A robotic mobile chassis with gears

Abstract

The utility model discloses a kind of robot mobile chassis with gear position, including cabin and two track drive mechanisms, each track drive mechanism includes driving wheel, speed reducer, gear shifter and driving motor, driving motor is located in cabin, the output end of driving motor is connected with the input end transmission of gear shifter, gear shifter is located in cabin and driving motor adjacent, the output end of gear shifter is connected with the speed reducer of being placed outside cabin by connecting structure, the output end of speed reducer is connected with driving wheel;Connecting structure includes explosion-proof seat and the transmission pin rotationally connected on explosion-proof seat, installation channel is opened on cabin for transmission pin to pass, explosion-proof seat has the shielding structure of cover installation channel outer port, shielding structure is fixed with cabin and is sealingly connected with installation channel, transmission pin one end is connected with the output end of gear shifter in cabin, transmission pin other end is connected with speed reducer outside cabin.This application can realize the compact layout of robot chassis and increase the service life of driving motor.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a robot mobile chassis with gear shifting. 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 (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.

[0004] To address the aforementioned issues, some robots are equipped with gear shifters, as shown in patent application number CN201710358570.1, which describes a gear shifting mechanism on a firefighting robot. However, this patent does not describe the installation of the gear shifting mechanism on the robot chassis. When it is necessary to externally mount the robot's reducer to achieve a compact robot layout, the installation layout of the drive motor, gear shifting mechanism, and reducer on the chassis is particularly important. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this utility model provides a robot mobile chassis with gear shifting. By adopting an external reducer and an internal gear shifter and drive motor, the robot chassis can achieve a compact layout, reduce heat accumulation inside the cabin, and increase the service life of the drive motor.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a robot mobile chassis with gear shifting, comprising a cabin and two track drive mechanisms respectively disposed on both sides of the cabin, each track drive mechanism comprising a drive wheel, a reducer, a gear shifter, and a drive motor. The drive motor is located inside the cabin, and the output end of the drive motor is connected to the input end of the gear shifter. The gear shifter is located inside the cabin and adjacent to the drive motor. The output end of the gear shifter is connected to the reducer located outside the cabin through a connecting structure. The output end of the reducer is connected to the drive wheel. The connection structure includes an explosion-proof base and a transmission pin rotatably connected to the explosion-proof base. An installation channel for the transmission pin to pass through is provided on the housing. The explosion-proof base has a shielding structure that covers the external port of the installation channel. The shielding structure is fixed to the housing and sealed to the installation channel. One end of the transmission pin is located inside the housing and connected to the output end of the gear shifter. The other end of the transmission pin is located outside the housing and connected to the reducer.

[0007] Compared with the prior art, the present invention has the following beneficial effects: Understandably, the mobile chassis mainly consists of a cabin and a track drive mechanism. In addition to the drive wheels, the track drive mechanism also includes tracks, multiple load-bearing wheel sets, tension wheel sets, etc. The specific structure can be set with reference to existing technology (such as the patent application with patent application number CN201610622972.3). This application mainly limits the layout of various components inside and outside the cabin to ensure that the transmission between the drive motor and the reducer can be realized after the reducer is placed externally and a shifter is set.

[0008] This application, through a reasonable layout, places the drive motor inside the cabin to ensure the safety of the drive motor. At the same time, the gear shifter is adjacent to the drive motor for convenient layout. However, placing the reducer externally can reduce the space ratio inside the cabin. In addition, placing the reducer externally can prevent the heat generated by the reducer during operation from accumulating inside the cabin.

[0009] The connection structure is designed to connect the gear shifter and the reducer. The transmission pin is equivalent to extending the output shaft of the gear shifter, while the shielding structure can cover the outside of the chamber to seal the installation channel and ensure the overall sealing effect. The transmission pin extending out of the chamber can also connect to the reducer, thus realizing an installation layout with the reducer external and the drive motor and gear shifter internal. This is beneficial for the small size design of the explosion-proof chamber, and can also reduce the rate of temperature rise inside the explosion-proof chamber and increase the service life of the drive motor.

[0010] Furthermore, this application also introduces a gear shifter. Based on the existence of the gear shifter, different requirements for moving speed and traction can be switched back and forth by maintaining the drive motor speed constant. This provides multiple guarantees for the robot's use in multiple scenarios and also helps to extend the battery life of the robot's mobile chassis.

[0011] Furthermore, the gear shifter includes an input shaft, an output shaft, and a shifting assembly. The input shaft is connected to the drive motor, and the output shaft is fixed to the transmission pin. 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] Furthermore, it also includes a position sensor, which is used to detect the distance the sliding sleeve moves on the output shaft.

[0018] 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

[0019] Figure 1 This is a schematic diagram of the external structure of the mobile chassis of this utility model; Figure 2 This is a schematic diagram of the external structure of the middle compartment and the connecting structure of this utility model. Figure 3 for Figure 2 A schematic diagram of a structure excluding the top cover of the cabin; Figure 4 This is a schematic diagram of a structure in which the connecting structure, gear shifter, and drive motor cooperate in this utility model. Figure 5 This is a schematic diagram of a structure in which the connecting structure, the reducer, and the cabin are installed together in this utility model. Figure 6 This is a schematic diagram of the external structure of the gear shifter in this utility model; Figure 7 This is a schematic diagram of the internal structure of the gear shifter in this utility model; Figure 8 This is an exploded structural diagram of the gear shifter in this utility model; Figure 9 This is a schematic diagram of the structure of the input shaft, output shaft and shifting components of the shifter in this utility model. Figure 10 This is a schematic diagram of an exploded structure of the output shaft and sliding sleeve of the gear shifter in this utility model.

[0020] In the diagram: 1. Cabin; 2. Track drive mechanism; 3. Reducer; 4. Drive wheel; 51. Transmission pin; 52. Cover structure; 53. Snap-fit ​​seat; 54. Insertion groove; 55. Explosion-proof seat; 56. Sealing ring; 6. Drive motor; 7. Gear shifter; 100. Mounting housing; 110. Half-shell; 120. Connecting seat; 130. Mounting seat; 140. Sliding seat; 150. Sealing ring; 200. Output shaft; 210. Second transmission gear; 211. Second idler sleeve; 220. Transition section; 1. 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

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0022] like Figure 1 , 2 As shown in Figures 1 and 3, a robot mobile chassis with gears includes a cabin 1 and two track drive mechanisms 2 respectively disposed on both sides of the cabin 1.

[0023] The mobile chassis mainly consists of a cabin 1 and a track drive mechanism 2. The track drive mechanism 2 includes drive wheels 4, tracks, multiple road wheel sets, tension wheel sets, etc. The specific structure can be designed with reference to existing technology (such as the patent application with patent number CN201610622972.3). The driving principle of the mobile chassis is the same as that of existing technology, mainly utilizing the rotation of drive wheels 4 to drive the tracks to roll, thereby realizing the movement of the chassis. The external shape of the mobile chassis in this application is as follows... Figure 1 As shown, of course, fire-fighting equipment, lidar, and other components can also be installed on the cabin 1 according to design requirements to realize different functions of the robot. As shown in the figure, the cabin 1 adopts a structure of upper cover and lower mounting cavity, which facilitates the installation and maintenance of various components inside the cabin 1.

[0024] This application mainly defines the layout of various components inside and outside the cabin 1 to ensure that the drive motor 6 and the reducer 3 can be transmitted when the reducer 3 is externally mounted and the shifter 7 is installed. Specifically, each track drive mechanism 2 includes a drive wheel 4, a reducer 3, a shifter 7, and a drive motor 6. The drive motor 6 is located inside the housing 1, and its output end is connected to the input end of the shifter 7. The shifter 7 is located inside the housing 1 and adjacent to the drive motor 6. The output end of the shifter 7 is connected to the reducer 3 located outside the housing 1 through a connecting structure. The output end of the reducer 3 is connected to the drive wheel 4. The connecting structure includes an explosion-proof base 55 and a transmission pin 51 rotatably connected to the explosion-proof base 55. An installation channel for the transmission pin 51 to pass through is provided on the housing 1. The explosion-proof base 55 has a shielding structure 52 covering the external port of the installation channel. The shielding structure 52 is fixed to the housing 1 and sealed to the installation channel. One end of the transmission pin 51 is located inside the housing 1 and connected to the output end of the shifter 7. The other end of the transmission pin 51 is located outside the housing 1 and connected to the reducer 3.

[0025] like Figure 3 , 4As shown in Figure 5, the explosion-proof base 55 resembles a T-shaped column structure. The transverse section of the explosion-proof base 55 has an annular plate structure, serving as the shielding structure 52. The vertical section of the explosion-proof base 55 is a structure that fits against the inner wall of the installation channel. If the installation channel is a circular hole structure, then the vertical section of the explosion-proof base 55 is a cylindrical structure. If the installation channel has other irregular structures, then the vertical section of the explosion-proof base 55 is a corresponding irregular structure. The shielding structure 52 is installed over the outer port of the installation channel and a sealing ring 56 is provided between it and the installation channel to achieve a sealed connection with the installation channel. The shielding structure 52 is detachably connected to the compartment 1 by multiple connecting bolts. The transmission pin 51 extends through the installation channel along its length. One end of the transmission pin 51 inside the housing 1 has a insertion slot 54 to facilitate the insertion and fixing of the output shaft 200 of the gear shifter 7. The other end of the transmission pin 51 outside the housing 1 has an insertion structure that fits into the input end of the reducer 3, enabling connection with the reducer 3. After the reducer 3 is inserted into the transmission pin 51, the reducer 3 and the shielding structure 52 are connected, thus achieving the connection between the transmission pin 51 and the reducer 3. To facilitate the connection between the gear shifter 7 and the transmission pin 51 inside the housing 1, a snap-fit ​​seat 53 can be provided at one end of the explosion-proof seat 55 extending into the housing 1. The snap-fit ​​seat 53 is detachably connected to the explosion-proof seat 55, and can be configured to cover the port inside the installation channel. After the explosion-proof seat 55 and the snap-fit ​​seat 53 are connected, a snap-fit ​​structure (similar to an I-beam mechanism) is formed to secure the connection between the connection structure and the housing 1. Meanwhile, the snap-fit ​​connector 53 provides a connection point for the installation of the gear shifter 7. When it is necessary to fix the gear shifter 7 to the housing 1, the snap-fit ​​connector 53 can be used to install the gear shifter 7. Of course, since the input end of the gear shifter 7 is connected to the output end of the drive motor 6, after fixing the installation position of the drive motor 6 inside the housing 1, the corresponding installation structure of the gear shifter 7 inside the housing 1 is also limited.

[0026] This application utilizes a reasonable layout to house the drive motor 6 within the cabin 1, ensuring its safety. The gear shifter 7 is adjacent to the drive motor 6 for ease of arrangement. However, placing the reducer 3 externally reduces the space occupied within the cabin 1. Furthermore, external placement of the reducer 3 prevents the accumulation of heat generated during operation within the cabin 1. A connecting structure connects the gear shifter 7 and the reducer 3. The transmission pin 51 effectively extends the output shaft 200 of the gear shifter 7, while the shielding structure 52 seals the installation channel outside the cabin 1, ensuring overall sealing. The transmission pin 51 extending outside the cabin 1 connects to the reducer 3, thus achieving an external reducer 3, internal drive motor 6, and internal gear shifter 7 installation layout. This approach is beneficial for the compact design of the explosion-proof cabin, reduces the rate of temperature rise within the cabin, and increases the service life of the drive motor 6. Furthermore, this application also introduces a shifter 7. Based on the presence of the shifter 7, while keeping the speed of the drive motor 6 constant, the shifter 7 can switch back and forth to meet different requirements for movement speed and traction, providing multiple guarantees for the robot's use in multiple scenarios, and also benefiting the battery life of the robot's mobile chassis.

[0027] Based on the improved layout of the cabin 1, this application also redesigns the structure of the gear shifter 7, making it more suitable for use inside a robot. Specifically, the gear shifter 7 includes an input shaft 300, an output shaft 200, and a shifting assembly. The input shaft 300 is connected to the drive motor 6, and the output shaft 200 is fixed to the transmission pin 51. 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 and the input shaft... The input shaft 300 is arranged in parallel and extends in opposite directions. 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 is slidably arranged 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 arranged 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.

[0028] Understandably, the gear shifter 7 of this application is similar in principle to the gear shifters 7 on existing motorcycles and locomotives. It mainly achieves the transmission between the input shaft 300 and the output shaft 200 through the engagement of gears of different gear positions. Specifically, 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 7 , 8 As shown in Figures 9 and 1, 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.

[0029] 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.

[0030] 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.

[0031] 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 7 more compact, and the overall projection can be within a small rectangular frame. This is beneficial for placing the shifter 7 between the drive shaft of the drive motor 6 and the reducer 3. When the shifter 7 is set inside the robot cabin 1, the installation position of the drive motor 6 can be appropriately moved to install the shifter 7 inside the robot cabin 1. Compared with other structures of shifter 7, the shifter 7 of this application is more suitable for robots. Thus, while the speed of the input shaft 300 remains unchanged, the speed of the output shaft 200 can be changed, which is suitable for robot mobile chassis with different moving speed and traction requirements.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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 10As 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 each of the protrusions 710 provided in the first idler sleeve 231 and the second idler sleeve 211 is provided with a guide structure 711 at the end near the fixed sleeve 620. The guide structure 711 has an flared structure facing the first idler sleeve 231 and the second idler sleeve 211, which can make gear shifting smoother.

[0037] 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 7 cannot be excessively increased. The moving part 500 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 connects 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 6 , 7 As shown in Figures 8 and 9, 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.

[0038] Based on the compact design of the shifter 7, the rotating seat 520 of this application is driven to rotate by the shifter 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 shifter motor 540. It can be understood that the rotating seat 520 can be a disc structure. By coaxially aligning the drive shaft of the shifter 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 shifter motor 540 is a servo motor, stepper motor, or other electrically controllable motor to facilitate control of the rotation direction of the shifter motor 540.

[0039] 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 9 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.

[0040] 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 6 , 8 As shown in Figure 9, two position sensors 400 are provided. These two position sensors 400 are used to detect the position of the sliding sleeve 600 when it engages with the first transmission gear 230 and the position when it engages with the second transmission gear 210, respectively. For ease of installation, the two position sensors 400 are respectively connected to the two connecting rods 510 to detect the movement distance of the connecting rods 510, thereby achieving the detection of the position of the sliding sleeve 600.

[0041] To facilitate the overall integration of the gear shifter 7, 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 6 , 7 As shown in Figure 8, 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 3. 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 6. Figure 6 , 7 As shown in Figure 8, to facilitate the connection between the input shaft 300 and the drive motor 6, 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 6 and the input shaft 300, ensuring that the drive motor 6 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 7 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.

[0042] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," 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 utility model according to the specific circumstances.

[0043] In the description of this utility model, 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 utility model is in use. They are only for the convenience of describing 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 this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0044] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A robot mobile chassis with gear shifting, characterized in that: It includes a cabin (1) and two track drive mechanisms (2) respectively located on both sides of the cabin (1). Each track drive mechanism (2) includes a drive wheel (4), a reducer (3), a gear shifter (7) and a drive motor (6). The drive motor (6) is located inside the cabin (1), and the output end of the drive motor (6) is connected to the input end of the gear shifter (7). The gear shifter (7) is located inside the cabin (1) and adjacent to the drive motor (6). The output end of the gear shifter (7) is connected to the reducer (3) located outside the cabin (1) through a connection structure. The output end of the reducer (3) is connected to the drive wheel (4). The connection structure includes an explosion-proof base (55) and a transmission pin (51) rotatably connected to the explosion-proof base (55). An installation channel for the transmission pin (51) to pass through is provided on the cabin (1). The explosion-proof base (55) has a shielding structure (52) covering the external port of the installation channel. The shielding structure (52) is fixed to the cabin (1) and sealed to the installation channel. One end of the transmission pin (51) is located inside the cabin (1) and connected to the output end of the gear shifter (7). The other end of the transmission pin (51) is located outside the cabin (1) and connected to the reducer (3).

2. The robot mobile chassis with gear shifting according to claim 1, characterized in that: The shifter (7) includes an input shaft (300), an output shaft (200), and a shifting assembly. The input shaft (300) is connected to the drive motor (6), and the output shaft (200) is fixed to the transmission pin (51). 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 parallel to the input shaft (300). 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).

3. The robot mobile chassis with gear shifting according to claim 2, 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).

4. The robot mobile chassis with gear shifting according to claim 3, 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).

5. The robot mobile chassis with gear shifting according to claim 2, 3 or 4, 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).

6. The robot mobile chassis with gear shifting according to claim 5, 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). 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 robot mobile chassis with gear shifting according to claim 2, 3, 4 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 robot mobile chassis with gear shifting according to claim 5, 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 robot mobile chassis with gear shifting according to claim 2, 3, 4 or 6, 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 robot mobile chassis with gear shifting according to claim 5, 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).

Images