Amphibious robot power transmission

Abstract

This utility model provides a power transmission device for an amphibious robot, relating to the field of robotics. The power transmission device includes a power transmission component for an axial magnetic field, a flight transmission component, a travel transmission component, and a multi-manipulator transmission component. It features multiple modes of robot power and diverse power modes, and is characterized by simple and efficient power transmission and control, small space occupation, and high power density. It can provide electric driving force for non-coaxial dual rotors for robot flight, electric driving force for land-based or water-based vehicles, and electric driving force for integrated multi-angle manipulators.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a power transmission device for an amphibious robot. Background Technology

[0002] Existing robots are mainly humanoid robots and manipulator robots. The mobility type of robots are mainly low-speed, simple power transmission vehicles such as AGVs. Autonomous vehicles or flying electric vehicles usually use independent motors or engines for driving.

[0003] This utility model provides a power transmission device for amphibious robots, which can provide electric driving force for the non-coaxial dual rotors of the robot in the air, provide electric driving force for the ground-based vehicle, and provide electric driving force for multiple integrated robotic arms at multiple angles. The integrated dual-motor power architecture coordinates and supports the independent operation of the flight transmission unit, the driving transmission unit, and the multi-robotic arm transmission unit. It can be widely used in special engineering projects in various environments and terrains, disaster relief sites, etc., and features high power transmission efficiency, high power density, diversified transmission effects, compact size and small space occupation. Summary of the Invention

[0004] This invention provides a power transmission device for amphibious robots to solve the problems of existing amphibious robot carriers lacking multi-arm functionality, as well as their low efficiency, high energy consumption, short range, and high operating costs.

[0005] This utility model provides a power transmission device for an amphibious robot, characterized in that it includes: a power transmission unit, a flight transmission unit, a travel transmission unit, and a multi-arm transmission unit; The power transmission unit includes motor one, motor two, outer shaft, inner shaft, and synchronizer one; the rotor of motor one is connected to the outer shaft, and the rotor of motor two is connected to the inner shaft; synchronizer one is connected to both the outer shaft and the inner shaft.

[0006] The flight transmission system includes planetary reducer 1, planetary reducer 2, dual clutch, rotor 1, rotor 2, and rotor hub; the sun gear 1 of planetary reducer 1 is connected to the inner shaft of motor 2, and the output shaft of planetary reducer 1 is connected to the inner flywheel of dual clutch; the sun gear 2 of planetary reducer 2 is connected to the outer shaft of motor 1, and the gear ring carrier of planetary reducer 2 is connected to the outer flywheel of dual clutch; rotor 1 is connected to the inner output shaft of dual clutch through rotor hub, and rotor 2 is connected to the outer output shaft of dual clutch through rotor hub.

[0007] The driving transmission unit includes a clutch, a planetary reducer three, and a differential; the clutch is connected to the inner shaft of motor two and planetary reducer three, and planetary reducer three is connected to the differential.

[0008] The multi-arm transmission unit includes a sun gear three, planetary gears, planetary gear shafts, a robotic arm, and a synchronizer two. The sun gear three is connected to the planetary gears, the planetary gears are connected to the planetary gear shafts, the planetary gear shafts are located in the housing and connected to the robotic arm, and the synchronizer two is connected to the inner shaft of the motor two and the sun gear three.

[0009] According to an amphibious robot power transmission device, it is characterized by including, but not limited to, an axial magnetic field motor and a radial magnetic field motor.

[0010] According to an amphibious robot power transmission device, it is characterized by including, but not limited to, an axial magnetic field permanent magnet motor or a non-permanent magnet motor, and a radial magnetic field permanent magnet motor or a non-permanent magnet motor.

[0011] According to an amphibious robot power transmission device, it is characterized by including, but not limited to, an axial multi-stage planetary reducer and a radial multi-stage composite planetary reducer.

[0012] According to an amphibious robot power transmission device, the planetary gear shaft connection includes, but is not limited to, mechanisms such as robot arms, joints, and transmissions.

[0013] According to an amphibious robot power transmission device, characterized in that it includes, but is not limited to, a plurality of robotic arms.

[0014] According to an amphibious robot power transmission device, the planetary reducer and differential include, but are not limited to, an integrated structure and a separate structure.

[0015] According to a control method for an amphibious robot power transmission device, the independent power and combined power of motor one and motor two of the power transmission split are respectively transmitted to the flight transmission split, the travel transmission split and the multi-manipulator transmission split through a reducer.

[0016] According to a control method for a power transmission device of an amphibious robot, the characteristics are as follows: motor one provides power to rotor two; motor two provides power to rotor one; the combined power of motor one and motor two provides power to rotor one; the combined power of motor one and motor two provides power to rotor two; motor one and motor two simultaneously provide power to rotor one and rotor two; synchronizer one engages, and the combined power of motor one and motor two is diverted to rotor one and rotor two to implement a non-coaxial operation mode.

[0017] According to a control method for a power transmission device of an amphibious robot, the characteristic is that motor 2 provides power to planetary reducer 3 and / or differential and propeller; motor 1 provides power to planetary reducer 3 and / or differential and propeller; and the combined power of motor 1 and motor 2 provides power to planetary reducer 3 and / or differential and propeller.

[0018] According to a control method for a power transmission device for an amphibious robot, the characteristic is that motor 2 provides power to the planetary gear shaft; motor 1 provides power to the planetary gear shaft; and the combined power of motor 1 and motor 2 provides power to the planetary gear shaft.

[0019] This utility model discloses a technical solution for a power transmission device for amphibious robots. An axial magnetic field dual motor is connected to a nested outer and inner shaft, which are respectively connected to the reducers of the flight transmission unit, the driving transmission unit, and the multi-manipulator transmission unit to achieve independent operation control. This provides both independent motor power and dual-motor combined power modes, realizing an integrated electric drive force for the flight of airborne vehicles, the driving force for the driving of land or waterborne vehicles, and the multi-manipulator operation function. This provides a novel, efficient, and integrated power transmission device solution for amphibious robots, enabling amphibious robots to perform multi-manipulator operations in complex working environments and geographical conditions. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic cross-sectional view of the amphibious robot power transmission device provided by this utility model. Figure 2 This is a schematic diagram of the amphibious robot power transmission device and ship propulsion provided by this utility model.

[0022] Figure label: Motor 1 11; Motor 2 12; Outer shaft 13; Inner shaft 14; Dual clutch 15; Rotor 1 16; Rotor 2 17; Planetary Gearbox 1 18; Planetary Gearbox 2 19; Planetary reducer 3 20; Sun gear 1 21; Sun gear 2 22; Sun gear 3 23; Synchronizer 1 24; Synchronizer 2 25; Clutch 26; Differential 27; Planetary gear 28; planetary gear shaft 29; propeller hub 30; propeller 31. Detailed Implementation

[0023] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0024] In the description of the embodiments of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model 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. Therefore, they should not be construed as limitations on the embodiments of this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0026] In this embodiment of the utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0027] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0028] The following is combined Figure 1 The amphibious robot power transmission device of this utility model is described, including but not limited to the following embodiments.

[0029] like Figure 1 As shown, an amphibious robot power transmission device is characterized by comprising: a power transmission unit, a flight transmission unit, a travel transmission unit, and a multi-arm transmission unit. According to this embodiment, the power transmission unit includes a first motor 11, a second motor 12, an outer shaft 13, an inner shaft 14, and a first synchronizer 24; the rotor of the first motor 11 is connected to the outer shaft 13 to transmit power, and the rotor of the second motor 12 is connected to the inner shaft 14 to transmit power; the first synchronizer 24 is connected to the outer shaft 13 and the inner shaft 14 to perform engagement or disengagement control, so that the power of the first motor 11 and the second motor 12 can be output in combination or independently.

[0030] According to this embodiment, the flight transmission unit includes a planetary reducer 18, a planetary reducer 2 19, a dual clutch 15, a rotor 16, a rotor 2 17, and a rotor hub 30. The sun gear 21 of planetary reducer 18 is connected to the inner shaft 14 of motor 2 12. The output shaft of planetary reducer 18 is connected to the inner flywheel of dual clutch 15. Rotor 16 is connected to the inner output shaft of dual clutch 15 through rotor hub 30. The power of motor 2 12 is transmitted to dual clutch 15, rotor hub 30 and rotor 16 through planetary reducer 18. The sun gear 22 of planetary reducer 219 is connected to the outer shaft 13 of motor 11. The gear ring carrier of planetary reducer 219 is connected to the outer flywheel of dual clutch 15. Rotor 217 is connected to the outer output shaft of dual clutch 15 through rotor hub 30. The power of motor 11 is transmitted to dual clutch 15, rotor hub 30 and rotor 217 through planetary reducer 219.

[0031] According to this embodiment, the driving transmission unit includes a clutch 26, a planetary reducer 20, a differential 27, and a propeller 31. The clutch 26 is connected to the inner shaft 14 of the motor 12 and the planetary reducer 20. The planetary reducer 20 is connected to the differential 27 or the propeller 31. The power of the motor 12 is transmitted to the differential 27 or the propeller 31 through the coupling control of the clutch 26 and the speed change and torque change of the planetary reducer 20. The differential 27 is connected to the half shaft of the electric vehicle, and the planetary reducer 20 is directly connected to the propeller 31.

[0032] According to this embodiment, the multi-arm transmission unit includes a synchronizer 25, a sun gear 23, several planetary gears 28, a corresponding number of planetary gear shafts 29, and a corresponding number of robotic arms; the sun gear 23 is connected to the planetary gears 28, the planetary gears 28 are connected to the planetary gear shafts 29, and the planetary gear shafts 29 are located in the housing and connected to the robotic arms; the synchronizer 25 is connected to the inner shaft 14 of the motor 212 and the sun gear 23; when the synchronizer 25 is engaged, the planetary gear shafts 29 receive power to rotate; when the synchronizer 25 is disengaged, the planetary gear shafts 29 do not rotate.

[0033] According to the control mode of the amphibious robot power transmission device, it also includes: the independent power of motor 11 and motor 212, and the combined power of the two motors are transmitted to the flight transmission unit, the travel transmission unit and the multi-manipulator transmission unit respectively through the planetary transmission mechanism.

[0034] According to this embodiment, under the control of the controller, when the amphibious robot is flying, the inner or outer flywheel of the dual clutch 15 is coupled or separated, and the independent operation of the motor 12 can enable the rotor 16 to operate independently. Alternatively, the independent operation of motor 11 can enable rotor 2 17 to operate in an independent mode; Alternatively, synchronizer 124 engages, and the combined power of motor 11 and motor 212 provides power to rotor 16. Alternatively, synchronizer 124 engages, and the combined power of motor 11 and motor 212 provides power to rotor 217. Alternatively, motor 11 and motor 212 can operate simultaneously, allowing rotor 16 and rotor 217 to each implement a non-coaxial operating mode. Alternatively, synchronizer 124 engages, motor 11 and motor 22 operate simultaneously, and the combined power is distributed to rotor 16 and rotor 27 to implement a non-coaxial operation mode. When the flight mode is selected, the controller causes the dual clutch 15 to select coupling or disengagement control according to the operating mode, while synchronizer 25 and clutch 26 perform disengagement control.

[0035] According to this embodiment, under the control of the controller, when the amphibious robot power transmission device performs land driving or water navigation, the dual clutch 15 and synchronizer 25 are in a disengaged state, and the power of motor 212 is transmitted to the ship propeller 31 through the speed change and torque change of planetary reducer 320, or to the half shaft of the electric vehicle through differential 27. Alternatively, synchronizer 124 engages, and the power of motor 11 is transmitted to the inner shaft 14 of motor 22, and then transmitted to the propeller 31 of the ship through the speed change and torque conversion of planetary reducer 320, or to the half shaft of the electric vehicle through differential 27, while motor 22 idles. Alternatively, synchronizer 124 engages, and the power of motor 11 and motor 22 combine to provide electric drive force to the ship's propeller 31 or to the differential 27 and its electric vehicle half-shaft via clutch 26 and planetary reducer 320, while dual clutch 15 performs disengagement control.

[0036] According to this embodiment, under the control of the controller, the synchronizer 25 makes the sun gear 23 engage with the inner shaft 14 of the motor 22. The power of the motor 22 is transmitted to the planetary gear shaft 29 and the robotic arm through the first-stage reduction and torque amplification of the sun gear 23 and planetary gear 28. Alternatively, synchronizer 124 engages the outer shaft 13 of motor 11 with the inner shaft 14 of motor 22, and synchronizer 2 engages the inner shaft 14 with the sun gear 323. The power of motor 11 is transmitted to the planetary gear shaft 29 and the robotic arm through the first-stage reduction and torque amplification of the inner shaft 14, the sun gear 323, and the planetary gear 28. At this time, motor 22 idles. Alternatively, synchronizer 24 engages outer shaft 13 with inner shaft 14, and the combined power of motor 11 and motor 22 is reduced and increased in torque through sun gear 3 23 and planetary gear 28, transmitting power to planetary gear shaft 29 and robotic arm, with dual clutch 15 performing separation control.

[0037] According to this embodiment, when the power of motor 11 drives rotor 2 17, the power of motor 2 12 can simultaneously drive the operation of multiple robotic arms, and synchronizer 24 and the inner flywheel of dual clutch 15 are separated and controlled. When synchronizer 1 24 and synchronizer 25 work together to perform engagement control, the combined power of motor 11 and motor 2 12 can simultaneously support the operation of rotor 1 16 and rotor 2 17 and their multiple robotic arms.

[0038] The amphibious robot power transmission device of this utility model has multiple operating modes and transmission modes. Since the power transmission device selects different control methods under different operating conditions and load conditions, only a few embodiments are given here for illustration, and are not intended to limit all operating modes of the amphibious robot power transmission device of this utility model.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An amphibious robot powertrain, characterized by, include: Power transmission unit, flight transmission unit, travel transmission unit, and multi-arm transmission unit; The power transmission unit includes motor one, motor two, outer shaft, inner shaft, and synchronizer one; The rotor of motor one is connected to the outer shaft, and the rotor of motor two is connected to the inner shaft; the synchronizer one is connected to the outer shaft and the inner shaft; The flight transmission system includes a planetary reducer I, a planetary reducer II, a dual clutch, a rotor I, a rotor II, and a rotor hub. The sun gear I of the planetary reducer I is connected to the inner shaft of the motor II, and the output shaft of the planetary reducer I is connected to the inner flywheel of the dual clutch. The sun gear II of the planetary reducer II is connected to the outer shaft of the motor I, and the gear ring carrier of the planetary reducer II is connected to the outer flywheel of the dual clutch. The rotor I is connected to the inner output shaft of the dual clutch via the rotor hub, and the rotor II is connected to the outer output shaft of the dual clutch via the rotor hub. The driving transmission unit includes a clutch, a planetary reducer three, a differential, and a propeller; the clutch is connected to the inner shaft of the motor two and the planetary reducer three, and the planetary reducer three is connected to the differential and the propeller. The multi-robotic arm transmission unit includes a sun gear three, planetary gears, planetary gear shafts, a robotic arm, and a synchronizer two; the sun gear three is connected to the planetary gears, the planetary gears are connected to the planetary gear shafts, the planetary gear shafts are disposed in the housing and connected to the robotic arm, and the synchronizer two is connected to the inner shaft of the motor two and the sun gear three; The control method of the amphibious robot power transmission device includes: the independent power and combined power of the first motor and the second motor of the power transmission device are respectively transmitted to the flight transmission unit, the driving transmission unit and the multi-manipulator transmission unit through the reducer.

2. The amphibious robot power transmission device of claim 1, wherein, Including but not limited to axial magnetic field motors and radial magnetic field motors.

3. The amphibious robot power transmission device of claim 1, wherein, Including but not limited to axial multi-stage planetary reducers and radial multi-stage composite planetary reducers.

4. The amphibious robot power transmission device of claim 1, wherein, The planetary gear shaft connection includes, but is not limited to, robotic arms, joints, and transmissions.

5. The amphibious robot power transmission device of claim 1, wherein, This includes, but is not limited to, two or more robotic arms.

6. The amphibious robot power transmission device of claim 1, wherein, The planetary reducer and the differential include, but are not limited to, an integrated structure and a separate structure.

7. The amphibious robot power transmission device of claim 1, wherein, The first motor provides power to the second rotor, the second motor provides power to the first rotor, the combined power of the first motor and the second motor provides power to the first rotor, the combined power of the first motor and the second motor provides power to the second rotor, the first motor and the second motor simultaneously provide power to the first rotor and the second rotor, the first synchronizer engages, and the combined power of the first motor and the second motor is diverted to the first rotor and the second rotor to implement a non-coaxial operation mode.

8. The amphibious robot power transmission device of claim 1, wherein, The second motor provides power to the third planetary reducer and / or the differential and the thruster; the first motor provides power to the third planetary reducer and / or the differential and the thruster; and the combined power of the first motor and the second motor provides power to the third planetary reducer and / or the differential and the thruster.

9. The amphibious robot power transmission device of claim 1, wherein, The motor two powers the planetary axle, the motor one powers the planetary axle, and the motor one and the motor two in combination power the planetary axle.

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