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WO2025040066A1 - Ensemble transmission - Google Patents

Ensemble transmission Download PDF

Info

Publication number
WO2025040066A1
WO2025040066A1 PCT/CN2024/113233 CN2024113233W WO2025040066A1 WO 2025040066 A1 WO2025040066 A1 WO 2025040066A1 CN 2024113233 W CN2024113233 W CN 2024113233W WO 2025040066 A1 WO2025040066 A1 WO 2025040066A1
Authority
WO
WIPO (PCT)
Prior art keywords
clutch
driving wheel
shaft
driven wheel
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/113233
Other languages
English (en)
Chinese (zh)
Inventor
陶生强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Longto Suzhou Co Ltd
Original Assignee
Longto Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Longto Suzhou Co Ltd filed Critical Longto Suzhou Co Ltd
Publication of WO2025040066A1 publication Critical patent/WO2025040066A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present disclosure relates to a transmission assembly.
  • Intelligent navigation mobile robots are popular technology products at this stage.
  • the driving wheels use hub motors or reduction motors.
  • the resistance will be very large, making it inconvenient to manually drag the robot.
  • the existing intelligent navigation mobile robot driving wheels use electric clutches.
  • the electric clutch When transporting or assisting in moving to a designated location for service, the electric clutch will disconnect the reduction motor (connection to the drive device) to make the machine easier to drag.
  • the robot needs to disconnect the clutch before the battery runs out to facilitate manual towing, which places relatively high demands on the system logic control.
  • the present disclosure provides a transmission assembly.
  • a transmission assembly comprising:
  • a driving device the driving device is used to provide driving force, wherein the driving device is drivingly connected to a first driving wheel;
  • a clutch shaft, the clutch shaft is rotatably disposed on the driving wheel bracket, wherein a first driven wheel and a second driving wheel are disposed on the clutch shaft, the first driven wheel can rotate relative to the clutch shaft, and the second driving wheel rotates synchronously with the clutch shaft;
  • a driving wheel shaft, the driving wheel shaft is rotatably disposed on the driving wheel bracket, a second driven wheel is disposed on the driving wheel shaft, and the second driven wheel rotates synchronously with the driving wheel shaft;
  • the clutch is configured such that: when the clutch is in a disengaged state, the first driven wheel rotates freely on the clutch shaft; when the clutch is in an engaged state, the first driven wheel rotates synchronously with the clutch shaft.
  • the clutch includes a clutch plate, which is arranged on the clutch shaft and rotates synchronously with the clutch shaft; the clutch plate is configured to be able to slide along the axial direction of the clutch shaft and has a first position and a second position, when the clutch plate is in the first position, the clutch plate is engaged with the first driven wheel, and when the clutch plate is in the second position, the clutch plate is disengaged from the first driven wheel.
  • the clutch plate is carried by a support frame, and the clutch plate moves between the first position and the second position through the movement of the support frame.
  • the support frame is configured to slide along the inner wall surface of the driving wheel bracket.
  • the clutch further includes: a clutch motor, and the clutch motor is used to drive the support frame to move so that the clutch plate moves between the first position and the second position.
  • the clutch motor is disposed on the driving wheel bracket, and the output shaft of the clutch motor is provided with a cam, and when the cam rotates, the support frame is driven to move along the axial direction of the clutch shaft.
  • the clutch further includes a return spring, the return spring is disposed between the support frame and the driving wheel bracket, and the return spring is in a pre-compressed state.
  • a toothed portion is formed on the surface of the clutch plate close to the first driven wheel; a toothed portion is formed on the surface of the first driven wheel close to the clutch plate, and when the clutch plate is located in the first position, the toothed portion of the clutch plate is meshed with the toothed portion of the first driven wheel.
  • a retaining spring is provided on the clutch shaft, and the retaining spring is used to limit the axial position of the first driven wheel on the clutch shaft.
  • the first driving wheel, the first driven wheel, the second driving wheel and the second driven wheel are all synchronous pulleys; the first driving wheel and the first driven wheel are connected by a first synchronous belt transmission, and the second driving wheel and the second driven wheel are connected by a second synchronous belt transmission.
  • FIG. 1 is a schematic diagram of an exploded structure of a transmission assembly according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic structural diagram of a clutch according to an embodiment of the present disclosure.
  • FIG. 3 is a schematic structural diagram of a clutch in a disengaged state according to an embodiment of the present disclosure.
  • FIG. 4 is a schematic structural diagram of a clutch in a coupled state according to an embodiment of the present disclosure.
  • cross-hatching and/or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and/or any other characteristics, attributes, properties, etc. of the components.
  • the sizes and relative sizes of the components may be exaggerated for clarity and/or descriptive purposes.
  • the specific process sequence may be performed in a different order than described. For example, two successively described processes may be performed substantially simultaneously or in an order opposite to the described order.
  • the same figure numbers represent the same components.
  • a component When a component is referred to as being “on” or “over,” “connected to,” or “coupled to” another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being “directly on,” “directly connected to,” or “directly coupled to” another component, there are no intervening components.
  • the term “connected” may refer to a physical connection, an electrical connection, etc., with or without intervening components.
  • the present disclosure may use spatially relative terms such as “under,” “beneath,” “under,” “down,” “over,” “upper,” “above,” “higher,” and “side (e.g., as in “sidewall”),” to describe the relationship of one component to another (other) component as shown in the accompanying drawings.
  • the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, components described as “under” or “beneath” other components or features would subsequently be positioned “over” the other components or features.
  • the exemplary term “under” can encompass both the “over” and “under” orientations.
  • the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.
  • FIG. 1 is a schematic diagram of an exploded structure of a transmission assembly according to an embodiment of the present disclosure.
  • the present disclosure provides a transmission assembly, which includes: a driving wheel bracket 101 , a driving device 102 , a clutch shaft 104 , a driving wheel shaft 107 , a clutch 120 and other components.
  • the driving wheel bracket 101 disclosed in the present invention can be fixed on the main body of the robot when in use, and can support components such as the driving device 102, the clutch shaft 104, the driving wheel shaft 107 and the clutch 120.
  • the driving wheel bracket 101 can be provided with an upper cover 108, and accordingly, a receiving space can be formed between the driving wheel bracket 101 and the upper cover 108, and the driving device 102, the clutch shaft 104, the driving wheel shaft 107 and the clutch 120 are all arranged in the receiving space.
  • the driving device 102 is used to provide driving force.
  • the driving device 102 can be a motor, preferably a DC motor.
  • the driving device 102 is connected to the first driving wheel 103; for example, the first driving wheel 103 is arranged on the output shaft of the driving device 102 and is driven to rotate by the driving device 102.
  • the clutch shaft 104 is rotatably disposed on the driving wheel bracket 101; in a preferred embodiment, the driving wheel bracket 101 and the upper cover 108 are both provided with bearing seats, and bearings are provided in the bearing seats, and both ends of the clutch shaft 104 are respectively supported by the bearings, so that the clutch shaft 104 can rotate freely.
  • the clutch shaft 104 is provided with a first driven wheel 105 and a second driving wheel 106, wherein the first driven wheel 105 can rotate relative to the clutch shaft 104, i.e., the first driven wheel 105 can rotate freely, and the second driving wheel 106 rotates synchronously with the clutch shaft 104, i.e., the second driving wheel 106 is driven to rotate by the clutch shaft 104; in a preferred embodiment, the first driven wheel 105 can limit its axial position on the clutch shaft 104 by a retaining spring 109 provided on the clutch shaft 104, and the second driving wheel 106 can limit its axial position on the clutch shaft 104 by a shoulder of the clutch shaft 104.
  • the driving wheel axle 107 is rotatably disposed on the driving wheel bracket 101.
  • the driving wheel bracket 101 and the upper cover 108 are both provided with bearing seats, and bearings are provided in the bearing seats.
  • One end of the driving wheel axle 107 is supported by the bearing, and the middle part is supported by another bearing. Accordingly, the other end of the driving wheel axle 107 extends to the outside of the driving wheel bracket 101. At this time, the other end of the driving wheel axle 107 can be installed with a driving wheel so that the robot can walk.
  • the driving wheel shaft 107 is provided with a second driven wheel 110 , and the second driven wheel 110 rotates synchronously with the driving wheel shaft 107 ; that is, the second driven wheel 110 can drive the driving wheel shaft 107 to rotate.
  • the clutch 120 is configured such that when the clutch 120 is in a disengaged state, the first driven wheel 105 rotates freely on the clutch shaft 104 , and when the clutch 120 is in an engaged state, the first driven wheel 105 rotates synchronously with the clutch shaft 104 .
  • the first driving wheel 103 , the first driven wheel 105 , the second driving wheel 106 and the second driven wheel 110 are all synchronous pulleys; accordingly, the first driving wheel 103 and the first driven wheel 105 are connected by a first synchronous belt 111 , and the second driving wheel 106 and the second driven wheel 110 are connected by a second synchronous belt 112 .
  • Fig. 2 is a schematic diagram of the structure of a clutch according to an embodiment of the present disclosure.
  • Fig. 3 is a schematic diagram of the structure of a clutch in a disengaged state according to an embodiment of the present disclosure.
  • Fig. 4 is a schematic diagram of the structure of a clutch in a coupled state according to an embodiment of the present disclosure.
  • the clutch may include a clutch plate 121 , a support frame 122 , a clutch motor 123 , a cam 124 and a return spring 125 .
  • the clutch plate 121 is arranged on the clutch shaft 104 and rotates synchronously with the clutch shaft 104; the clutch plate 121 is arranged to be able to slide along the axial direction of the clutch shaft 104, and has a first position and a second position.
  • the clutch plate 121 is located at the first position (the position shown in Figure 4)
  • the clutch plate 121 is combined with the first driven wheel 105
  • the clutch plate 121 is located at the second position (the position shown in Figure 3)
  • the clutch plate 121 is disengaged from the first driven wheel 105.
  • a toothed portion is formed on the surface of the clutch plate 121 close to the first driven wheel 105; correspondingly, a toothed portion is also formed on the surface of the first driven wheel 105 close to the clutch plate 121, and when the clutch plate 121 is located in the first position, the toothed portion of the clutch plate 121 and the toothed portion of the first driven wheel 105 can engage with each other, so that power can be transmitted to the clutch plate 121 through the first driven wheel 105, and further cause the clutch shaft 104 to rotate; when the clutch plate 121 is in the second position, the toothed portion of the clutch plate 121 and the toothed portion of the first driven wheel 105 are separated from each other.
  • the clutch plate 121 is carried by the support frame 122, and the clutch plate 121 moves between the first position and the second position through the movement of the support frame 122. More specifically, the support frame 122 is configured to slide along the inner wall surface of the driving wheel bracket 101. In other words, the support frame 122 is configured to be able to move along the axial direction of the clutch shaft 104, and the support frame 122 does not rotate.
  • the clutch motor 123 is used to drive the support frame 122 to move so that the clutch plate 121 moves between the first position and the second position.
  • the clutch motor 123 is disposed on the driving wheel bracket 101, and the output shaft of the clutch motor 123 is provided with a cam 124, and the rotation axis of the cam 124 is perpendicular to the axial direction of the clutch shaft 104. Accordingly, when the cam 124 rotates, the support frame 122 is driven to move along the axial direction of the clutch shaft 104.
  • the cam 124 can be an eccentric wheel.
  • the clutch 120 also includes a return spring 125, which is arranged between the support frame 122 and the driving wheel bracket 101, and the return spring 125 is in a pre-compressed state; that is, the return force provided by the return spring 125 can make the clutch plate 121 move from the second position to the first position, thereby realizing the separation and engagement function of the clutch.
  • a return spring 125 which is arranged between the support frame 122 and the driving wheel bracket 101, and the return spring 125 is in a pre-compressed state; that is, the return force provided by the return spring 125 can make the clutch plate 121 move from the second position to the first position, thereby realizing the separation and engagement function of the clutch.
  • the transmission assembly disclosed in the present invention uses the clutch principle to disconnect the clutch when dragging the robot, making the robot easier to drag without the reverse resistance of the driving device; when the robot needs to enter the working state, the clutch can be engaged to enable the robot to move autonomously.
  • the clutch can be automatically controlled without human intervention.
  • the clutch may also include a microswitch for detecting the position of the clutch plate 121. Accordingly, the microswitch may be set to two. When the clutch plate 121 is in the first position, one of the microswitches is triggered. Accordingly, when the clutch plate 121 is in the second position, the other microswitch is triggered.
  • first and second are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality” is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Mechanical Operated Clutches (AREA)

Abstract

La présente invention concerne un ensemble de transmission, comprenant : un support de roue d'entraînement ; un dispositif d'entraînement, le dispositif d'entraînement étant utilisé pour fournir une force d'entraînement, et le dispositif d'entraînement étant en liaison de transmission avec une première roue d'entraînement ; un arbre d'embrayage, l'arbre d'embrayage étant disposé de manière rotative sur le support de roue d'entraînement, une première roue entraînée et une seconde roue d'entraînement étant disposées sur l'arbre d'embrayage, la première roue entraînée pouvant tourner par rapport à l'arbre d'embrayage, et la seconde roue d'entraînement et l'arbre d'embrayage tournant de manière synchrone ; un arbre de roue d'entraînement, l'arbre de roue d'entraînement étant disposé de manière rotative sur le support de roue d'entraînement, une seconde roue entraînée étant disposée sur l'arbre de roue d'entraînement, et la seconde roue entraînée et l'arbre de roue d'entraînement tournant de manière synchrone; et un embrayage, l'embrayage étant configuré pour : lorsque l'embrayage est dans un état débrayé, la première roue entraînée tourne librement sur l'arbre d'embrayage, et lorsque l'embrayage est dans un état embrayé, la première roue entraînée et l'arbre d'embrayage tournent de manière synchrone.
PCT/CN2024/113233 2023-08-22 2024-08-20 Ensemble transmission Pending WO2025040066A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202322258925.3U CN220218567U (zh) 2023-08-22 2023-08-22 传动组件
CN202322258925.3 2023-08-22

Publications (1)

Publication Number Publication Date
WO2025040066A1 true WO2025040066A1 (fr) 2025-02-27

Family

ID=89176398

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2024/113233 Pending WO2025040066A1 (fr) 2023-08-22 2024-08-20 Ensemble transmission

Country Status (2)

Country Link
CN (1) CN220218567U (fr)
WO (1) WO2025040066A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN220218567U (zh) * 2023-08-22 2023-12-22 苏州澜途科技有限公司 传动组件

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160076625A1 (en) * 2013-04-22 2016-03-17 France Reducteurs Transmission for self-propelled rolling vehicle and self-propelled vehicle equipped with such a transmission
CN112833110A (zh) * 2021-02-26 2021-05-25 宁波森富利电机有限公司 一种离合器、驱动装置、窗帘控制装置和窗帘
CN216737343U (zh) * 2022-02-22 2022-06-14 浙江润华机电有限公司 一种用于绞盘上的离合装置
CN218326029U (zh) * 2022-10-14 2023-01-17 王风雪 一种离合装置及具有该离合装置的执行器
CN219268646U (zh) * 2023-01-10 2023-06-27 宁波市鄞州炬云机械配件有限公司 一种电机离合结构
CN220218567U (zh) * 2023-08-22 2023-12-22 苏州澜途科技有限公司 传动组件

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160076625A1 (en) * 2013-04-22 2016-03-17 France Reducteurs Transmission for self-propelled rolling vehicle and self-propelled vehicle equipped with such a transmission
CN112833110A (zh) * 2021-02-26 2021-05-25 宁波森富利电机有限公司 一种离合器、驱动装置、窗帘控制装置和窗帘
CN216737343U (zh) * 2022-02-22 2022-06-14 浙江润华机电有限公司 一种用于绞盘上的离合装置
CN218326029U (zh) * 2022-10-14 2023-01-17 王风雪 一种离合装置及具有该离合装置的执行器
CN219268646U (zh) * 2023-01-10 2023-06-27 宁波市鄞州炬云机械配件有限公司 一种电机离合结构
CN220218567U (zh) * 2023-08-22 2023-12-22 苏州澜途科技有限公司 传动组件

Also Published As

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