Gear shifter for mobile robot carrier

Abstract

The gear shifter comprises an input shaft, an output shaft and a gear shifting assembly, the input shaft is provided with a first-gear gear and a second-gear gear which rotate coaxially, the output shaft is provided with a first transmission gear and a second transmission gear which are connected in an empty sleeving mode, and the output shaft and the input shaft are arranged in parallel and extend reversely; the first transmission gear is meshed with the second-gear gear, and the second transmission gear is meshed with the first-gear gear; the gear shifting assembly comprises a sliding sleeve and a moving part. The sliding sleeve is arranged on the output shaft in a sliding mode and used for locking the first transmission gear and the output shaft or locking the second transmission gear and the output shaft. The moving part is arranged close to the end, away from the output shaft, of the input shaft and used for driving the sliding sleeve to slide on the output shaft. The gear shifter is installed between the motor and the speed reducer, and on the premise that the rotating speed of the input end is kept unchanged, different requirements for the moving speed and traction force can be met through back-and-forth switching of the gear shifter.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a gear shifter for a mobile robot carrier. Background Technology

[0002] The mobile chassis of a robot can be divided into wheeled drive, tracked drive, etc. Regardless of whether it is wheeled drive or tracked drive, a drive wheel needs to be set up. The drive wheel is driven directly by a motor, or by a motor + reducer (or reducer) (as shown in the applicant's earlier patent application with patent number CN202311863039.1).

[0003] The mobile chassis of a robot has different requirements for movement speed and traction in different scenarios. In terms of motor operating characteristics, high speed rotation results in low torque, while low speed rotation results in high torque. Therefore, in the field of mobile robots, motor speed is usually controlled to meet the above two different usage requirements. However, motor control is relatively complex and prone to failure. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a gear shifter for mobile robot carriers. By installing the gear shifter between the motor and the reducer, different speeds and traction requirements can be switched back and forth while keeping the input speed constant.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a gear shifter for a mobile robot carrier, comprising an input shaft, an output shaft, and a gear shifting assembly. The input shaft is equipped with a first-speed gear and a second-speed gear that rotate coaxially. The output shaft is equipped with a first transmission gear and a second transmission gear connected by a loose sleeve. The output shaft is arranged parallel to the input shaft and extends in the opposite direction. The first transmission gear meshes with the second gear, and the second transmission gear meshes with the first gear. The shift assembly includes a sliding sleeve and a moving part. The sliding sleeve is slidably disposed on the output shaft and is used to lock the first transmission gear to the output shaft or to lock the second transmission gear to the output shaft. The moving part is positioned at the end closer to the input shaft and farther from the output shaft, and is used to drive the sliding sleeve to slide on the output shaft.

[0006] Compared with the prior art, the present invention has the following beneficial effects: The gear shifter in this application is similar in principle to the gear shifters on existing motorcycles and locomotives. It mainly achieves the transmission between the input shaft and the output shaft through the cooperation of gears of different gear positions. The first gear and the second gear use gears with different tooth diameters. The first transmission gear and the second transmission gear can use the same tooth diameter or different tooth diameters. However, it is necessary to ensure that the rotational speed of the output shaft locked with the first transmission gear and the rotational speed of the output shaft locked with the second transmission gear are different in order to achieve the function of shifting gears.

[0007] To achieve gear shifting, it is necessary to ensure that the first and second transmission gears rotate freely on the output shaft. When gear shifting is required, the gear shifting assembly is used to lock the first transmission gear to the output shaft or the second transmission gear to the output shaft to achieve gear shifting.

[0008] In this design, the sliding sleeve of the shifting assembly slides on the output shaft and can lock the first transmission gear and the output shaft, or the second transmission gear and the output shaft, during sliding. A moving component drives the sliding sleeve to move on the output shaft. This moving component can be a threaded rod + threaded sleeve structure; simply connecting the threaded sleeve to the sliding sleeve allows the sliding sleeve to move on the output shaft. However, this application specifies the position of the moving component, placing it in the gap between the output shaft and the input shaft connection structure. This makes the overall structure of the shifter more compact, and its overall projection can be within a small rectangular frame. This facilitates placing the shifter between the drive motor's drive shaft and the reducer (or gearbox). When the shifter is installed inside the robot's cabin, simply adjusting the drive motor's mounting position allows for installation within the robot's cabin. Compared to other shifter structures, this application's shifter is more suitable for robots, allowing the output shaft speed to be changed while maintaining a constant input shaft speed. This is suitable for robots with varying requirements for chassis movement speed and traction.

[0009] Furthermore, the sliding sleeve includes a fixed sleeve and a movable sleeve that are rotatably connected internally and externally. The fixed sleeve is sleeved on the output shaft and slidably connected to the output shaft, and the movable sleeve is connected to the moving part. A locking structure is provided between the fixed sleeve and the output shaft, the first transmission gear, and the second transmission gear, so that the fixed sleeve can move along the output shaft to lock the first transmission gear and the output shaft or to lock the second transmission gear and the output shaft.

[0010] Furthermore, the locking structure includes a female structure and three male structures. The female structure is mounted on the fixed sleeve, and the three male structures are respectively configured to cooperate with the output shaft, the first transmission gear, and the second transmission gear. The mother structure includes at least one fixed through groove, which is formed inside the fixed sleeve and arranged along the through groove direction of the fixed sleeve. Each fixed through groove is arranged in a ring along the inner wall of the fixed sleeve. The male structure includes at least one protrusion, the number of which is the same as the number of fixed through slots. The protrusions extend along the length of the output shaft, and the protrusions are arranged in a ring around the circumference of the output shaft. Each protrusion is arranged in a circumferential ring around the first idler sleeve, coaxial with the first transmission gear, or Each protrusion is arranged in a circumferential ring around the second idler sleeve, which is coaxial with the second transmission gear. The fixed sleeve slides along the output shaft to lock the first idle sleeve to the output shaft, or to lock the second idle sleeve to the output shaft.

[0011] Furthermore, the moving component includes at least one connecting rod, a moving seat, and a rotating seat. The connecting rod is slidably set along the length of the output shaft. The connecting rod is used to connect the sliding sleeve and the movable seat. The movable seat is rotatably connected to the rotating seat. The rotation of the rotating seat drives the movable seat to reciprocate along the length of the output shaft.

[0012] Furthermore, the rotating seat is driven to rotate by a shift motor, and the connection point between the moving seat and the rotating seat is located off-center from the axis of the shift motor drive shaft.

[0013] Furthermore, the rotating seat is provided with at least one connecting groove, and the movable seat is provided with a rotatably connected connecting pin, which is connected to any connecting groove.

[0014] Furthermore, it also includes a position sensor, which is used to detect the distance the sliding sleeve moves on the output shaft.

[0015] Furthermore, it also includes the installation of a casing. The first gear, second gear, first transmission gear, and second transmission gear are all located inside the mounting housing. The connection end of the output shaft and the connection end of the input shaft pass through the mounting housing and are rotatably connected to the external force of the mounting. The moving part is located outside the mounting housing and is set near the connection end of the input shaft. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the appearance structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 This is a schematic diagram of an exploded structure according to the present invention; Figure 4 This is a schematic diagram of a structure in which the input shaft, output shaft, and shifting assembly cooperate in this invention; Figure 5 This is a schematic diagram of an exploded structure of the output shaft and sliding sleeve in this invention.

[0017] In the figure: mounting housing 100, half-shell 110, connecting seat 120, mounting seat 130, sliding seat 140, sealing ring 150, output shaft 200, second transmission gear 210, second idle sleeve 211, transition section 220, first transmission gear 230, first idle sleeve 231, input shaft 300, first gear 310, second gear 320, position sensor 400, moving part 500, connecting rod 510, rotating seat 520, connecting groove 521, moving seat 530, connecting pin 531, shift motor 540, sliding sleeve 600, moving sleeve 610, fixed sleeve 620, locking structure 700, protrusion 710, guide structure 711, fixed through groove 720. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] like Figure 1 , 2 As shown in Figures 3, 4, and 5, a gear shifter for a mobile robot carrier includes an input shaft 300, an output shaft 200, and a shifting assembly. The input shaft 300 is equipped with a first gear 310 and a second gear 320 that rotate coaxially. The output shaft 200 is equipped with a first transmission gear 230 and a second transmission gear 210 that are loosely connected. The output shaft 200 is parallel to the input shaft 300 and extends in the opposite direction. The first transmission gear 230 meshes with the second gear 320, and the second transmission gear 210 meshes with the first gear 310. The shifting assembly includes a sliding sleeve 600 and a moving member 500. The sliding sleeve 600 slides on the output shaft 200 and is used to lock the first transmission gear 230 and the output shaft 200, or to lock the second transmission gear 210 and the output shaft 200. The moving member 500 is located at one end near the input shaft 300 and away from the output shaft 200, and is used to drive the sliding sleeve 600 to slide on the output shaft 200.

[0020] Understandably, the gear shifter in this application is similar in principle to existing gear shifters on motorcycles and locomotives. It primarily achieves transmission between the input shaft 300 and the output shaft 200 through the engagement of gears at different gear positions. The first gear 310 and the second gear 320 use gears with different tooth diameters. The first transmission gear 230 and the second transmission gear 210 can use the same or different tooth diameters, but it is necessary to ensure that the rotational speeds of the output shaft 200 and the first transmission gear 230 when locked, and the rotational speeds of the output shaft 200 and the second transmission gear 210 when locked, are different to achieve the gear shifting function. In this application, the reduction ratio i is based on the formula: reduction ratio i = number of teeth on the driven gear (first transmission gear 230 or second transmission gear 210) / number of teeth on the driving gear (first gear 310 or second gear 320). Figure 2 , 3 As shown in Figure 4, this application designs one set of gears with a larger reduction ratio in order to reduce the output speed and increase the output torque (force), while the other set of gears has a smaller reduction ratio in order to increase the output speed.

[0021] To achieve gear shifting, it is necessary to ensure that the first transmission gear 230 and the second transmission gear 210 idle on the output shaft 200. Specifically, a coaxial idling sleeve is provided for each of the first transmission gear 230 and the second transmission gear 210. These two idling sleeves are fitted onto the output shaft 200 and rotatably connected to the output shaft 200 via bearings, thus enabling the idling of the first transmission gear 230 and the second transmission gear 210 on the output shaft 200. In this application, for ease of distinction, the idling sleeve on the first transmission gear 230 is designated as the first idling sleeve 231, and the idling sleeve on the second transmission gear 210 is designated as the second idling sleeve 211. When gear shifting is required, the gear shifting assembly is used to lock the first transmission gear 230 to the output shaft 200 or to lock the second transmission gear 210 to the output shaft 200, thereby achieving gear shifting.

[0022] The first transmission gear 230 and the second transmission gear 210 are spaced apart on the output shaft 200. To allow the sliding sleeve 600 of the shift assembly to selectively fix either the first transmission gear 230, the second transmission gear 210, or the output shaft 200, the sliding sleeve 600 needs to be positioned between the first transmission gear 230 and the second transmission gear 210. The sliding sleeve 600 slides on the output shaft 200, and during sliding, it can lock either the first transmission gear 230 to the output shaft 200 or the second transmission gear 210 to the output shaft 200.

[0023] The movable component 500 is used to drive the sliding sleeve 600 to move on the output shaft 200. The movable component 500 can adopt a threaded rod + threaded sleeve structure. Simply connecting the threaded sleeve to the sliding sleeve 600 can realize the movement of the sliding sleeve 600 on the output shaft 200. However, the position of the movable component 500 in this application is limited, and it is set in the gap between the connection structure of the output shaft 200 and the input shaft 300. This makes the overall structure of the shifter more compact, and the overall projection can be within a small rectangular frame. This is beneficial for placing the shifter between the drive motor drive shaft and the reducer (or reducer). When the shifter is placed inside the robot cabin, only the installation position of the drive motor needs to be appropriately moved to install the shifter inside the robot cabin. Compared with other shifter structures, the shifter of this application is more suitable for robots. Thus, the speed of the output shaft 200 can be changed while the speed of the input shaft 300 remains unchanged. This is suitable for robot mobile chassis with different moving speed and traction requirements.

[0024] The sliding sleeve 600 needs to slide on the output shaft 200 without affecting the rotation of the output shaft 200. Based on this, this application sets the sliding sleeve 600 as a fixed sleeve 620 and a movable sleeve 610 that are rotatably connected internally and externally. The fixed sleeve 620 is sleeved on the output shaft 200 and slidably connected to the output shaft 200, and the movable sleeve 610 is connected to the movable component 500. Both the fixed sleeve 620 and the movable sleeve 610 adopt a ring structure and form a concentric circle structure. A rotating bearing is set between the outer wall of the fixed sleeve 620 and the inner wall of the movable sleeve 610. When the movable sleeve 610 moves, it can drive the fixed sleeve 620 to move. The fixed sleeve 620 rotates with the output shaft 200, and the movable sleeve 610 does not need to rotate.

[0025] Furthermore, the sliding sleeve 600 has an inner and outer enclosing structure. Existing shift fork structures (such as the fit between parts 16 and 11 in patent application CN202420397318.7) have cantilevered shift fork arms. During shifting, the shift fork head needs to push the gear shift axially, concentrating the impact force at the junction of the shift fork arm and the splined connecting plate. Under long-term alternating loads, such as the impact and vibration during shifting, the shift fork arm is prone to localized stress concentration, leading to cracks or even breakage, especially under high torque and frequent shifting conditions, significantly shortening its lifespan. The inner and outer enclosing sliding sleeve 600 structure of this application effectively avoids these problems and has a longer service life.

[0026] Of course, to ensure that the fixed sleeve 620 can be moved to lock either the first transmission gear 230 and the output shaft 200 or the second transmission gear 210 and the output shaft 200, a locking structure 700 is required between the fixed sleeve 620 and the output shaft 200, the first transmission gear 230, and the second transmission gear 210, so that the fixed sleeve 620 can move along the output shaft 200 to lock the first transmission gear 230 and the output shaft 200 or to lock the second transmission gear 210 and the output shaft 200.

[0027] In the prior art, the locking structure 700 can adopt a method of insertion holes and inserts (such as the fit between component 16 and components 10 and 12 in patent application number CN202420397318.7), which can enable the fixed sleeve 620 to move along the output shaft 200 to lock the first transmission gear 230 and the output shaft 200 or to lock the second transmission gear 210 and the output shaft 200. However, this existing structure results in multiple fit gaps in the transmission path of the fixed sleeve 620 along the output shaft 200. These gaps cause lag during gear shifting, and the accumulation of these gaps creates "free travel" when the shift fork pushes the gear, increasing the shifting force and reducing the smoothness of the shifting feel.

[0028] Based on this, the locking structure 700 of this application has been improved on the existing basis. Specifically, the locking structure 700 includes a female structure and three male structures. The female structure is disposed on the fixed sleeve 620, and the three male structures are respectively configured to cooperate with the output shaft 200, the first transmission gear 230, and the second transmission gear 210. The female structure includes at least one fixed through groove 720, which is formed inside the fixed sleeve 620 and arranged along the through groove direction of the fixed sleeve 620. Each fixed through groove 720 is arranged in a ring along the inner wall of the fixed sleeve 620. The male structures include a number and a fixed At least one protrusion 710 of the same number exists in the through groove 720. The protrusions 710 extend along the length of the output shaft 200. Each protrusion 710 is arranged in a ring around the output shaft 200, or in a ring around the first idler sleeve 231 coaxial with the first transmission gear 230, or in a ring around the second idler sleeve 211 coaxial with the second transmission gear 210. The fixing sleeve 620 slides along the output shaft 200 to lock the first idler sleeve 231 to the output shaft 200, or to lock the second idler sleeve 211 to the output shaft 200. Figure 5As shown, the parent structure consists of multiple fixed through slots 720, each of which is arranged in a ring along the inner wall of the fixed sleeve 620. Multiple protrusions 710 on the output shaft 200 are arranged in a ring to form a spline structure. Similarly, multiple protrusions 710 are provided circumferentially on the first idle sleeve 231 and the second idle sleeve 211. To facilitate the movement of the fixed sleeve 620, a transition section 220 is provided in the middle of the output shaft 200, making the output shaft 200 a variable diameter shaft structure. Multiple protrusions 710 are located around the transition section 220, which compensates for the diameter difference between the first idle sleeve 231, the second idle sleeve 211, and the output shaft 200, ensuring that the fixed sleeve 620 can move smoothly on the first idle sleeve 231, the second idle sleeve 211, and the transition section 220. The locking structure 700 of this application not only satisfies the smooth movement of the fixed sleeve 620 but also avoids problems caused by uneven local force distribution. It is worth noting that a guide structure 711 is provided at the end of each protrusion 710 of the first idle sleeve 231 and the second idle sleeve 211 near the fixed sleeve 620. The guide structure 711 has an flared structure facing the first idle sleeve 231 and the second idle sleeve 211, which can make gear shifting smoother.

[0029] To facilitate the movement of the sliding sleeve 600, this application provides a moving part 500. Based on the installation position of the moving part 500, the space volume of the shifter cannot be excessively increased. The moving part 500 of this application includes at least one connecting rod 510, a moving seat 530, and a rotating seat 520. The connecting rod 510 is slidably disposed along the length direction of the output shaft 200. The connecting rod 510 is used to connect the sliding sleeve 600 and the moving seat 530. The moving seat 530 is rotatably connected to the rotating seat 520. The rotation of the rotating seat 520 drives the moving seat 530 to reciprocate along the length direction of the output shaft 200. Figure 1 , 2 As shown in Figures 3 and 4, the movable component 500 has two connecting rods 510. Each connecting rod 510 is parallel to the output shaft 200 along both sides of the output shaft 200. One end of the connecting rod 510 is fixed to the movable sleeve 610, and the other end of the connecting rod 510 is fixed to the movable seat 530. When the rotating seat 520 rotates and drives the movable seat 530 to move, the sliding sleeve 600 can be driven to move through the connecting rod 510 to realize the gear shifting operation.

[0030] Based on the compact design of the gear shifter, the rotating seat 520 of this application is driven to rotate by the gear shift motor 540. The connection point between the movable seat 530 and the rotating seat 520 is located off-center from the axis of the drive shaft of the gear shift motor 540. It can be understood that the rotating seat 520 can be a disc structure. By coaxially aligning the drive shaft of the gear shift motor 540 with the rotating seat 520, and by setting the connection point between the movable seat 530 and the rotating seat 520 at an off-center position on the rotating seat 520, the rotating seat 520 can function as a cam structure. When the rotating seat 520 rotates, the movable seat 530 can move. The gear shift motor 540 is a servo motor, stepper motor, or other electrically controllable motor to facilitate control of the rotation direction of the gear shift motor 540.

[0031] To facilitate the connection between the rotating seat 520 and the movable seat 530, this application provides at least one connecting groove 521 on the rotating seat 520 and a rotatably connected connecting pin 531 on the movable seat 530. The connecting pin 531 connects to any connecting groove 521. The connecting grooves 521 can be arbitrarily arranged on the rotating seat 520, such as arranged radially along the drive shaft of the shift motor 540. After the connecting pin 531 connects to the connecting grooves 521 at different positions, the movable seat 530 can move different distances during one revolution of the rotating seat 520. Figure 4 As shown, in this application, a connecting groove 521 is provided. The connecting pin 531 is connected to the movable seat 530 through a bearing. It can be rotatably connected or fixedly connected to the connecting groove 521, which can realize the rotation of the rotating seat 520, drive the movement of the movable seat 530, and thus drive the movement of the sliding sleeve 600 on the output shaft 200.

[0032] To further ensure that the movement of the sliding sleeve 600 enables gear shifting, this application also includes a position sensor 400, which is used to detect the movement distance of the sliding sleeve 600 on the output shaft 200. Figure 1 , 3 As shown in Figure 4, two position sensors 400 are provided. The two position sensors 400 are used to detect the position of the sliding sleeve 600 when it is engaged with the first transmission gear 230 and the position when it is engaged with the second transmission gear 210, respectively. For ease of installation, the two position sensors 400 are respectively engaged with the two connecting rods 510 to detect the movement distance of the connecting rods 510, thereby realizing the detection of the position of the sliding sleeve 600.

[0033] To facilitate the overall integration of the gear shifter, this application also includes a mounting housing 100. The first gear 310, second gear 320, first transmission gear 230, and second transmission gear 210 are all located within the mounting housing 100. The connecting ends of the output shaft 200 and the input shaft 300 respectively penetrate the mounting housing 100 and are rotatably connected to the external force. The movable component 500 is partially located outside the mounting housing 100, near the connecting end of the input shaft 300. Figure 1 , 2 As shown in Figure 3, the mounting housing 100 is composed of two half-shells 110 joined together. A sealing ring 150 is provided between the two half-shells 110 to achieve a sealing effect. The two half-shells 110 are locked together by multiple bolts. The output shaft 200 and the input shaft 300 are rotatably connected to the mounting housing 100 via bearings. The two connecting rods 510 extend out of the mounting housing 100 and are slidably connected to it. The mounting housing 100 has two connecting sides. The connecting end of the output shaft 200 passes through one connecting side of the mounting housing 100 and is used to connect to the input end of the robot's reducer (or speed reducer). The connecting end of the input shaft 300 passes through the other connecting side of the mounting housing 100 and is used to connect to the drive shaft of the robot's drive motor. Figure 1 , 2 As shown in Figure 3, to facilitate the connection between the input shaft 300 and the drive motor, a connecting seat 120 is provided on the outer side of the connecting side wall of the mounting housing 100. The connecting seat 120 facilitates the fixed connection between the drive shaft of the drive motor and the input shaft 300, ensuring that the drive motor can drive the input shaft 300 to rotate. Simultaneously, to facilitate the installation of the moving part 500, a mounting seat 130 is also provided on the outer side of the connecting side wall of the mounting housing 100 where the connecting seat 120 is located. The mounting seat 130 and the mounting housing 100 are detachably connected. The shift motor 540 and the two position sensors 400 are both installed in conjunction with the mounting seat 130, allowing the moving part 500 to be positioned below (or above) the projection of the connecting seat 120, achieving a compact design for the shifter and making it more suitable for robot use. To facilitate the movement of the connecting rod 510, two connecting holes are provided on the connecting side wall of the mounting housing 100 near the mounting seat 130. A sliding seat 140 is embedded in the connecting holes to facilitate the smooth movement of the connecting rod 510.

[0034] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 according to the specific circumstances.

[0035] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and 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 a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0036] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A gear shifter for a mobile robot carrier, characterized in that: Includes an input shaft (300), an output shaft (200), and a shift assembly. The input shaft (300) is equipped with a first gear (310) and a second gear (320) that rotate coaxially. The output shaft (200) is provided with a first transmission gear (230) and a second transmission gear (210) connected by a loose sleeve. The output shaft (200) is arranged parallel to the input shaft (300) and extends in the opposite direction. The first transmission gear (230) meshes with the second gear (320), and the second transmission gear (210) meshes with the first gear (310). The shift assembly includes a sliding sleeve (600) and a moving part (500). The sliding sleeve (600) is slidably disposed on the output shaft (200) and is used to lock the first transmission gear (230) to the output shaft (200) or to lock the second transmission gear (210) to the output shaft (200). The movable part (500) is positioned at one end near the input shaft (300) and away from the output shaft (200) for driving the sliding sleeve (600) to slide on the output shaft (200).

2. The gear shifter for a mobile robot carrier according to claim 1, characterized in that: The sliding sleeve (600) includes a fixed sleeve (620) and a movable sleeve (610) that are rotatably connected internally and externally. The fixed sleeve (620) is sleeved on the output shaft (200) and slidably connected to the output shaft (200). The movable sleeve (610) is connected to the movable part (500). A locking structure (700) is provided between the fixed sleeve (620) and the output shaft (200), the first transmission gear (230), and the second transmission gear (210) so that the fixed sleeve (620) can move along the output shaft (200) to lock the first transmission gear (230) and the output shaft (200) or to lock the second transmission gear (210) and the output shaft (200).

3. The gear shifter for a mobile robot carrier according to claim 2, characterized in that: The locking structure (700) includes a female structure and three male structures. The female structure is set on the fixed sleeve (620), and the three male structures are respectively configured to cooperate with the output shaft (200), the first transmission gear (230), and the second transmission gear (210). The mother structure includes at least one fixed through groove (720), which is provided inside the fixed sleeve (620) along the through groove direction of the fixed sleeve (620), and each fixed through groove (720) is arranged in a ring along the inner wall of the fixed sleeve (620); The male structure includes at least one protrusion (710) with the same number as the fixed through slots (720). The protrusions (710) extend along the length direction of the output shaft (200), and each protrusion (710) is arranged in a ring around the circumference of the output shaft (200), or Each protrusion (710) is arranged in a circumferential ring around the first idler sleeve (231) coaxial with the first transmission gear (230), or Each protrusion (710) is arranged in a circumferential ring around the second idler sleeve (211) coaxial with the second transmission gear (210); The retaining sleeve (620) slides along the output shaft (200) to lock the first idle sleeve (231) to the output shaft (200), or to lock the second idle sleeve (211) to the output shaft (200).

4. The gear shifter for a mobile robot carrier according to any one of claims 1-3, characterized in that: The movable component (500) includes at least one connecting rod (510), a movable seat (530), and a rotating seat (520). The connecting rod (510) is slidably arranged along the length direction of the output shaft (200). The connecting rod (510) is used to connect the sliding sleeve (600) and the movable seat (530). The movable seat (530) is rotatably connected to the rotating seat (520). The rotating seat (520) rotates and drives the movable seat (530) to reciprocate along the length direction of the output shaft (200).

5. The gear shifter for a mobile robot carrier according to claim 4, characterized in that: The rotating seat (520) is driven to rotate by the shift motor (540), and the connection point between the moving seat (530) and the rotating seat (520) is located at the eccentric position of the axis of the drive shaft of the shift motor (540).

6. The gear shifter for a mobile robot carrier according to claim 5, characterized in that: The rotating seat (520) is provided with at least one connecting groove (521), and the movable seat (530) is provided with a rotatably connected connecting pin (531), which is connected to any connecting groove (521).

7. The gear shifter for a mobile robot carrier according to claim 1, 2, 3, 5 or 6, characterized in that: It also includes a position sensor (400) for detecting the distance the sliding sleeve (600) moves on the output shaft (200).

8. The gear shifter for a mobile robot carrier according to claim 4, characterized in that: It also includes a position sensor (400) for detecting the distance the sliding sleeve (600) moves on the output shaft (200).

9. The gear shifter for a mobile robot carrier according to claim 2, 3, 5, 6 or 8, characterized in that: It also includes a mounting housing (100). The first gear (310), the second gear (320), the first transmission gear (230), and the second transmission gear (210) are all located inside the mounting housing (100). The connecting end of the output shaft (200) and the connecting end of the input shaft (300) pass through the mounting housing (100) and are rotatably connected to the external force of the mounting. The movable part (500) is located outside the mounting housing (100) and is set near the connecting end of the input shaft (300).

10. The gear shifter for a mobile robot carrier according to claim 7, characterized in that: It also includes a mounting housing (100). The first gear (310), the second gear (320), the first transmission gear (230), and the second transmission gear (210) are all located inside the mounting housing (100). The connecting end of the output shaft (200) and the connecting end of the input shaft (300) pass through the mounting housing (100) and are rotatably connected to the external force of the mounting. The movable part (500) is located outside the mounting housing (100) and is set near the connecting end of the input shaft (300).

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