate on the mounting base 32 to transmit power to the input structure 10.

[0120] Please continue to refer to Figure 6 , Figures 8 to 13 Based on the mounting shaft 33 configured in the transmission module 30, the mounting base 32 is configured as follows: The mounting base 32 includes a frame 321, which has through holes at both ends in a first direction. This facilitates the placement of the transmission body 31 within the holes in the frame 321, protecting it from interference by other structures. Secondly, the frame 321 provides clearance, allowing the transmission body 31 to make transmission contact with the input structure 10 and output structure 20 located on opposite sides. A first shaft seat 322 and a second shaft seat 323 are fixed to opposite sides of the frame 321 in the first direction. The first shaft seat 322 and the second shaft seat 323 are located on opposite sides of the frame 321 in a second direction, perpendicular to the first direction. The transmission body 31 is rotatably connected to the first shaft seat 322 via a shaft, and also rotatably connected to the second shaft seat 323 via a shaft. The first bearing seat 322 and the second bearing seat 323 are symmetrical about the center of the seat frame 321, which is beneficial to realize that the transmission body 31 is configured with the transmission axis 300 tilted.

[0121] Figure 10 , Figure 11 , Figure 13 In this configuration, the input axis 100 and the output axis 200 coincide and are both located inside the transmission module 30. The input structure 10 and the output structure 20 are respectively located on the upper and lower sides of the transmission module 30. The first direction of the seat frame 321 is vertical, and the second direction of the seat frame 321 is radial. The upper and lower openings of the seat frame 321 facilitate the exposure of the upper and lower sides of the transmission body 31 to contact the input structure 10 and the output structure 20 respectively. The first shaft seat 322 and the second shaft seat 323 are located on the upper and lower sides of the seat frame 321, with one located on the inner side and the other on the outer side. After the two ends of the mounting shaft 33 are attached to the first shaft seat 322 and the second shaft seat 323 respectively, the mounting shaft 33 can be tilted relative to the input axis 100 and the output axis 200.

[0122] Figure 6 , Figure 10In this design, the first bearing seat 322 protrudes from one side of the seat frame 321, and the second bearing seat 323 protrudes from the other side of the seat frame 321. This facilitates the installation of the shaft 33 extending from the tips 421 of the first conical portion 311 and the second conical portion 312, respectively, to the first bearing seat 322 and the second bearing seat 323, while simultaneously keeping the first conical portion 311 and the second conical portion 312 essentially within the seat holes of the bearing seats. Secondly, the protruding first bearing seat 322 and second bearing seat 323, with one positioned inward and the other outward, allow for radial limiting of the transmission module 30's radial movement through the first bearing seat 322's radial engagement with the input structure 10 and the second bearing seat 323's radial limiting engagement with the output structure 20, thus restricting the transmission body 31 to two extreme positions and keeping it within a specific area.

[0123] In other embodiments, the first bearing seat 322 and the second bearing seat 323 may be omitted, and the mounting shaft 33 may be directly configured to connect with the inner wall of the seat frame 321.

[0124] Please continue to refer to Figure 6 , Figure 7 The transmission module 30 includes a mounting shaft 33, which is a long shaft passing through the transmission body 31. A first shaft seat 322 has a first shaft hole, a second shaft seat 323 has a second shaft hole, and the transmission body 31 has a third shaft hole. The first and second shaft holes are countersunk holes, and the third shaft hole is a through hole. One end of the mounting shaft 33 is inserted into the first shaft hole, and the other end passes through the third shaft hole and is inserted into the second shaft hole. The transmission body 31 can rotate relative to the mounting shaft 33. Shaft holes are provided on the first shaft seat 322, the second shaft seat 323, and the transmission body 31. During manufacturing, the transmission body 31, the mounting seat 32, and the mounting shaft 33 can be three parts. During assembly, the transmission body 31 can be first mounted on the mounting shaft 33, and then both ends of the mounting shaft 33 can be respectively inserted into the first shaft seat 322 and the second shaft seat 323, making assembly convenient and quick.

[0125] In other embodiments, two mounting shafts 33 may be provided at both ends of the transmission body 31. The two mounting shafts 33 may be integrally formed with the transmission body 31, or the two mounting shafts 33 and the transmission body 31 may be assembled later.

[0126] Please continue to refer to Figure 1 , Figure 3 , Figure 4 , Figures 10 to 15 In order to enable the transmission module 30 to move along the designed adjustment path under the action of internal or external forces of the transmission system and achieve stable transmission ratio adjustment, the transmission system also includes a guide structure 40. The guide structure 40 is installed on and fixed relative to the fixing member 60, and the mounting base 32 is slidably installed on the guide structure 40 so that the transmission module 30 can move under the guidance of the guide structure 40.

[0127] The guide structure 40 is configured as follows: the guide structure 40 includes a retainer 41 and a guide frame 42 connected to each other; the retainer 41 is fixed to the fixing member 60, and the retainer 41 is a ring-shaped frame, with the input axis 100 and the output axis 200 located inside the retainer 41; at least a portion of the guide frame 42 protrudes relative to the inner wall of the retainer 41, and the mounting base 32 is slidably engaged with the retainer 41. The guide frame 42 and the retainer 41 can be connected by, but is not limited to, fasteners, snap-fit ​​connections, adhesive connections, or integral molding.

[0128] To achieve efficient transmission, multiple transmission modules 30 are arranged within the transmission system. The input shaft 100 is parallel to or coincides with the output shaft 200, and the multiple transmission modules 30 are spaced apart around the input shaft 100 and the output shaft 200. Correspondingly, the input contact surface 101 of the input structure 10 and the output contact surface 201 of the output structure 20 are annular surfaces. The input contact surface 101 simultaneously contacts multiple transmission bodies 31, and the output contact surface 201 simultaneously contacts multiple transmission bodies 31, thereby increasing the transmission contact area and improving transmission efficiency.

[0129] Based on the configuration of multiple transmission modules 30, a retainer 41 and multiple guide frames 42 are provided between the transmission modules 30 and the fixing member 60. The retainer 41 provides mounting positions for the multiple guide frames 42, and the multiple guide frames 42 are used to provide sliding mounting positions for the multiple transmission modules 30. The transmission system is configured such that the multiple transmission modules 30 can move radially or radially outward simultaneously.

[0130] Thus, during system assembly, multiple guide frames 42 can be first mounted on a retainer 41, and then multiple transmission modules 30 can be slidably mounted on the guide structure 40 to form a small assembly. This small assembly, input structure 10, output structure 20, and fixing member 60 can then be assembled. Compared to directly setting slide rails on the fixing member 60, directly sliding multiple transmission modules 30 onto the slide rails of the fixing member 60, assembling a small assembly using the retainer 41, multiple guide frames 42, and multiple transmission modules 30 facilitates modular design of the transmission system, making disassembly and assembly easier, and simplifying subsequent maintenance.

[0131] Please continue to refer to Figures 12 to 15 The following is a method for assembling the transmission module 30 and the guide frame 42:

[0132] The transmission system includes multiple guide frames 42 and multiple transmission modules 30. The guide frames 42 are spaced apart and positioned inside the retainer 41, forming mounting grooves 401 between adjacent guide frames 42. The transmission modules 30 are disposed in the mounting grooves 401, and the mounting base 32 is slidably connected to the retainers 41 on both sides. The mounting base 32 has first sliding grooves 3211 on both horizontal sides. When installing the transmission module 30, adjacent guide frames 42 are aligned with the first sliding grooves 3211 on both sides of the mounting base 32 and inserted into them, allowing the mounting base 32 to be slidably installed onto the guide frames 42.

[0133] In other embodiments, a sliding groove can be provided on the side of the guide frame 42, and a slider can be provided on the side of the mounting base 32 to realize the sliding installation of the mounting base 32 onto the guide frame 42.

[0134] Taking the input structure 10 and output structure 20 located on the upper and lower sides of the transmission module 30 as an example, the effect of multiple guide frames 42 being spaced apart is explained: Firstly, it allows the transmission module 30 to be slidably installed radially. Since the guide frames 42 are located on both sides of the transmission body 31, they will not interfere with the space above or below the transmission body 31, ensuring that the transmission body 31 is in contact with the input structure 10 and output structure 20. Secondly, the spaced arrangement of the guide frames 42 allows for sliding engagement between the two outer sides of the mounting base 32 and the guide frames 42 on both sides, eliminating the need for guide rods to pass through the mounting base 32 for sliding guidance, and preventing interference with the transmission body 31 installed in the middle of the mounting base 32.

[0135] Multiple guide frames 42 and multiple transmission modules 30 are located inside the retainer 41. To ensure the mounting base 32 can move smoothly inward and outward, triangular guide rails are used as guide frames 42. Figure 12 , Figure 13 As shown, the end of the guide frame 42 facing away from the inner side of the retainer 41 forms a pointed tip 421, and the side of the guide frame 42 near the mounting groove 401 forms a mating surface 422. The guide frame 42 is triangular or nearly triangular. This shape of the guide frame 42 is advantageous in providing parallel mating surfaces 422 on both sides of the mounting base 32, so that the mounting base 32 can move radially inward and radially outward under the support and guidance of the guide frames 42 on both sides, and the guide frames 42 will not obstruct the radial movement of the mounting base 32 during the movement and will not interfere with it.

[0136] In other embodiments, the guide structure 40 may also include a retainer 41 and a plurality of slide rods spaced apart around the inner wall of the retainer 41, with the mounting base 32 slidably mounted on the slide rods. In other embodiments, the guide structure 40 may also be a linear guide, lead screw, connecting rod assembly, piston, slide groove, or other mechanism, as long as it provides guidance for the mounting base 32 to move along the adjustment path.

[0137] The present invention also provides a hub motor, which includes the transmission system.

[0138] The hub motor includes a fixing member 60, and an input structure 10 and an output structure 20 are rotatably mounted on the fixing member 60; a transmission unit 31 is movably mounted on the fixing member 60. The hub motor includes a stator 70; the input structure 10 is a rotor, and the fixing member 60 is an end cover; the end cover is fixed to the stator 70, and a mounting cavity is formed between the end cover and the stator 70; the input structure 10, the output structure 20, and the transmission module 30 are disposed within the mounting cavity.

[0139] The input structure 10 is rotatably mounted on the fixing member 60 via the first bearing 81, and the output structure 20 is rotatably mounted on the fixing member 60 via the second bearing 82.

[0140] The present invention also provides an agricultural unmanned vehicle, which is used to perform operations such as spraying and sowing. The agricultural unmanned vehicle includes a vehicle body and multiple wheels rotatably mounted on the vehicle body; one or more wheels, each wheel including a hub 91, a wheel body 92 and the aforementioned hub motor, the hub 91 being fixed to the output structure 20 of the hub motor, and the wheel body 92 being fitted over the hub 91.

[0141] In the description herein, it should be understood that the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0142] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0143] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0144] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A transmission system, characterized in that, Input structure (10); Output structure (20); A transmission module (30) includes a transmission body (31); the transmission body (31) is in tractable contact with the input structure (10) and the output structure (20); the input structure (10) is used to rotate around the input axis (100) to drive the transmission body (31) to rotate around the transmission axis (300), thereby driving the output structure (20) to rotate around the output axis (200); the perpendicular distance from the position where the input structure (10) contacts the transmission body (31) to the transmission axis (300) is R1, and the perpendicular distance from the position where the output structure (20) contacts the transmission body (31) to the transmission axis (300) is R2; Centrifugal mechanism (50) includes centrifugal element (52); as the rotational speed of the output structure (20) changes, the centrifugal element (52) moves toward or away from the input axis (100), causing the transmission body (31) to move toward or away from the input axis (100), thereby changing the ratio of R2 to R1; The centrifugal component (52) is a centrifugal oscillating component, one end of which is hinged to the output structure (20), and the other end is a free end; The centrifugal mechanism (50) includes a swashplate (53) disposed between the input structure (10) and the output structure (20); the swashplate (53) is configured to move along the direction of the output axis (200); the swashplate (53) includes a disc body (531), with an inner disc surface (5311) and an outer disc surface (5312) formed on opposite sides of the disc body (531), the inner disc surface (5311) being inclined relative to the output axis (200); the free end of the centrifugal component (52) abuts against the inner disc surface (5311), and the transmission module (30) abuts against the outer disc surface (5312).

2. The transmission system according to claim 1, characterized in that, The transmission module (30) has a deceleration transmission position and a speed-increasing transmission position; the transmission module (30) moves in a direction close to or away from the input axis (100) to move between the deceleration transmission position and the speed-increasing transmission position; When the transmission module (30) is in the deceleration transmission position, R1 is greater than R2, and the ratio of R2 to R1 is less than 1; when the transmission module (30) is in the speed-up transmission position, R1 is less than R2, and the ratio of R2 to R1 is greater than 1.

3. The transmission system according to claim 1, characterized in that, The output axis (200) coincides with or is parallel to the input axis (100); When the output structure (20) rotates, it causes the free end of the centrifugal component (52) to swing; when the free end of the centrifugal component (52) swings away from the output axis (200), the centrifugal component (52) pushes the transmission module (30) to move away from the output axis (200).

4. The transmission system according to claim 1, characterized in that, The outer disk surface (5312) is inclined relative to the output axis (200); the transmission module (30) includes a transmission body (31) and a mounting base (32), the transmission body (31) is rotatably mounted on the mounting base (32); the mounting base (32) has a seat inclined surface (3201) on the side close to the output axis (200); the seat inclined surface (3201) is inclined relative to the output axis (200); the outer disk surface (5312) is in contact with the seat inclined surface (3201).

5. The transmission system according to claim 1, characterized in that, The centrifugal element (52) is located on the side of the disc body (531) near the output structure (20); the inner disc surface (5311) and the outer disc surface (5312) are inclined from one end near the output structure (20) to one end near the input structure (10) towards the output axis (200).

6. The transmission system according to claim 1, characterized in that, The centrifugal mechanism (50) includes a plurality of centrifugal components (52); the centrifugal mechanism (50) includes a centrifugal mounting column (51), the centrifugal mounting column (51) is connected to the output structure (20), and the centrifugal mounting column (51) rotates when the output structure (20) rotates; Multiple centrifugal components (52) are arranged around the centrifugal mounting column (51), and the output axis (200) passes through the centrifugal mounting column (51); one end of the centrifugal component (52) is hinged to the centrifugal mounting column (51), and the other end is a free end.

7. The transmission system according to claim 1, characterized in that, The swash plate (53) includes a plate mounting post (532), which is connected to the plate body (531); The transmission system includes a fixed component (60), the input structure (10) is rotatably mounted on the fixed component (60), and the output structure (20) is rotatably mounted on the fixed component (60); the swashplate (53) is slidably connected to the fixed component (60) through the disk mounting post (532), and the swashplate (53) can slide relative to the fixed component (60) along the input axis (100).

8. The transmission system according to claim 7, characterized in that, The centrifugal mechanism (50) includes a disk guide block (55), which is connected to and relatively fixed to the input structure (10); the disk guide block (55) is provided with a mounting hole (551), the disk mounting post (532) is inserted into the mounting hole (551), and a sliding key (56) is provided between the disk mounting post (532) and the wall of the mounting hole (551), the sliding key (56) restricting the relative rotation between the disk mounting post (532) and the disk guide block (55).

9. The transmission system according to claim 8, characterized in that, The transmission system includes an elastic element (54); The disc (531) can move along the output axis (200) in a first direction under the action of centrifugal force at the free end of the centrifugal member (52); the disc (531) can move along the output axis (200) in a second direction under the action of elastic force of the elastic member (54); the first direction is opposite to the second direction.

10. The transmission system according to claim 9, characterized in that, The elastic element (54) is disposed between the disk body (531) and the disk guide block (55), and the elastic element (54) is used to apply an elastic force to the disk body (531) in a direction parallel to the output axis (200).

11. The transmission system according to claim 10, characterized in that, The outer disk surface (5312) is inclined relative to the output axis (200); the transmission module (30) includes a transmission body (31) and a mounting base (32), the transmission body (31) is rotatably mounted on the mounting base (32); the mounting base (32) has a seat inclined surface (3201) on the side close to the output axis (200); the seat inclined surface (3201) is inclined relative to the output axis (200); The outer disk surface (5312) is provided with a plurality of first mating structures arranged at intervals around the input axis (100), and the seat inclined surface (3201) is provided with a plurality of second mating structures arranged at intervals around the input axis (100); The first mating structure includes a first sliding portion and a first limiting portion disposed laterally; the second mating structure includes a second sliding portion and a second limiting portion disposed laterally; the first sliding portion is a slider and the second sliding portion is a groove, or the first sliding portion is a groove and the second sliding portion is a slider; the first limiting portion is a limiting groove and the second limiting portion is a limiting block, or the first limiting portion is a limiting block and the second limiting portion is a limiting groove; the slider is disposed in the groove and the limiting block is disposed in the limiting groove; When the swash plate (53) moves along the output axis (200) in the first direction under the action of the centrifugal member (52), the swash plate (53) pushes the mounting base (32) to move away from the input axis (100); when the swash plate (53) moves along the output axis (200) in the second direction, the first limiting part acts on the second limiting part, and the swash plate (53) drives the mounting base (32) to move closer to the input axis (100).

12. The transmission system according to claim 9, characterized in that, The transmission system also includes a fixing element (60) and a retainer (41); The input structure (10) is rotatably mounted on the fixing member (60), the output structure (20) is rotatably mounted on the fixing member (60), and the retainer (41) is connected to the fixing member (60); the transmission module (30) is located on the side of the retainer (41) close to the input axis (100), the transmission module (30) is slidably connected to the retainer (41), and the elastic member (54) is located between the transmission module (30) and the retainer (41).

13. The transmission system according to any one of claims 4-12, characterized in that, The transmission module (30) includes a transmission body (31) and a mounting base (32). The transmission body (31) is rotatably mounted on the mounting base (32). The transmission body (31) can rotate relative to the mounting base (32) around the transmission axis (300). The transmission system includes a fixed component (60), the input structure (10) and the output structure (20) are rotatably mounted on the fixed component (60), and the mounting base (32) is slidably mounted on the fixed component (60); when the centrifugal component (52) moves away from the input axis (100) under the drive of the output structure (20), it drives the mounting base (32) to slide relative to the fixed component (60).

14. The transmission system according to claim 13, characterized in that, The transmission shaft (300) is inclined relative to the input shaft (100); The transmission body (31) includes two conical portions connected to each other, with the tops of the two conical portions located at opposite ends of the transmission body (31); the centerline of the conical portion is collinear with the transmission axis (300), the input structure (10) is in contact with the outer surface of one of the conical portions, and the output structure (20) is in contact with the outer surface of the other conical portion.

15. A hub motor, characterized in that, The system includes a transmission system as described in any one of claims 1-14; the hub motor includes a fixing member (60), the input structure (10) and the output structure (20) are rotatably mounted on the fixing member (60); the transmission body (31) is movably mounted on the fixing member (60).

16. An unmanned agricultural vehicle, characterized in that, Including the hub motor as described in claim 15.

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