Movable multi-mechanical-arm transmission system

Abstract

The invention relates to the field of robots, in particular to the technical field of movable type multi-mechanical-arm transmission systems, which comprises an electromagnetic gear and motors oppositely arranged at two ends, a bevel gear is connected with an outer rotor of the electromagnetic gear, and the two motors are respectively connected with a planet row and an RV speed reducer. Mechanical arm shafts of the eight mechanical arm power sets are evenly distributed in a circumferential multi-angle mode with the core shaft as the center, the core shaft penetrates through the outer shaft and the hollow shaft, and the movable type multi-mechanical-arm transmission system provides a movable intensive type multi-degree-of-freedom diversified multi-stage variable-torque variable-speed mechanical arm transmission system and a transmission mode thereof for the robot to work in a complex application scene.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a mobile multi-robot arm transmission system. BACKGROUND

[0002] The industrial field mainly uses single robot arm robots and linear assembly lines, single robot arm robots cannot meet the requirements of heavy load operation and intensive non-linear production line application scenarios, and cannot meet the requirements of single robot arm robot position conversion.

[0003] The present application provides a mobile multi-robot arm transmission system and a transmission method thereof, which is composed of an electromagnetic gear and two opposite electric machines, a bevel gear is connected with an outer rotor of the electromagnetic gear, two electric machines are respectively connected with a planetary gear set and an RV reducer, the shafts of eight robot arm power groups are evenly distributed at a plurality of angles in a circle with a core shaft as the center, the core shaft penetrates through an outer shaft and a hollow shaft, and a transmission system output shaft is connected with diversified load equipment.

[0004] The mobile robot arm transmission system supports multiple robot arm powers with two electric machines, supports large load complex operation with multi-stage variable torque variable speed of diversified power, is provided with a data acquisition processor, can be connected with a differential of a vehicle and a transmission device of a guide wheel, supports new application requirements of multi-robot arm robots in the fields of industrial manufacturing, logistics and mobile carriers, and provides a mobile intensive multi-degree-of-freedom, diversified multi-stage variable torque variable speed robot arm transmission system and a transmission method thereof. SUMMARY

[0005] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter.

[0006] According to the mobile multi-mechanical arm transmission system, the features include: electromagnetic gear, mechanical arm power group, motor one, motor two; The electromagnetic gear includes a magnetic gear inner rotor, a magnetic gear outer rotor and a magnetic adjusting unit; The mechanical arm power group includes a driving bevel gear, a driven bevel gear, a bevel gear shaft, a clutch and a mechanical arm shaft; The magnetic gear inner rotor is arranged on the mandrel, the driving bevel gear is arranged on the magnetic gear outer rotor, the bevel gear shaft is arranged on the driven bevel gear, and the bevel gear shaft is connected to the mechanical arm shaft through the clutch; The mandrel penetrates through the hollow shaft one and the hollow shaft two and their outer shaft one and outer shaft two, and the synchronizer one and the synchronizer four are arranged at both ends of the mandrel; The motor one rotor, the planetary gear set and the synchronizer two are arranged on the hollow shaft one, the outer shaft one is connected to the planetary carrier and the double clutch one, the motor two rotor, the RV reducer and the synchronizer three are arranged on the hollow shaft two, and the output end of the RV reducer is connected to the outer shaft two of the double clutch two; The double clutch one is arranged on the one end shell of the planetary gear set, the double clutch two is arranged on the one end shell of the RV reducer, both ends of the mandrel are connected to the inner flywheel, and the outer shaft one and the outer shaft two are connected to the outer flywheel; The synchronizer one makes the hollow shaft one and the outer shaft one engage with or separate from the mandrel, the synchronizer two makes the sun gear one of the planetary gear set engage with or separate from the hollow shaft one, the synchronizer three makes the sun gear two of the RV reducer engage with or separate from the hollow shaft two, and the synchronizer four makes the hollow shaft two and the outer shaft two engage with or separate from the mandrel; The output shaft transmits power to the load side.

[0007] According to the mobile multi-mechanical arm transmission system, the features include but are not limited to permanent magnet motors; include but not limited to bevel gear, RV reducer, planetary gear set, electromagnetic gear reducer; include but not limited to eight mechanical arm power groups.

[0008] According to the mobile multi-mechanical arm transmission system, the features include but are not limited to permanent magnet motors; include but not limited to bevel gear, RV reducer, planetary gear set, electromagnetic gear reducer; include but not limited to eight mechanical arm power groups.

[0009] According to the mobile multi-mechanical arm transmission system, the features include but are not limited to permanent magnet motors; include but not limited to bevel gear, RV reducer, planetary gear set, electromagnetic gear reducer; include but not limited to eight mechanical arm power groups.

[0010] According to the transmission mode of the mobile multi-mechanical arm transmission system, the features include but are not limited to permanent magnet motors; include but not limited to bevel gear, RV reducer, planetary gear set, electromagnetic gear reducer; include but not limited to eight mechanical arm power groups.

[0011] According to the transmission mode of the mobile multi-mechanical arm transmission system, characterized in that the motor two transmits the two-stage power to the double clutch two output shaft through the RV reducer; the motor two transmits the two-stage power to the mechanical arm shaft through the electromagnetic gear and the mechanical arm power group; the motor two transmits the four-stage power to the mechanical arm shaft through the RV reducer, the electromagnetic gear and the mechanical arm power group.

[0012] According to the transmission mode of the mobile multi-mechanical arm transmission system, characterized in that the motor one and the motor two variable speed variable torque combined power are transmitted to the mechanical arm shaft.

[0013] According to the transmission mode of the mobile multi-mechanical arm transmission system, characterized in that the motor one and the motor two variable speed variable torque power are transmitted to the mechanical arm shaft and the output shaft. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0015] DRAWINGS Figure 1 Schematic diagram of the cross section of the mobile multi-mechanical arm transmission system; Figure 2 Schematic diagram of the top view of the mobile multi-mechanical arm transmission system; Figure 3 Schematic diagram of the overall cross section of the mobile multi-mechanical arm transmission system.

[0016] Indications: Magnetic gear inner rotor 1; magnetic gear outer rotor 2; magnetic adjustment unit 3; motor one 4; motor two 5; mandrel 6; hollow shaft one 7; hollow shaft two 8; driving bevel gear 9; driven bevel gear 10; Bevel gear shaft 11; clutch 12; mechanical arm shaft 13; planetary gear set 14; planetary carrier 15; Sun gear one 16; sun gear two 17; RV reducer 18; double clutch one 19; Double clutch two 20; inner flywheel 21; outer flywheel 22; outer shaft one 23; outer shaft two 24; Output shaft 25; synchronizer one 26; synchronizer two 27; synchronizer three 28; synchronizer four 29; data acquisition processor 30; differential 31. DETAILED DESCRIPTION

[0017] In order to make the objects, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the present application with reference to the drawings in the present application. Obviously, the described embodiments are only a part of embodiments of the present application, but not all embodiments of the present application. Based upon the embodiments in the present application, all other embodiments obtained by those ordinarily skilled in the art without creative efforts should fall into the scope of the present application.

[0018] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0019] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected, it can be mechanically connected, or electrically connected, it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0020] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0021] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the present specification and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction, which belongs to the scope of protection of the present application.

[0022] The present transmission system includes but is not limited to the following embodiments: According to the mobile multi-mechanical arm transmission system embodiment, as shown in Figure 1 , Figure 2 The features include: electromagnetic gear, mechanical arm power group, motor one 4, motor two 5; The electromagnetic gear includes the magnetic gear inner rotor 1, the magnetic gear outer rotor 2, and the magnetic adjusting unit 3; The mechanical arm power group includes the driving bevel gear 9, the driven bevel gear 10, the bevel gear shaft 11, the clutch 12, and the mechanical arm shaft 13; The magnetic gear inner rotor 1 is arranged on the mandrel 6, the magnetic gear outer rotor 2 is connected with the driving bevel gear 9 and rotatably connected with the shell, the bevel gear shaft 11 is arranged on the driven bevel gear 10 and connected with the mechanical arm shaft 13 through the clutch 12; The mandrel 6 penetrates the hollow shaft one 7 and the hollow shaft two 8, the outer shaft one 23 and the outer shaft two 24; The motor one 4 rotor, the planetary gear set 14 and the synchronizer two 27 are arranged on the hollow shaft one 7, the planet carrier 15 is connected with the outer shaft one 23 of the double clutch one 19, the motor two 5 rotor, the RV reducer 18 and the synchronizer three 28 are arranged on the hollow shaft two 8, and the output end of the RV reducer 18 is connected with the outer shaft two 24 of the double clutch two 20; The double clutch one 19 is arranged on the shell at one end of the planetary gear set 14, the double clutch two 20 is arranged on the shell at one end of the RV reducer 18, the two ends of the mandrel 6 are respectively connected with the inner flywheel 21, and the outer shaft one 23 and the outer shaft two 24 are respectively connected with the outer flywheel 22; The synchronizer one 26 makes the hollow shaft one 7 and the outer shaft one 23 respectively engage with or separate from the mandrel 6, the synchronizer two 27 makes the sun gear one 16 of the planetary gear set 14 engage with or separate from the hollow shaft one 7, the synchronizer three 28 makes the sun gear two 17 of the RV reducer 18 engage with or separate from the hollow shaft two 8, and the synchronizer four 29 makes the hollow shaft two 8 and the outer shaft two 24 respectively engage with or separate from the mandrel 6; The output shaft 25 transmits power to the load side; The mandrel 6, the hollow shaft one 7, the hollow shaft two 8, the outer shaft one 23 and the outer shaft two 24 are rotatably connected with the shell; Permanent magnets are arranged on the magnetic gear inner rotor 1 and the magnetic gear outer rotor 2, the motor one 4 rotor and the motor two 5 rotor.

[0023] According to the mobile multi-mechanical arm transmission system embodiment, as shown in Figure 3 The end of the outer shaft 23 and one end of the output shaft 25 are provided with a data acquisition processor 30 for collecting and processing information about the external environment and working conditions of the robot.

[0024] According to the transmission mode of the mobile multi-mechanical arm transmission system embodiment, the motor 4 transmits power to the output shaft 25 of the double clutch 19 through the planetary gear 14; the motor 4 transmits secondary power to the mechanical arm shaft 13 through the electromagnetic gear and the mechanical arm power group; the motor 4 transmits tertiary power to the mechanical arm shaft 13 through the planetary gear 14, the electromagnetic gear, and the mechanical arm power group.

[0025] According to the first embodiment, under the control of the controller, the rotor of the motor 4 drives the hollow shaft 7 to rotate, the synchronizer 27 makes the sun gear 16 of the planetary gear 14 engage with the hollow shaft 7, the motor 4 transmits power to the load side of the output shaft 25 through the planetary gear 14, and the power is transmitted to the outer shaft 23 of the double clutch 19 and the load side of the output shaft 25 by the planet carrier 15; when this transmission mode is implemented, the synchronizer 26 does not act.

[0026] According to the second embodiment, under the control of the controller, the rotor of the motor 4 drives the hollow shaft 7 to rotate, the synchronizer 26 makes the hollow shaft 7 engage with the mandrel 6, the synchronizer 27 makes the sun gear 16 separate from the hollow shaft 7, the mandrel 6 drives the magnetic gear inner rotor 1 to rotate, the power is transmitted to the driving bevel gear 9 on the magnetic gear outer rotor 2 through the magnetic adjustment unit 3, the driving bevel gear 9 meshes with the driven bevel gear 10, and the bevel gear shaft 11 transmits secondary reduction and torque-increasing power to the mechanical arm shaft 13 through the clutch 12.

[0027] According to the third embodiment, under the control of the controller, the rotor of the motor 4 drives the hollow shaft 7 to rotate, the synchronizer 27 makes the sun gear 16 engage with the hollow shaft 7, the motor 4 and the planetary gear 14 implement primary reduction and torque-increasing, the power is transmitted to the outer shaft 23 by the planet carrier 15, the synchronizer 26 makes the outer shaft 23 engage with the mandrel 6, the power of the planetary gear 14 is transmitted to the mandrel 6, the mandrel 6 drives the magnetic gear inner rotor 1 to rotate, the power is transmitted to the magnetic gear outer rotor 2, the driving bevel gear 9, and the eight driven bevel gears 10 through the magnetic adjustment unit 3, and the bevel gear shaft 11 transmits tertiary reduction and torque-increasing power to the mechanical arm shaft 13 through the clutch 12.

[0028] According to the transmission mode embodiment of the mobile multi-mechanical arm transmission system, characterized in that the motor two 5 transmits the two-stage power to the output shaft 25 of the double clutch two 20 through the RV reducer 18; the motor two 5 transmits the two-stage power to the mechanical arm shaft 13 through the electromagnetic gear and the mechanical arm power group; the motor two 5 transmits the four-stage power to the mechanical arm shaft 13 through the RV reducer 18, the electromagnetic gear and the mechanical arm power group.

[0029] According to the embodiment 4, under the control of the controller, the motor two 5 rotor drives the hollow shaft two 8 to rotate, the synchronizer three 28 makes the hollow shaft two 8 engage with the sun gear two 17 of the RV reducer 18, the motor two 5 transmits the power to the outer shaft two 24 of the double clutch two 20 and to the load side of the output shaft 25 through the output end of the RV reducer 18; when this transmission mode is implemented, the synchronizer four 29 does not work.

[0030] According to the embodiment 5, under the control of the controller, the motor two 5 rotor drives the hollow shaft two 8 to rotate, the synchronizer three 28 makes the hollow shaft two 8 separate from the sun gear two 17, the synchronizer four 29 makes the hollow shaft two 8 engage with the mandrel 6, the mandrel 6 drives the magnetic gear inner rotor 1 to rotate, the motor two 5 transmits the power to the magnetic gear outer rotor 2 and the driving bevel gear 9 through the magnetic field adjusting unit 3, and the two-stage power is transmitted to the mechanical arm shaft 13 through the clutch 12 and the bevel gear shaft 11.

[0031] According to the embodiment 6, under the control of the controller, the motor two 5 rotor drives the hollow shaft two 8 to rotate, the synchronizer three 28 makes the sun gear two 17 engage with the hollow shaft two 8, the motor two 5 transmits the power to the outer shaft two 24 of the double clutch two 20 through the RV reducer 18, the synchronizer four 29 makes the outer shaft two 24 engage with the mandrel 6, the mandrel 6 drives the magnetic gear inner rotor 1 to rotate, the power is transmitted to the driving bevel gear 9 and the driven bevel gear 10 of the magnetic gear outer rotor 2 through the magnetic field adjusting unit 3, and the four-stage power is transmitted to the mechanical arm shaft 13 through the clutch 12 and the bevel gear shaft 11.

[0032] According to the transmission mode embodiment of the mobile multi-mechanical arm transmission system, characterized in that the motor one 4 and the motor two 5 transmit the combined power to the mechanical arm shaft 13.

[0033] According to the embodiment 7, optionally, under the control of the controller, the embodiment 2 and the embodiment 5 are simultaneously implemented, the mechanical arm shaft 13 can obtain the combined power transmitted to the mandrel 6 by the motor one 4 and the motor two 5, and the combined power of the mandrel 6 is transmitted to the mechanical arm shaft 13 through the electromagnetic gear and the mechanical arm power group; when this transmission mode is implemented, the motor one 4 and the motor two 5 transmit the same speed to the mandrel 6.

[0034] According to this embodiment 8, optionally, under the control of the controller, embodiments 3 and 6 can be operated simultaneously. Motor 1 4 transmits power to spindle 6 through planetary gear 14 and motor 2 5 through RV reducer 18. The spindle 6 transmits the combined power to the robotic arm shaft 13 through electromagnetic gears and robotic arm power group speed change and torque change. When this transmission method is implemented, the rotational speeds of planetary gear 14 and RV reducer 18 transmitted to spindle 6 are the same.

[0035] According to this embodiment 9, optionally, under the control of the controller, embodiments 2 and 6 can be operated simultaneously. The robotic arm shaft 13 can obtain the combined power of motor 4 and motor 5 transmitted to the spindle 6 through RV reducer 18, and the combined power of the spindle 6 through the electromagnetic gear and the speed-changing torque of the robotic arm power group; when this transmission method is implemented, the rotational speeds of motor 4 and RV reducer 18 transmitting power to the spindle 6 are the same.

[0036] According to this embodiment 10, optionally, under the control of the controller, embodiments 3 and 5 can be operated simultaneously. The power of motor 1 4 and planetary gear 14 and the power of motor 2 5 are transmitted to the spindle 6 at the same speed. The spindle 6 transmits the combined power to the robotic arm 13 through the electromagnetic gear and the speed and torque of the robotic arm power group.

[0037] According to an embodiment of the transmission method of the mobile multi-manipulator transmission system, the characteristic is that the power of motor 4 and motor 5 is transmitted to the manipulator shaft 13 and the output shaft 25 by means of power splitting.

[0038] According to this embodiment 11, under the control of the controller, the power splitting output mode is implemented. Selectively, synchronizer 27 engages the sun gear 16 with the hollow shaft 7, the power of motor 4 is transmitted to the outer shaft 23 through the planetary gear set 14, synchronizer 26 engages the outer shaft 23 with the spindle 6, synchronizer 3 28 engages the sun gear 17 with the hollow shaft 28, the power of motor 25 is transmitted to the outer shaft 24 through the RV reducer 18, synchronizer 4 29 engages the outer shaft 24 with the spindle 6, the power of motor 4 and motor 25 after speed and torque conversion is transmitted to the spindle 6 at the same speed, and the spindle 6 simultaneously splits the combined power to the output shaft 25 of the robotic arm shaft 13, the output shaft 25 of the dual clutch 19 and / or the output shaft 25 of the dual clutch 20; when implementing this transmission mode, the inner flywheel 21 is coupled and the outer flywheel 22 is not coupled.

[0039] According to this embodiment 12, under the control of the controller, the power splitting output mode is implemented. Synchronizer 3 28 engages the sun gear 2 17 with the hollow shaft 2 8. The motor 2 5 transmits power to the outer shaft 2 24 through the RV reducer 18, and the power splitting is implemented by the outer shaft 2 24. The outer flywheel 22 connected to the outer shaft 2 24 is coupled to the clutch device of the output shaft 25. The output shaft 25 of the dual clutch 2 20 outputs part of the power splitting to the load side. Synchronizer 4 29 engages the outer shaft 2 24 with the spindle 6. The spindle 6 receives the power splitting from the outer shaft 2 24 and transmits it to the load side of the robotic arm shaft 13 through the electromagnetic gear and the robotic arm power group. Alternatively, the clutch device of the output shaft 25 of the dual clutch 1 19 is coupled to the inner flywheel 21 of the spindle 6, and the output shaft 25 of the dual clutch 19 outputs the splitting power simultaneously.

[0040] According to this embodiment 13, under the control of the controller, the output mode of power diversion can be selectively implemented, including but not limited to the power diversion transmission mode of embodiments 2, 3, 5, 6, 7, 8, 9, and 10, to simultaneously divert and transmit the power of motor 1 4 and / or motor 2 5 to the load side of the robotic arm shaft 13 and its output shaft 25.

[0041] According to an embodiment of the transmission method of a mobile multi-robotic arm transmission system, such as Figure 3 As shown, the feature is that a data acquisition processor 30 is provided at one end of the outer shaft 23 and one end of the output shaft 25 for the robot to collect and process information on changes in the external environment and working conditions; the other end of the output shaft 25 is connected to vehicle transmission devices such as differential 31 and guide wheels; under the control of the controller, the data acquisition processor 30 can follow the spindle 6 and / or the outer shaft 23 to perform 360-degree spatial rotation, and the output shaft 25 drives the wheeled robot to perform position movement by connecting to transmission devices such as differential 31.

[0042] According to the embodiments of the mobile multi-manipulator transmission system and transmission method, the present invention provides a technical solution for a mobile robot transmission system supported by two motors with multi-level and multi-speed ratio adjustable, multiple transmission methods, multi-manipulator output, and adjustable transmission ratio.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit, scope and principle of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile multi-manipulator transmission system, characterized by: The system comprises an electromagnetic gear, a robotic arm power unit, a motor 1, and a motor 2; the electromagnetic gear includes an inner magnetic gear rotor, an outer magnetic gear rotor, and a magnetic adjustment unit; the robotic arm power unit includes a driving bevel gear, a driven bevel gear, a bevel gear shaft, a clutch, and a robotic arm shaft. The inner rotor of the magnetic gear is located on the spindle, the driving bevel gear is located on the outer rotor of the magnetic gear, the bevel gear shaft is located on the driven bevel gear, and the bevel gear shaft is connected to the robotic arm shaft by the clutch; The mandrel passes through hollow shaft one and hollow shaft two, as well as outer shaft one and outer shaft two, and synchronizer one and synchronizer four are respectively located at both ends of the mandrel; The rotor, planetary gear set, and synchronizer 2 of the motor 1 are located on the hollow shaft 1. The planetary carrier is connected to the outer shaft 1 of the dual clutch 1. The rotor, RV reducer, and synchronizer 3 of the motor 2 are located on the hollow shaft 2. The output end of the RV reducer is connected to the outer shaft 2 of the dual clutch 2. The first dual clutch is located in one end housing of the planetary gear set, the second dual clutch is located in one end housing of the RV reducer, the two ends of the spindle are respectively connected to the inner flywheel, and the first outer shaft and the second outer shaft are respectively connected to the outer flywheel; the output shaft transmits power to the load side.

2. The mobile multi-robotic arm transmission system according to claim 1, characterized in that, Synchronizer 1 engages and disengages the hollow shaft 1 and the outer shaft 1 from the spindle, respectively; synchronizer 2 engages and disengages the sun gear 1 of the planetary gear set from the hollow shaft 1; synchronizer 3 engages and disengages the sun gear 2 of the RV reducer from the hollow shaft 2; and synchronizer 4 engages and disengages the hollow shaft 2 and the outer shaft 2 from the spindle, respectively.

3. The mobile multi-robotic arm transmission system according to claim 1, characterized in that, Including but not limited to permanent magnet motors, including but not limited to bevel gears, RV reducers, planetary gear sets, and electromagnetic gear reducers.

4. The mobile multi-robotic arm transmission system according to claim 1, characterized in that, Data acquisition processors are provided at the ends of the outer shaft and the output shaft.

5. The mobile multi-robotic arm transmission system according to claim 1, characterized in that, The output shaft connection includes, but is not limited to, the vehicle's differential and guide wheels.

6. The mobile multi-robotic arm transmission system according to claim 1, characterized in that, This includes, but is not limited to, the eight robotic arm power units.

7. The transmission method of the mobile multi-robotic arm transmission system according to claim 1, characterized in that, The transmission method in which motor 1 transmits power to the output shaft of the dual clutch 1 via the planetary gear set; the transmission method in which motor 1 transmits secondary power to the robotic arm shaft via the electromagnetic gear and the robotic arm power unit; and the transmission method in which motor 1 transmits tertiary power to the robotic arm shaft via the planetary gear set, the electromagnetic gear, and the robotic arm power unit.

8. The transmission method of the mobile multi-robotic arm transmission system according to claim 1, characterized in that, The transmission method in which the second motor transmits secondary power to the output shaft of the second dual clutch via the RV reducer; the transmission method in which the second motor transmits secondary power to the robotic arm shaft via the electromagnetic gear and the robotic arm power unit; and the transmission method in which the second motor transmits fourth-stage power to the robotic arm shaft via the RV reducer, the electromagnetic gear, and the robotic arm power unit.

9. The transmission method of the mobile multi-robotic arm transmission system according to claim 1, characterized in that, The transmission method in which the combined speed and torque of motor one and motor two are used to transmit power to the shaft of the robotic arm.

10. The transmission method of a mobile multi-robotic arm transmission system according to claim 1, characterized in that, The variable speed and torque power of motor one and motor two is transmitted to the mechanical arm shaft and the output shaft through a power splitting transmission method.

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