A reducer with swing function for output shaft

Abstract

The utility model discloses a reducer with the function of swing of output shaft, including output shaft, swing guide piece, swing block, first drive motor, box, vertical shaft, second drive motor, planetary gear, planetary gear axle, upper internal gear disc, lower internal gear disc, worm and gear drive group, bevel gear set and gear drive group, the output of first drive motor is connected with vertical shaft lower part through worm and gear drive group and bevel gear set, and the upper portion of vertical shaft is connected with one end of output shaft through bevel gear set, and output shaft rotatory installation is in swing block, and swing block sliding installation is on swing guide piece, the both sides of swing block rotatory installation has planetary gear axle, and the upper end of planetary gear axle is connected with planetary gear respectively, and the planetary gear of two planetary gear axle upper ends is engaged with upper internal gear disc and is connected with the output of second drive motor through gear drive group, and the planetary gear of two planetary gear axle lower ends is engaged with lower internal gear disc. Output shaft has the dual function of rotation and swing, and improves the steering flexibility.

Description

Technical Field

[0001] This utility model belongs to the field of wheeled mobile robot technology, specifically a reducer with a swing function on the output shaft. Background Technology

[0002] In the transmission systems of wheeled mobile robots and vehicles, the reducer is a core power transmission component, and its performance directly affects steering efficiency and motion accuracy. At present, the reducer and steering system suffer from problems such as low integration, long transmission chains, and large energy losses, making it difficult to meet the requirements of high torque output and fast response. At the same time, most wheeled mobile robots have excessively large turning radii, which limits their mobility in confined spaces.

[0003] Chinese patent application CN115071813A discloses a steering device for a hub motor, which eliminates the transmission steering structure between the steering device and the lower control arm of the suspension, effectively reducing the span between the support wheels and lowering the height and center of gravity of the chassis load. However, the structure is complex and the steering efficiency is low. Chinese patent application CN118270095A discloses a hub motor steering device based on multi-point damping and a low-tooth-difference reducer. It uses a low-tooth-difference reducer and a multi-point damping structure, achieving a larger reduction ratio while simplifying the overall structure and effectively solving the problem of excessive unsprung mass caused by the hub motor. However, its structural stability is insufficient, making it difficult to meet high-precision steering control requirements.

[0004] Performing daily life support tasks such as material transportation, inspection, and search and rescue in complex terrain is extremely difficult. To ensure the efficient completion of these tasks, an all-terrain mobile robot has emerged. A reducer with steering function is crucial for ensuring the robot's agile steering. Traditional reducers mainly consist of worm gears, planetary drives, cycloidal pinwheels, and harmonic reducers. Although large reduction ratios can be achieved through multi-stage transmission, traditional reducers are all single-degree-of-freedom, with the output shaft only having rotational functionality and no oscillating capability. This necessitates an additional steering mechanism for the all-terrain mobile robot to achieve agile steering. Therefore, this application proposes a reducer with an oscillating output shaft, integrating drive and steering. This allows the wheels to steer while rotating, eliminating the need for an additional steering mechanism and improving steering flexibility. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the technical problem to be solved by this utility model is to provide a speed reducer with an output shaft having a swing function.

[0006] The present invention solves the aforementioned technical problem by adopting the following technical solution:

[0007] A speed reducer with an output shaft oscillating function includes an output shaft, an oscillating guide, an oscillating block, a first drive motor, a housing, a vertical shaft, a second drive motor, planetary gears, a planetary gear shaft, an upper internal gear disk, a lower internal gear disk, a worm gear transmission assembly, a bevel gear assembly, and a gear transmission assembly. The first drive motor is located on one side of the housing. The output end of the first drive motor is connected to the lower part of the vertical shaft via the worm gear transmission assembly and the bevel gear assembly. The upper part of the vertical shaft is connected to one end of the output shaft via the bevel gear assembly. The output shaft is rotatably mounted inside the oscillating block, and its other end extends out of the oscillating block and is connected to the vehicle. The swing block is slidably mounted on the swing guide and can swing back and forth on the swing guide. Planetary gear shafts are rotatably mounted on both sides of the swing block. The upper and lower ends of each planetary gear shaft extend out of the swing block and are connected to a planetary gear. The planetary gears at the upper ends of the two planetary gear shafts mesh with the upper internal gear disk and are connected to the output shaft of the second drive motor through a gear transmission group. The second drive motor is located at the top of the housing. The planetary gears at the lower ends of the two planetary gear shafts mesh with the lower internal gear disk. The upper internal gear disk and the lower internal gear disk are located at the upper and lower parts of the swing guide, respectively.

[0008] Furthermore, the gear transmission assembly includes a first double gear shaft, a first double gear, a second double gear, and a second double gear shaft; the first double gear is rotatably mounted on the first double gear shaft, and the large gear of the first double gear meshes with a gear on the output shaft of the second drive motor; the second double gear is rotatably mounted on the second double gear shaft, and the large gear of the second double gear meshes with the small gear of the first double gear.

[0009] Furthermore, the sliding block is fan-shaped, with a through hole for mounting the output shaft in the radial direction and a through groove for mounting the planetary gear shaft in the axial direction.

[0010] Furthermore, the reducer also includes a paddle; the paddle is connected to the worm wheel of the worm gear transmission assembly, and under the action of the paddle, the worm wheel and worm of the worm gear transmission assembly can engage or disengage.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] 1. This reducer innovatively achieves dual functions of output shaft rotation and oscillation. On one hand, it ensures the rotation of the output shaft, enabling the all-terrain mobile robot to move forward and backward; on the other hand, it achieves oscillation of the output shaft within a certain angle range, allowing the all-terrain mobile robot to perform turning movements simultaneously with forward or backward motion, demonstrating powerful maneuverability and enabling the all-terrain mobile robot to perform obstacle avoidance, rescue, and other support tasks in complex environments. The rotation and oscillation of the output shaft are driven independently by different motors, enabling more efficient steering.

[0013] 2. To achieve the output shaft's rotation, a worm gear mechanism is employed, which offers advantages such as a large transmission ratio, smooth transmission, self-locking, and high efficiency. Simultaneously, a two-stage bevel gear transmission achieves the reversal of the motor's output torque, providing smoothness, high efficiency, and reliable stability. This provides a more reliable structural foundation for the forward and backward movements of the all-terrain mobile robot, enabling it to operate efficiently in various complex environments. For the output shaft's oscillating motion, a two-stage cylindrical spur gear and planetary gear system is used for deceleration. This results in a smaller size, lighter weight, and higher steering efficiency, effectively transmitting the drive motor's output power to the vehicle axle, thereby reducing energy loss and improving overall efficiency. The compact design and balanced force distribution of the planetary gear system enhance the steering mechanism's load-bearing capacity, enabling it to adapt to steering requirements in various complex environments and ensuring the stable operation of the all-terrain mobile robot. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0015] Figure 2 This is a structural schematic diagram of the present invention with the box body removed from one viewpoint;

[0016] Figure 3 This is a structural schematic diagram of the present invention with the box body removed from another perspective;

[0017] Figure 4 This is a schematic diagram of the meshing of the first double gear and the second double gear of this utility model;

[0018] Figure 5 This is a schematic diagram of the planetary gear train of this utility model;

[0019] Figure 6 This is a schematic diagram of the structure of the swing block of this utility model;

[0020] Figure 7 This is a schematic diagram of the connection between the paddle and the worm gear of this utility model;

[0021] In the diagram: 1. Output shaft; 2. Swing guide; 3. Swing block; 4. First drive motor; 5. Housing; 6. Bracket; 7. Vertical shaft; 8. Worm gear shaft; 9. Worm gear; 10. Worm; 11. Second drive motor; 12. First double gear shaft; 13. Horizontal bevel gear; 14. Vertical bevel gear; 15. First double gear; 16. Second double gear; 17. Second double gear shaft; 18. Upper planetary gear; 19. Lower planetary gear; 20. Planetary gear shaft; 21. Upper internal gear disk; 22. Lower internal gear disk; 23. Paddle. Detailed Implementation

[0022] Specific embodiments are given below with reference to the accompanying drawings. These specific embodiments are only used to describe the technical solution of this utility model in detail, and are not intended to limit the scope of protection of this application.

[0023] This utility model provides a speed reducer with an output shaft having a swing function, including an output shaft 1, a swing guide 2, a swing block 3, a first drive motor 4, a housing 5, a bracket 6, a vertical shaft 7, a worm gear shaft 8, a worm gear 9, a worm 10, a second drive motor 11, a first double gear shaft 12, a horizontal bevel gear 13, a vertical bevel gear 14, a first double gear 15, a second double gear 16, a second double gear shaft 17, an upper planetary gear 18, a lower planetary gear 19, a planetary gear shaft 20, an upper internal gear disk 21, and a lower internal gear disk 22;

[0024] The first drive motor 4 is installed on one side of the housing 5. The output end of the first drive motor 4 passes through the side wall of the housing 5 and is connected to one end of the worm gear 10. The worm wheel 9 is installed on the worm wheel shaft 8 and meshes with the worm gear 10. A transverse bevel gear 13 is installed at one end of the worm wheel shaft 8. The bracket 6 is fixed to the upper part of the housing 5. The upper and lower ends of the vertical shaft 7 are rotatably connected to the bottom of the bracket 6 and the lower side wall of the housing 5, respectively. A vertical bevel gear 14 is installed on the upper and lower parts of the vertical shaft 7. The lower vertical bevel gear 14 meshes with the transverse bevel gear 13 on the worm wheel shaft 8. 4 meshes with the transverse bevel gear 13 at one end of the output shaft 1; the swing block 3 is slidably mounted on the swing guide 2 and can swing back and forth on the swing guide 2; the other end of the output shaft 1 passes through the guide groove of the swing guide 2 and is connected to the wheel; a bearing is provided at the connection between the output shaft 1 and the swing block 3, so that the output shaft 1 can rotate within the swing block 3; the first drive motor 4 drives the worm wheel shaft 8 to rotate through the worm 10 and the worm wheel 9, so that the transverse bevel gear 13 on the worm wheel shaft 8 drives the vertical shaft 7 to rotate, and then drives the output shaft 1 to rotate through the bevel gear meshing, so as to realize the rotation of the output shaft 1.

[0025] The second drive motor 11 is installed on the top of the housing 5. The output shaft of the second drive motor 11 extends through the upper side wall of the housing 5 into the housing 5, and a gear is installed on the output shaft. The upper and lower ends of the first double gear shaft 12 are fixedly connected to the upper side wall of the housing 5 and the lower part of the bracket 6, respectively. The first double gear 15 is rotatably installed on the first double gear shaft 12, and the large gear of the first double gear 15 meshes with the gear on the output shaft of the second drive motor 11. The upper end of the second double gear shaft 17 is fixedly connected to the side of the bracket 6. The second double gear 16 is rotatably installed on the second double gear shaft 17, and the large gear of the second double gear 16 meshes with the small gear of the first double gear 15. A planetary gear shaft 20 is rotatably installed on each side of the swing block 3. The upper and lower ends of each planetary gear shaft 20 extend out of the swing block 3 and are respectively... The upper planetary gear 18 and the lower planetary gear 19 are fixed. The two upper planetary gears 18 mesh with the lower gear and the upper internal gear disk 21 of the second double gear 16 at the same time, and the two lower planetary gears 19 mesh with the lower internal gear disk 22 at the same time. The upper internal gear disk 21 and the lower internal gear disk 22 are respectively installed on the upper and lower parts of the swing guide 2. The second double gear 16, the planetary gears and the internal gear disk form a planetary gear system. The second double gear 16 is equivalent to the sun gear. The second drive motor 11 drives the first double gear 15 and the second double gear 16 to rotate synchronously. The second double gear 16 drives the four planetary gears to rotate. The planetary gears rotate around the planetary gear shaft 20 and revolve around the second double gear 16 and the internal gear disk at the same time, thereby pushing the swing block 3 to swing left or right on the swing guide 2. The output shaft 1 swings synchronously with the swing block 3.

[0026] The reducer also includes a paddle 23; the paddle 23 is connected to the worm wheel 9, and under the action of the paddle 23, the worm wheel 9 can translate along the worm wheel shaft 8, so that the worm wheel 9 can mesh or disengage with the worm 10, ensuring that even if the first drive motor 4 does not provide power, the worm wheel 9 can still be manually rotated to drive the worm wheel shaft 8 to rotate.

[0027] The working principle and process of this utility model are as follows:

[0028] This reducer can achieve both rotation and oscillation of the output shaft 1.

[0029] Rotation mode: The first drive motor 4 drives the worm gear 10 to rotate. The worm gear 10 drives the worm wheel shaft 8 to rotate through the worm wheel 9, causing the transverse bevel gear 13 on the worm wheel shaft 8 to rotate, thereby driving the vertical shaft 7 to rotate. The vertical shaft 7 drives the output shaft 1 to rotate through the meshing of the bevel gears, realizing the rotation of the output shaft 1. Through the worm gear transmission, a large-ratio reduction and efficient conversion of output torque are achieved. The two sets of transverse bevel gears 13 and vertical bevel gears 14 form a two-stage bevel gear system, which realizes the reversal of the output torque of the first drive motor 4, effectively transmitting the power of the first drive motor 4 to the output shaft 1.

[0030] In the oscillating mode: the second drive motor 11 drives the first double gear 15 to rotate, and the second double gear 16 rotates synchronously with the first double gear 15. The second double gear 16 drives the four planetary gears to rotate synchronously. While rotating around the planetary gear shaft 20, the planetary gears also revolve around the second double gear 16 and the internal gear disk, pushing the oscillating block 3 to swing left or right on the oscillating guide 2, thereby realizing the oscillation of the output shaft 1. The oscillating mode achieves deceleration through a two-stage cylindrical spur gear and planetary gear system.

[0031] The rotation and oscillation of output shaft 1 are driven independently by different motors, allowing for both independent and coordinated operation. A reducer is installed on each of the two front wheels of the all-terrain wheeled mobile robot, while a driven omnidirectional wheel is installed on each of the two rear wheels. When the output shaft 1 of the two reducers rotates without oscillating, the all-terrain mobile robot can move forward or backward. When the output shaft 1 of the two reducers rotates and oscillates, and the rear wheels can rotate and cooperate with the front wheels of the two reducer output shafts 1, the all-terrain mobile robot can perform Ackerman, crab, and O-type in-situ turns, enabling it to quickly traverse, turn, and avoid obstacles in complex terrain.

[0032] Any aspects not covered in this utility model are applicable to the prior art.

Claims

1. A reduction gear with oscillating function of output shaft, comprising an output shaft; characterized in that, It also includes a swing guide, a swing block, a first drive motor, a housing, a vertical shaft, a second drive motor, planetary gears, planetary gear shafts, an upper internal gear disk, a lower internal gear disk, a worm gear transmission group, a bevel gear group, and a gear transmission group; The first drive motor is located on one side of the housing. The output end of the first drive motor is connected to the lower part of the vertical shaft through a worm gear transmission group and a bevel gear group. The upper part of the vertical shaft is connected to one end of the output shaft through the bevel gear group. The output shaft is rotatably mounted inside the swing block and the other end extends out of the swing block and is connected to the wheel. The swing block is slidably mounted on the swing guide and can swing back and forth on the swing guide. Planetary gear shafts are rotatably mounted on both sides of the swing block. The upper and lower ends of each planetary gear shaft extend out of the swing block and are connected to a planetary gear. The planetary gears at the upper ends of the two planetary gear shafts mesh with the upper internal gear disk and are connected to the output shaft of the second drive motor through a gear transmission group. The second drive motor is located at the top of the housing. The planetary gears at the lower ends of the two planetary gear shafts mesh with the lower internal gear disk. The upper internal gear disk and the lower internal gear disk are located at the upper and lower parts of the swing guide, respectively.

2. The reduction gear according to claim 1, wherein The gear transmission assembly includes a first double gear shaft, a first double gear, a second double gear, and a second double gear shaft; the first double gear is rotatably mounted on the first double gear shaft, and the large gear of the first double gear meshes with a gear on the output shaft of the second drive motor; the second double gear is rotatably mounted on the second double gear shaft, and the large gear of the second double gear meshes with the small gear of the first double gear.

3. The reduction gear according to claim 1, wherein The swing block is fan-shaped, with a through hole for mounting the output shaft in the radial direction and a through groove for mounting the planetary gear shaft in the axial direction.

4. The speed reducer of claim 1, 2 or 3, wherein The reducer also includes a paddle; the paddle is connected to the worm wheel of the worm gear transmission assembly, and the worm wheel and worm of the worm gear transmission assembly can mesh or disengage under the action of the paddle.

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