Variable speed system, wheel hub motor and agricultural unmanned vehicle
By incorporating a transmission element into the hub motor, the transmission ratio can be adjusted, thus solving the problems of low-speed high torque and high-speed low torque in hub motors under varying operating conditions. This reduces motor costs and improves cost-effectiveness.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUANGZHOU XAIRCRAFT TECH CO LTD
- Filing Date
- 2023-06-30
- Publication Date
- 2026-05-26
Smart Images
Figure CN116792473B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of transmission mechanism 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 transmission system that adjusts the transmission ratio by moving the transmission body.
[0004] The second objective of this invention is to provide a hub motor that can achieve stepless speed regulation.
[0005] The third objective of this invention is to provide an agricultural unmanned vehicle that can achieve the output characteristics of a higher-power motor through a lower-power motor, thereby improving the overall cost-effectiveness of the vehicle.
[0006] To achieve one of the above objectives, the present invention adopts the following technical solution:
[0007] A transmission system, comprising:
[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; when the input structure rotates about the input axis, it drives the transmission body to rotate about the transmission axis, thereby driving the output structure to rotate about the output axis.
[0011] Wherein, 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; the transmission body can move along the adjustment path to change the position in contact with the input structure and / or the output structure, 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 transmission 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 element 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 vehicle body and a plurality of wheels rotatably mounted on the vehicle body; one or more of the wheels include the hub motor described in the above embodiment.
[0016] The beneficial effects of this invention are as follows: This transmission system incorporates a transmission element between the input and output structures. By moving this transmission element, the position of contact between the transmission element and the input and / or output structures is changed, thereby altering R2 and / or R1. This changes the ratio of R2 to R1, achieving transmission ratio adjustment. Thus, even with limited power, the requirements for low-speed high torque and high-speed low torque can be met. Adjusting the transmission ratio by moving the transmission element is easier to achieve with a simpler structure compared to other methods.
[0017] This hub motor and agricultural drone allow for easy adjustment of the transmission ratio through the movement of the transmission body. The agricultural drone can achieve the output characteristics of a higher-power motor in related technologies with a lower-power motor, thereby improving the overall cost-effectiveness of the vehicle by reducing the motor cost in hub motor vehicles. 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;
[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 one of the structural schematic diagrams of the guide structure and transmission module sub-assembly according to an embodiment of the present invention (the diagram shows the position of the transmission module in the guide structure when R2 / R1 < 1);
[0033] Figure 15 This is one of the structural schematic diagrams of the guide structure and the transmission module sub-assembly according to an embodiment of the present invention (the diagram shows the position of the transmission module within the guide structure when R2 / R1>1);
[0034] Figure 16 This is a schematic diagram of a second structural embodiment of the transmission body of the present invention, and a schematic diagram of the cooperation between the transmission body and the input and output structures.
[0035] Figure 17 This is a schematic diagram of the third structure of the transmission body of the present invention.
[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; 321, Seat frame; 3211, First slide groove; 322, First bearing seat; 323, Second bearing seat; 33, Mounting shaft; 40, Guide structure; 401, Mounting groove; 41, Cage; 42, Guide frame; 421, Tip; 422, Mating surface; 50, Force application mechanism; 51, Centrifugal mounting column; 52, Centrifugal component; 53, Swashplate; 54, Disc guide block; 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 applicable to permanent magnet motors or non-permanent magnet motors, where the permanent magnet motor can be, but is not limited to, a hub motor. The system includes a transmission body 31 positioned between an input structure 10 and an output structure 20. Movement of the transmission body 31 changes its contact position with the input structure 10 and / or the output structure 20, thereby altering the ratio R2 and / or R1. This changes the ratio of R2 to R1, thus adjusting the transmission ratio. This allows for the fulfillment of low-speed high-torque and high-speed low-torque requirements even with limited power. Secondly, stepless speed regulation is achieved by continuously varying the perpendicular distance from the outer surface of the transmission body 31 to the transmission axis 300. Thirdly, the transmission body 31 is configured to adjust the transmission ratio through translation for speed regulation. Compared to speed regulation by controlling the rotation of the transmission body 31, the transmission body 31 can be installed using simple methods such as sliding assembly, and movement can be achieved through simple operations, making the adjustment of the transmission ratio much simpler. This speed change system can be used as a gearbox.
[0043] This invention also provides a hub motor, which can be applied to agricultural unmanned vehicles, as well as to the wheel structures 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 allows for stepless adjustment of the transmission ratio. When applied to wheel structures, because the transmission body 31 moves radially during speed regulation, the axial space requirements of the wheel structure are low, which is beneficial for the design of a small thickness and small volume hub motor.
[0044] This invention also provides an agricultural unmanned vehicle that employs the aforementioned hub motor. The hub motor of this agricultural unmanned vehicle can achieve stepless speed regulation. In low-speed scenarios, the hub motor achieves deceleration output to obtain higher torque, which helps the vehicle start and get out of trouble; in high-speed scenarios, the hub motor achieves acceleration output, sacrificing torque for higher speed, which helps the vehicle cruise at high speeds. This agricultural unmanned vehicle can achieve the output characteristics of higher-power motors in related technologies with a smaller motor, thereby improving the overall cost-effectiveness of the vehicle by reducing the motor cost in hub motor vehicles.
[0045] Please refer to Figures 1 to 17 The structure of the transmission system will be explained below.
[0046] The transmission system includes an input structure 10, an output structure 20, a transmission module 30, and a fixing component 60.
[0047] 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.
[0048] In order to provide continuously variable transmission, the transmission body 31 is configured such that the transmission shaft 300 passes through the transmission body 31, and the perpendicular distance from at least a portion of the outer surface of the transmission body 31 to the transmission shaft 300 varies continuously along the direction of the extension of the transmission shaft 300.
[0049] When the speed change system is working, the input structure 10 and the output structure 20 are in transmission contact with the outer surface of the transmission body 31 respectively. When the speed change system is working, the input structure 10 rotates around the input axis 100, driving the transmission body 31 to rotate around the transmission axis 300, thereby driving the output structure 20 to rotate around the output axis 200. Among them, 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. The transmission body 31 is configured to be movable along an adjustment path. When the transmission body 31 moves along the adjustment path, it moves relative to the input structure 10 and / or the output structure 20. When the transmission body 31 moves, R1 and / or R2 change, thereby changing the ratio of R2 to R1, and further changing the transmission ratio.
[0050] The speed change principle of this speed change system is as follows: when the rotational speed of the input structure 10 is a constant, the angular velocity of the transmission part is determined. Since the radii from the first position and the second position to the rotation axis of the transmission body 31 are inconsistent, that is, R1 and R2 are inconsistent, the input structure 10 at the first position and the output structure 20 at the second position will have different linear velocities. The perpendicular distance from the outer surface of the transmission body 31 to the transmission axis 300 changes continuously. By controlling the movement of the transmission body 31, the adjustment of R1 and / or R2 is realized, so as to adjust R2 / R1. R2 / R1 is the transmission ratio, and the adjustment of the transmission ratio is realized to achieve speed change. During the process of moving the transmission body 31, R2 / R1 can be gradually adjusted, and thus the stepless adjustment of the transmission ratio can be realized to achieve stepless speed change.
[0051] Figure 10 、 Figure 14 In [description], the transmission module 30 is located in the first position area, R1 > R2, that is, the transmission ratio is R2 / R1 < 1. Therefore, this system is a speed reducer, and the linear velocity of the output structure 20 at the second position is less than the linear velocity of the input structure 10 at the first position, which is suitable for low-speed and high-torque scenarios. Figure 11 、 Figure 15 In [description], R1 < R2, the transmission module 30 is located in the second position area, that is, the transmission ratio is R2 / R1 > 1. Therefore, this system is an accelerator, and the linear velocity of the output structure 20 at the second position is greater than the linear velocity of the input structure 10 at the first position, which is suitable for high-speed and low-torque scenarios.
[0052] 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.
[0053] In related technologies, planetary reduction systems are used in in-wheel motors and other motors to achieve speed reduction. 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 either speed reduction or speed increase, failing to meet the needs of various application scenarios.
[0054] To adapt to various application scenarios, the transmission system is configured to both decelerate and accelerate. When the transmission body 31 is in the middle position, R1 and R2 are equal, and R2 / R1 = 1. When the transmission body 31 moves from the middle position along the speed regulation path in the first direction, R2 increases and R1 decreases, so that R2 / R1 < 1, suitable for low-speed, high-torque scenarios. When the transmission body 31 moves from the middle position along the speed regulation path in the second direction, R2 decreases and R1 increases, so that R2 / R1 > 1, suitable for high-speed, low-torque scenarios. The second direction is opposite to the first direction.
[0055] By moving the transmission body 31 in two opposite directions, both deceleration and acceleration functions can be achieved. This not only adapts to more application scenarios, but also makes it easy to achieve both deceleration and acceleration functions simply by moving the transmission body 31 in two directions. When this speed change system is applied to a motor, the movement of the transmission body 31 can be easily achieved through a simple structure. In other words, stepless speed change can be easily achieved through a simple and compact structure, making it highly practical.
[0056] In other embodiments, the transmission system can also be configured such that when the transmission body 31 moves, one of the values of R2 and R1 changes while the other remains unchanged, thereby changing the ratio of R2 to R1 and achieving transmission ratio adjustment. Alternatively, the transmission system can be configured such that when the transmission body 31 moves, both R2 and R1 either increase or decrease, but the rate of change of one value is greater than the rate of change of the other, thereby changing the ratio of R2 to R1 and achieving transmission ratio adjustment.
[0057] Please continue to refer to Figures 3 to 5 , Figure 10 , Figure 11The 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.
[0058] 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.
[0059] 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.
[0060] 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 11 As 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.
[0061] 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.
[0062] 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.
[0063] 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.
[0064] 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.
[0065] 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 11The 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.
[0066] Please continue to refer to Figure 6 , Figure 7 , Figure 10 , Figure 11 The transmission body 31 is a double conical roller.
[0067] 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.
[0068] Figure 7 , Figure 16 , Figure 17 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.
[0069] 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.
[0070] 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.
[0071] 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.
[0072] The two conical portions of the transmission body 31 can be configured in at least the following ways:
[0073] 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.
[0074] 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.
[0075] 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.
[0076] 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.
[0077] Transmission body 31 conical part configuration method three: such as Figure 17As shown, 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 axis to achieve synchronous rotation of the two conical parts.
[0078] 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.
[0079] 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.
[0080] Please continue to refer to Figures 1 to 5 The transmission system includes a fixed component 60, an input structure 10 rotatably mounted on the fixed component 60, an output structure 20 rotatably mounted on the fixed component 60, and a transmission body 31 movably mounted on the fixed component.
[0081] 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.
[0082] 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.
[0083] 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.
[0084] 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.
[0085] 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.
[0086] 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.
[0087] 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.
[0088] 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.
[0089] 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.
[0090] 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.
[0091] 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.
[0092] 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.
[0093] 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.
[0094] 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:
[0095] 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.
[0096] 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.
[0097] 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.
[0098] 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.
[0099] 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.
[0100] Please continue to refer to Figure 1 , Figure 3 , Figure 8 , Figure 9 In order to achieve automatic continuously variable transmission, improve transmission efficiency, and respond to different scenarios in a timely manner, the transmission system also includes a force application mechanism 50. The force application mechanism 50 is used to apply a force to the mounting base 32 to bring the transmission module 30 closer to the first axis, and / or the force application mechanism 50 is used to apply a force to the mounting base 32 to move the transmission module 30 away from the first axis.
[0101] In some embodiments, the force-applying mechanism 50 is used only to drive the transmission module 30 to move along the adjustment path in the first direction, while the movement of the transmission module 30 along the adjustment path in the second direction is achieved by an automatic reset component such as a spring; the first direction and the second direction can be radially inward and radially outward, respectively. In other embodiments, the force-applying mechanism 50 is used to drive the transmission module 30 to move in both directions along the adjustment path.
[0102] To make the adjustment of the transmission ratio more intelligent and efficient, the centrifugal mechanism is configured as follows:
[0103] The centrifugal mechanism includes a centrifugal element 52, which moves toward or away from the output axis 200 as the rotational speed of the output structure 20 changes. When the centrifugal element 52 moves toward and / or away from the output axis 200, it applies a force to the mounting base 32, causing the mounting base 32 to move toward and / or away from the output axis 200.
[0104] Centrifugal component 52 is disposed among multiple transmission modules 30.
[0105] When the output structure 20 rotates at low speeds, the centrifugal component 52 retracts inwards, and the transmission module 30 moves inwards under the action of the spring or the pull of the centrifugal component 52. This reduces R2 and increases R1, resulting in a transmission ratio R2 / R1 < 1. Therefore, when the output structure 20 rotates at low speeds (such as when a vehicle is starting, under heavy load, or stuck), the centrifugal component 52 is thrown outwards to a smaller extent, resulting in less force pushing the transmission body 31 outwards. This achieves a relatively large transmission ratio, sacrificing speed to obtain greater torque.
[0106] When the output structure 20 rotates at high speed, the centrifugal component 52 is thrown outward, exerting a force on the transmission module 30, causing the transmission module 30 to move radially outward. This increases R2 and decreases R1, resulting in a transmission ratio R2 / R1 > 1. Therefore, as the motor speed gradually increases, the centrifugal mechanism throws the component further outward, generating a greater force on the transmission body 31, achieving a smaller transmission ratio, and sacrificing torque to obtain greater speed.
[0107] The following provides a method for setting up a centrifugal structure.
[0108] The centrifugal mechanism includes a centrifugal mounting column 51 and a plurality of centrifugal elements 52 spaced around the centrifugal mounting column 51. The centrifugal mounting column 51 is fixed to the output structure 20. One end of the centrifugal element 52 is rotatably mounted on the centrifugal mounting column 51, and the other end is a free end. When the output structure 20 rotates, it drives the centrifugal element 52 to rotate, thereby causing the free end of the centrifugal element 52 to swing towards or away from the centrifugal mounting column 51. When the centrifugal element 52 swings away from the centrifugal mounting column 51, the centrifugal element 52 applies a force to the mounting base 32, so that the transmission module 30 moves away from the first axis.
[0109] The transmission module 30 moves radially inward. This can be achieved by setting an elastic element such as a spring between the retainer 41 and the mounting base 32, or by setting a slide rail between the centrifugal mechanism and the mounting base 32, so that when the centrifugal component 52 retracts inward, the mounting base 32 is pulled inward by the limiting block at the bottom of the slide rail.
[0110] In this embodiment, the centrifugal mechanism further includes a swashplate 53 disposed between the transmission module 30 and the centrifugal member 52. When the centrifugal member 52 opens, the swashplate 53 is pushed by the centrifugal member 52 to move axially along the input axis 100 / output axis 200, thereby redirecting the centrifugal force to act on the transmission module 30 mounting base 32. The transmission module 30 moves radially outward under the action of the swashplate 53. When the centrifugal member 52 retracts, the swashplate 53 returns to its axial position under the action of a spring, and the transmission module 30 moves radially inward, driven by the swashplate 53 or under the action of a spring. The swashplate 53 is mounted on the stator 70 with a certain degree of axial movement, but its rotation is restricted by a disc guide block 54.
[0111] In other embodiments, the centrifugal element 52 in the centrifugal mechanism can also be a ball bearing, fluid medium, etc., disposed between the fixing member 60 and the sliding plate axially slidably connected to the fixing member 60. The magnitude of the centrifugal motion of the centrifugal element 52 drives the sliding plate to move axially, thereby driving the mounting base 32 of the transmission module 30 to move radially outward and / or radially inward via the sliding plate.
[0112] The present invention also provides a hub motor, which includes the transmission system.
[0113] 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 a cover plate; the cover plate is fixed to the stator 70, and a mounting cavity is formed between the cover plate and the stator 70; the input structure 10, the output structure 20, and the transmission module 30 are disposed within the mounting cavity.
[0114] 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.
[0115] 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.
[0116] 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.
[0117] 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.
[0118] 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.
[0119] 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, include: Input structure (10); Output structure (20); The transmission module (30) includes a transmission body (31); the transmission body (31) is in driveable contact with the input structure (10) and the output structure (20); when the input structure (10) rotates around the input axis (100), it drives the transmission body (31) to rotate around the transmission axis (300), thereby driving the output structure (20) to rotate around the output axis (200); Wherein, 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; the transmission body (31) can move along the adjustment path to change the position in contact with the input structure (10) and / or the output structure (20), thereby changing the ratio of R2 to R1; 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); the transmission module (30) is movably mounted on the fixed component (60). The transmission module (30) includes a mounting base (32), and the transmission body (31) is rotatably mounted on the mounting base (32); the mounting base (32) is movably connected to the fixing member (60); the mounting base (32) can move relative to the fixing member (60), thereby allowing the transmission body (31) to move relative to the input structure (10) and the output structure (20); The transmission system includes a force-applying mechanism (50); the force-applying mechanism (50) is a centrifugal mechanism, which includes a centrifugal element (52); as the rotational speed of the output structure (20) changes, the centrifugal element (52) moves toward or away from the output axis (200); when the centrifugal element (52) moves toward and / or away from the input axis (100), it applies a force to the mounting base (32) to make the transmission module (30) approach or move away from the input axis (100).
2. The transmission system according to claim 1, characterized in that, 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 is parallel to the second plane; the transmission shaft (300) is inclined relative to the first plane; the adjustment path is parallel to the first plane.
3. The transmission system according to claim 2, characterized in that, The input axis (100) coincides with or is parallel to the output axis (200), the transmission axis (300) is inclined relative to the input axis (100), and the transmission body (31) can move in a direction close to or away from the input axis (100) so that the ratio of R2 to R1 changes.
4. The transmission system according to claim 1, characterized in that, 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.
5. The transmission system according to claim 4, characterized in that, The outer surface of the transmission body (31) is formed by rotating a rhombus around one of its diagonals by 180 degrees, and the transmission axis (300) is the diagonal.
6. The transmission system according to claim 4 or 5, characterized in that, The input structure (10) and the output structure (20) are located on opposite sides of the transmission body (31).
7. The transmission system according to claim 1, characterized in that, The mounting base (32) includes a frame (321), a first bearing (322), and a second bearing (323); The seat frame (321) has two through ends in the first direction; the first bearing (322) and the second bearing (323) are fixed on opposite sides in the first direction of the seat frame (321), and the first bearing (322) and the second bearing (323) are located on opposite sides in the second direction of the seat frame (321), and the second direction is perpendicular to the first direction; The transmission body (31) is disposed inside the seat frame (321). The transmission body (31) is rotatably connected to the first bearing seat (322) via a shaft, and the transmission body (31) is rotatably connected to the second bearing seat (323) via a shaft.
8. The transmission system according to claim 7, characterized in that, The transmission module (30) includes a mounting shaft (33), the first shaft seat (322) is provided with a first shaft hole, the second shaft seat (323) is provided with a second shaft hole, and the transmission body (31) is provided with a third shaft hole; The first shaft hole and the second shaft hole 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.
9. The transmission system according to claim 1, characterized in that, The transmission system includes a guide structure (40), which is mounted on the fixing member (60), and the mounting base (32) is slidably mounted on the guide structure (40).
10. The transmission system according to claim 9, characterized in that, The guide structure (40) includes a retainer (41) and a guide frame (42) connected to each other; The retainer (41) is fixed to the fastener (60). The retainer (41) is a ring-shaped frame. The input axis (100) and the output axis (200) are located inside the retainer (41). At least a portion of the guide frame (42) protrudes relative to the inner wall of the retainer (41). The mounting base (32) is slidably engaged with the retainer (41).
11. The transmission system according to claim 10, characterized in that, The transmission system includes multiple guide frames (42) and multiple transmission modules (30); Multiple guide frames (42) are spaced apart on the inner side of the retainer (41), and a mounting groove (401) is formed between adjacent guide frames (42). The transmission module (30) is located in the mounting groove (401), and the opposite sides of the mounting base (32) are slidably connected to the retainers (41) on both sides.
12. The transmission system according to claim 11, characterized in that, Multiple guide frames (42) and multiple transmission modules (30) are disposed inside the retainer (41); The guide frame (42) has a pointed tip (421) at one end away from the inner side of the retainer (41); the guide frame (42) has a mating surface (422) on the side near the mounting groove (401), and the mating surfaces (422) on both sides of the mounting groove (401) are parallel.
13. The transmission system according to claim 1, characterized in that, The transmission system includes a plurality of transmission modules (30) arranged at intervals around the input axis (100).
14. The transmission system according to claim 13, characterized in that, When the centrifugal element (52) moves toward and / or away from the input axis (100), it applies a force to the mounting base (32) to move the transmission module (30) in a direction perpendicular to the input axis (100).
15. The transmission system according to claim 14, characterized in that, The centrifugal mechanism includes a centrifugal mounting column (51) and a plurality of centrifugal components (52) spaced around the centrifugal mounting column (51); the centrifugal mounting column (51) is fixed to the output structure (20); one end of the centrifugal component (52) is rotatably mounted on the centrifugal mounting column (51), and the other end is a free end; when the output structure (20) rotates, it drives the free end of the centrifugal component (52) to swing towards or away from the centrifugal mounting column (51); When the centrifugal component (52) swings away from the centrifugal mounting column (51), the centrifugal component (52) applies a force to the mounting base (32) to move the transmission module (30) away from the input axis (100).
16. A hub motor, characterized in that, The system includes a transmission system as described in any one of claims 1-15; 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).
17. The hub motor according to claim 16, characterized in that, 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 an installation 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 in the installation cavity.
18. An unmanned agricultural vehicle, characterized in that, It includes a vehicle body and a plurality of wheels rotatably mounted on the vehicle body; one or more of the wheels, the wheels including a hub motor as described in any one of claims 16-17.