Gear shifting device of robot gearbox

Abstract

The utility model discloses a gear shifting device of a robot gearbox, which comprises a driving shaft, a middle shaft and a shifting fork shaft which are arranged in the gearbox, a plurality of driving gears which synchronously rotate with the driving shaft are arranged on the driving shaft, and a plurality of driven gears which are correspondingly meshed with the driving gears are sleeved on the middle shaft. A synchronizer corresponding to each driven gear is further arranged on the middle shaft, a shifting fork capable of shifting the synchronizers to slide in the axial direction of the middle shaft and locking the synchronizers and the corresponding driven gears is arranged on the shifting fork shaft, and a gear shifting driving mechanism which is driven by a motor and enables the shifting fork shaft to push and pull in the axial direction to achieve the gear shifting action is arranged outside the gearbox. The gear shifting driving mechanism is an elastic gear shifting mechanism which has a bidirectional elastic buffering effect in the push-pull direction of the shifting fork shaft. In the gear shifting process of the gear shifting device of the robot gearbox, the synchronizer and the driven gear are locked after being in elastic contact, damage caused by rigid collision between the synchronizer and the gear in the gear shifting process can be avoided, and non-stop gear shifting can be achieved.

Description

Technical Field

[0001] The utility model relates to a gear shifting device of a gearbox, in particular to a gear shifting device in a robot gearbox which is controlled by a motor to change gear positions. Background Art

[0002] The gearbox changes the transmission ratio through a shifting device, so that a walking robot driven by a single motor can adjust the wheel speed and torque according to the road conditions, thereby improving the robot's adaptability to complex roads. CN 201651184 U discloses a two-speed transmission device suitable for a small mobile robot, the device includes a shift screw system, a main transmission shaft system, a transition shaft system and a gearbox body supporting the above mechanism, the main transmission shaft system and the transition shaft have two sets of gear pairs that are constantly meshed, the shift screw system is in axial contact with the synchronization ring on the main transmission shaft system through a fork mechanism, the above three shaft systems are installed on the gearbox body through bearings, the device controls the position of a sliding synchronization ring, selects the meshing gear pair involved in the transmission in the transmission device, and different combinations can achieve different transmission ratios. The utility model significantly improves the power performance of a small mobile robot limited by a motor and a power supply, has fewer moving parts, and all gear sets are constantly meshed structures, has a simple and reliable structure, and has high transmission efficiency. However, since the two-speed transmission device uses a stepper motor and a shift screw system to control the movement of the shift fork, the shift fork exhibits the characteristics of uniform speed and non-elastic buffering when moving. During the shifting process, it is easy to cause a rigid collision between the synchronizer ring and the synchronizer teeth or the idler large gear, resulting in tooth hitting or tooth top failure. Therefore, it is necessary to install a clutch or shift gears when the vehicle is parked. Utility Model Content

[0003] The technical problem to be solved by the utility model is: to provide a shifting device for a robot gearbox. During the shifting process of the shifting device of the robot gearbox, the synchronizer and the passive gear are elastically contacted and then locked, which can avoid damage caused by rigid collision between the synchronizer and the gear during the shifting process and realize non-stop shifting.

[0004] The technical solution adopted to solve the technical problem: A shift device of a robot gearbox includes a driving shaft, an intermediate shaft and a shift fork shaft arranged in the gearbox, the driving shaft is provided with a plurality of driving gears rotating synchronously with the driving shaft, the intermediate shaft is provided with a plurality of passive gears corresponding to the driving gears, and each passive gear is also provided on the intermediate shaft corresponding to each passive gear, and a synchronizer which can be locked with the passive gear so that the passive gear and the intermediate shaft rotate synchronously is also provided, a shift fork which can drive the synchronizer to slide axially along the intermediate shaft so that the synchronizer is locked with the corresponding passive gear is provided on the shift fork shaft, and a shift drive mechanism driven by an electric motor is provided outside the gearbox so that the shift fork shaft is pushed and pulled axially to realize the shifting action, and the shift drive mechanism is an elastic shift mechanism with a bidirectional elastic buffering effect in the pushing and pulling direction of the shift fork shaft.

[0005] As a further improvement scheme of the utility model: the elastic shift mechanism includes a base, on which a driving motor and a slide seat are fixed, a slide groove parallel to the fork shaft is provided in the slide seat, a fork shaft push-pull slider is installed in the slide groove, a rocker rod is also hinged on the slide seat, a shift groove matching the convex shaft on the bottom surface of the fork shaft push-pull slider is provided in the middle part of the rocker rod, a rocker arm is installed on the driving motor shaft, a pull rod is hinged on the rocker arm, the pull rod is hinged to the rocker rod through a sliding pin which is mounted on the pull rod and can slide along the pull rod, and buffer springs are mounted on the pull rods on both sides of the sliding pin.

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

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

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

[0009] As a further improvement of the utility model: a high-speed driving gear is provided at one end of the driving shaft, a low-speed driving gear is provided at the other end, a high-speed passive gear meshing with the high-speed driving gear and a low-speed passive gear meshing with the low-speed driving gear are mounted on the intermediate shaft, a high-speed synchronizer and a low-speed synchronizer are respectively provided on the intermediate shaft corresponding to the high-speed passive gear and the low-speed passive gear, and the axial synchronization column of the high-speed synchronizer and the column head direction of the axial synchronization column of the low-speed synchronizer are opposite.

[0010] As a further improvement of the present invention: the drive motor is a servo motor.

[0011] As a further improvement of the utility model: a circular connecting baffle is provided at the end of the fork shaft, and a connecting slot matching with the connecting baffle is provided on the push-pull slider of the fork shaft.

[0012] As a further improvement of the utility model: a spring stopper and a spring travel adjustment nut are provided at the end of the pull rod.

[0013] As a further improvement scheme of the utility model: a plurality of gear positioning devices are provided on the base below the rocker arm corresponding to the positions of the rocker arms in different gears. The gear positioning device includes a positioning tube vertically fixed on the base. The diameter of the upper tube opening of the positioning tube is smaller than the inner diameter of the positioning tube. A positioning spring and a positioning steel ball are installed in the positioning tube. The diameter of the positioning steel ball is smaller than the diameter of the positioning tube and larger than the diameter of the upper tube opening, so that the top of the positioning steel ball can protrude from the upper end surface of the positioning tube. A positioning pit matching the positioning steel ball is provided on the bottom surface of the rocker arm.

[0014] Beneficial effects: The shifting device of the robot gearbox of the utility model adopts a shifting driving mechanism driven by an electric motor outside the gearbox to push and pull the shift fork shaft axially to realize the shifting action. The shifting driving mechanism is a technical feature of an elastic shifting mechanism with a bidirectional elastic buffering effect in the direction of the shift fork shaft. During the shifting process, the synchronizer and the passive gear are elastically contacted and then locked. Therefore, collision, tooth hitting and tooth top accidents caused by rigid contact can be effectively avoided, which not only extends the service life of the gearbox, but also makes the working reliability of the gearbox higher. Due to the technical feature of using a driving motor, a rocker arm, a pull rod, and a shift fork shaft push-pull slider to control the push-pull action of the shift fork shaft, and buffer springs are installed on the pull rods on both sides of the sliding pin, the elastic shifting mechanism driven by a motor is realized. The synchronizer is a ring body that rotates synchronously with the intermediate shaft and can slide axially along the intermediate shaft, a fork ring groove that matches the fork is provided on the outer cylindrical surface of the ring body, a plurality of axial synchronization columns arranged in a ring array are provided on the annular end surface of the ring body facing the passive gear, and an axial synchronization hole that matches the synchronization column is provided on the annular end surface of the passive gear, which makes the structure of the synchronizer simpler and the change box structure more compact, which is conducive to the miniaturization and lightweight design of the gearbox. The technical features of providing an outer chamfer at the top of the axial synchronization column and an inner chamfer at the edge of the synchronization shaft hole make the axial synchronization column and the synchronization shaft hole have the characteristics of automatic adaptive alignment, and the locking of the synchronizer and the passive gear is smoother. Due to the technical feature that the synchronization shaft hole is an arc hole concentric with the intermediate shaft, the rotation angle range of the axial synchronization column that can be inserted into the synchronization shaft hole is increased, so that during the rotation of the driven gear, the axial synchronization column is easier to be inserted into the synchronization shaft hole, and the gear shifting is smoother. Moreover, under the action of the spring, the axial synchronization column can be instantly inserted into the synchronization shaft hole, so that the shifting device of the robot gearbox of the utility model can complete the gear shifting without stopping. Due to the technical feature that a high-speed driving gear is provided at one end of the driving shaft and a low-speed driving gear is provided at the other end, a high-speed driven gear meshing with the high-speed driving gear and a low-speed driven gear meshing with the low-speed driving gear are mounted on the intermediate shaft, a high-speed synchronizer and a low-speed synchronizer are respectively provided on the intermediate shaft corresponding to the high-speed driven gear and the low-speed driven gear, and the column head directions of the axial synchronization column of the high-speed synchronizer and the axial synchronization column of the low-speed synchronizer are opposite, the shifting device of the robot gearbox of the utility model adopts the simplest structure to realize the gearbox switching between high-speed gear, neutral gear and low-speed gear. Due to the technical feature that the driving motor is a servo motor, gear shifting is easier to control and the action is more precise.Due to the use of a circular connecting baffle at the end of the fork shaft and a movable connection mode of a connecting slot that cooperates with the connecting baffle on the push-pull slider of the fork shaft, the fork shaft has a certain rotatable angle during the shifting process, which can not only reduce the wear between the fork and the synchronizer, but also prevent the fork shaft from damaging other structures. Due to the technical features of a spring baffle and a spring travel adjustment nut at the end of the pull rod, the travel and elastic force of the spring can be easily adjusted to make the gearbox shifting smoother. Due to the technical features of multiple gear positioning devices corresponding to the positions of the swing rods in different gears on the base below the swing rod, the gear position is more accurate and the swing rod can be prevented from being affected by vibration and leaving the normal gear during the driving process of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The shifting device of the robot gearbox of the present invention is further described in detail below in conjunction with the accompanying drawings.

[0016] Figure 1 It is a top view of the shifting device of the robot gearbox of the utility model;

[0017] Figure 2 It is an exploded view of the elastic shift mechanism in the shift device of the robot gearbox of the utility model;

[0018] Figure 3 It is an exploded view of the synchronizer part in the shifting device of the robot gearbox of the utility model. DETAILED DESCRIPTION

[0019] like Figure 1 As shown, the shifting device of the robot gearbox of the utility model comprises a driving shaft 9, an intermediate shaft 10 and a fork shaft 22 arranged in the gearbox, a plurality of driving gears rotating synchronously with the driving shaft are arranged on the driving shaft, a plurality of passive gears correspondingly meshing with the driving gears are mounted on the intermediate shaft, a synchronizer which can be locked with the passive gear and make the passive gear rotate synchronously with the intermediate shaft is also arranged on the intermediate shaft corresponding to each passive gear, a fork 23 which can drive the synchronizer to slide axially along the intermediate shaft and lock the synchronizer with the corresponding passive gear is arranged on the fork shaft, a shift driving mechanism driven by an electric motor is arranged outside the gearbox, and the shift driving mechanism is an elastic shift mechanism having a bidirectional elastic buffering effect in the direction of the fork shaft.

[0020] Preferably, a high-speed driving gear 12 is provided at one end of the driving shaft and a low-speed driving gear 7 is provided at the other end. A high-speed driven gear 24 meshing with the high-speed driving gear and a low-speed driven gear 21 meshing with the low-speed driving gear are mounted on the intermediate shaft. A high-speed synchronizer 11 and a low-speed synchronizer 8 are respectively provided on the intermediate shaft corresponding to the high-speed driven gear and the low-speed driven gear.

[0021] like Figure 2 As shown, the elastic shift mechanism comprises a base 1, on which a driving motor 13 and a slide seat 2 are fixed, a slide slot 3 parallel to the fork shaft is provided in the slide seat, a fork shaft push-pull slider 5 is installed in the slide slot, a circular connecting baffle 6 is provided at the end of the fork shaft, and a connecting slot 4 matching the connecting baffle is provided on the fork shaft push-pull slider. A swing rod 17 is also hinged on the slide seat, and a shifting groove 26 matching the convex shaft 25 on the bottom surface of the fork shaft push-pull slider is provided in the middle of the swing rod, a rocker arm 14 is installed on the driving motor shaft, and a pull rod 15 is hinged on the rocker arm, and the pull rod is hinged with the swing rod through a sliding pin 18 sleeved on the pull rod and can slide along the pull rod, and buffer springs 16 are sleeved on the pull rods on both sides of the sliding pin, and spring baffles 19 and spring travel adjustment nuts 20 are provided at the ends of the pull rod.

[0022] Preferably, a plurality of gear positioning devices 27 are provided on the base below the rocker arm corresponding to the positions of the rocker arms in different gears, and the gear positioning device includes a positioning tube vertically fixed on the base, and the diameter of the upper tube mouth of the positioning tube is smaller than the inner diameter of the positioning tube, and a positioning spring and a positioning steel ball are installed in the positioning tube, and the diameter of the positioning steel ball is smaller than the diameter of the positioning tube and larger than the diameter of the upper tube mouth, so that the top of the positioning steel ball can protrude from the upper end surface of the positioning tube, and a positioning pit matching the positioning steel ball is provided on the bottom surface of the rocker arm.

[0023] The drive motor is preferably a servo motor.

[0024] like Figure 3 As shown, the synchronizer is a ring body 29 which rotates synchronously with the intermediate shaft and can slide axially along the intermediate shaft. A shift fork ring groove 31 which cooperates with the shift fork is provided on the outer cylindrical surface of the ring body. A plurality of axial synchronization columns 30 arranged in a ring array are provided on the annular end surface of the ring body facing the driven gear. An axial synchronization hole 28 which cooperates with the synchronization column is provided on the annular end surface of the driven gear. An outer chamfer is provided on the top end of the axial synchronization column, and an inner chamfer is provided on the edge of the synchronization shaft hole. The synchronization shaft hole is an arc hole concentric with the intermediate shaft. The column head direction of the axial synchronization column of the high-speed gear synchronizer is opposite to that of the axial synchronization column of the low-speed gear synchronizer.

Claims

1. A shifting device for a robot gearbox, comprising a driving shaft, an intermediate shaft and a shift fork shaft arranged in the gearbox, characterized in that: The driving shaft is provided with a plurality of driving gears which rotate synchronously with the driving shaft, the intermediate shaft is provided with a plurality of driven gears which mesh with the driving gears, and the intermediate shaft is provided with a synchronizer which can be locked with the driven gear so that the driven gear and the intermediate shaft rotate synchronously, the shift fork shaft is provided with a shift fork which can drive the synchronizer to slide axially along the intermediate shaft so that the synchronizer and the corresponding driven gear are locked, and a shift driving mechanism which is driven by an electric motor and pushes and pulls the shift fork shaft axially to realize the shifting action is provided outside the gearbox, and the shift driving mechanism is an elastic shift mechanism which has a bidirectional elastic buffering effect in the push and pull direction of the shift fork shaft.

2. The shifting device of the robot gearbox according to claim 1, characterized in that: The elastic shift mechanism includes a base, on which a driving motor and a slide are fixed, a slide groove parallel to the fork shaft is provided in the slide, a fork shaft push-pull slider is installed in the slide groove, a rocker rod is also hinged on the slide, a shift groove matching with the convex shaft on the bottom surface of the fork shaft push-pull slider is provided in the middle of the rocker rod, a rocker arm is installed on the driving motor shaft, a pull rod is hinged on the rocker arm, the pull rod is hinged to the rocker rod through a sliding pin which is mounted on the pull rod and can slide along the pull rod, and buffer springs are mounted on the pull rods on both sides of the sliding pin.

3. The shifting device of the robot gearbox according to claim 2, characterized in that: The synchronizer is a ring body that rotates synchronously with the intermediate shaft and can slide axially along the intermediate shaft. A fork ring groove that cooperates with the shift fork is provided on the outer cylindrical surface of the ring body, and a plurality of axial synchronization columns arranged in a ring array are provided on the annular end surface of the ring body facing the driven gear, and an axial synchronization hole that cooperates with the synchronization column is provided on the annular end surface of the driven gear.

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

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

6. The shifting device of the robot gearbox according to any one of claims 1 to 5, characterized in that: A high-speed driving gear is provided at one end of the driving shaft, and a low-speed driving gear is provided at the other end. A high-speed passive gear meshing with the high-speed driving gear and a low-speed passive gear meshing with the low-speed driving gear are mounted on the intermediate shaft. A high-speed synchronizer and a low-speed synchronizer are respectively provided on the intermediate shaft corresponding to the high-speed passive gear and the low-speed passive gear. The axial synchronization column of the high-speed synchronizer and the column head of the axial synchronization column of the low-speed synchronizer are opposite in direction.

7. The shifting device of the robot gearbox according to claim 2, characterized in that: The driving motor is a servo motor.

8. The shifting device of the robot gearbox according to claim 7, characterized in that: A circular connecting baffle is arranged at the end of the shift fork shaft, and a connecting slot matching with the connecting baffle is arranged on the push-pull sliding block of the shift fork shaft.

9. The shifting device of the robot gearbox according to claim 8, characterized in that: A spring stopper and a spring travel adjusting nut are arranged at the end of the pull rod.

10. The shifting device of the robot gearbox according to claim 9, characterized in that: A plurality of gear positioning devices are provided on the base below the rocker arm corresponding to the positions of the rocker arms in different gears. The gear positioning device includes a positioning tube vertically fixed on the base. The diameter of the upper tube opening of the positioning tube is smaller than the inner diameter of the positioning tube. A positioning spring and a positioning steel ball are installed in the positioning tube. The diameter of the positioning steel ball is smaller than the diameter of the positioning tube and larger than the diameter of the upper tube opening, so that the top of the positioning steel ball can protrude from the upper end surface of the positioning tube. A positioning pit matching the positioning steel ball is provided on the bottom surface of the rocker arm.

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