1. The utility model provides a star gear drive with clutch function which characterized in that includes: a first rotating shaft (11), an idler rotating shaft (21) and a second rotating shaft (31) with the axes arranged in parallel; a first gear (1) is sleeved on the outer side of the first rotating shaft (11), a second gear (3) is sleeved on the outer side of the second rotating shaft (31), and an idler wheel (2) is sleeved on the outer side of the idler wheel rotating shaft (21); the idle gear (2) is positioned between the first gear (1) and the second gear (3) and is in inside and outside meshed connection in the same plane; a bracket (4) is arranged between the idler wheel rotating shaft (21) and the first rotating shaft (11), and a rocker (5) is arranged between the idler wheel rotating shaft (21) and the second rotating shaft (31);

a clutch driving device is coaxially arranged on the outer side of one end of the idler wheel rotating shaft (21); when the clutch driving device is closed, the position between the rocker (5) and the bracket (4) is kept relatively fixed; when the clutch driving device is started, the second gear (3) can be pushed by the rocker (5) to rotate in a planetary way by taking the idle gear (2) as a sun gear until the second gear (3) is meshed and interlocked with the first gear (1) or is disengaged; when the second gear (3) and the first gear (1) are meshed and interlocked, the positions of all parts in the transmission mechanism can be kept relatively static.

2. A starwheel drive with clutch function according to claim 1, characterized in that: the first rotating shaft (11) is a power input shaft; when the second gear (3) and the first gear (1) are meshed and interlocked, the transmission mechanism as a whole rotates around the first rotating shaft (11).

3. A starwheel drive with clutch function according to claim 1, characterized in that: the idler wheel rotating shaft (21) is a power input shaft; when the second gear (3) and the first gear (1) are meshed and interlocked, the transmission mechanism as a whole rotates around the idle wheel rotating shaft (21).

4. A starwheel drive with clutch function according to claim 2 or 3, characterized in that: the clutch driving device comprises a steering engine arranged on the support (4), a steering engine shaft (6) which is coaxial with the idler rotating shaft (21) is arranged on the outer side of one end of the steering engine, and the steering engine shaft (6) and the idler rotating shaft (21) are not interfered with each other; the outer side of the rudder machine shaft (6) is further provided with a connecting piece, and one end, far away from the rudder machine shaft (6), of the connecting piece is detachably and fixedly connected with the rocker (5).

5. A starwheel drive with clutch function according to claim 4, characterized in that: the connecting piece is a shifting fork (7), one end of the shifting fork (7) is fixed on the outer side of the end part of the rudder machine shaft (6), and the other end of the shifting fork is fixed on the rocker (5) through a pin (8).

6. A starwheel drive with clutch function according to claim 5, characterized in that: the connecting piece further comprises a stainless steel inhaul cable, and two ends of the inhaul cable are fixedly connected with the shifting fork (7) and the rocker (5) respectively.

7. A starwheel drive with clutch function according to claim 6, characterized in that: still be equipped with the transmission train that is connected the constitution by a plurality of transmission gear in the inboard and outboard meshing of coplanar on support (4) between first gear (1) and idler (2), all be connected in the inboard and outboard meshing of coplanar between transmission train and first gear (1), idler (2).

8. A starwheel drive with clutch function according to claim 7, characterized in that: the number of gears of the transmission gear train is determined according to the requirement of a design transmission ratio; when the number of the gears in the transmission mechanism is even, the number of teeth of the first gear (1) is different from that of the second gear (3).

9. A starwheel drive with clutch function according to claim 8, characterized in that: the support is any one of a single rigid body, a multi-link mechanism or a flexible hinge.

10. A starwheel drive with clutch function according to claim 9, characterized in that: the support (4) all are equipped with the pivot mounting hole with the both ends of rocker (5), support (4) align with one of them pivot mounting hole of rocker (5) and rotationally install idler pivot (21) in the pivot mounting hole that aligns, second pivot 31 is rotationally installed in the pivot mounting hole that idler pivot (21) was kept away from in rocker (5), first pivot (11) is rotationally installed in the pivot mounting hole that idler pivot (21) was kept away from in support (4).

Background

Nowadays, cross-country robots are increasingly used to perform dangerous tasks such as fire fighting, disaster relief, terrain reconnaissance, etc., and wheels, which are the "legs" of a trolley robot, directly determine the trafficability and success/failure of the robot. In order to achieve the characteristics of quick movement on a flat road and strong obstacle crossing capability, a new technology of using wheel-track coupled wheels as a robot walking mechanism is provided, and the robot walking mechanism is characterized in that the wheel-track coupled wheels can be switched with each other, and a rigid track with unchanged length can be used.

For example, a wheel-track coupled wheel is disclosed in patent publication No. CN 112373585A; the technical scheme can realize that the robot walks depending on wheels and can be switched into a crawler belt to walk through a wheel-crawler conversion structure; in the technical scheme, the crawler belt is supported by the inducer, the bearing wheel and the driving wheel on the front fork arm and the rear fork arm, the fork arms are opened by utilizing the torsional spring so as to tension the crawler belt, and the crawler belt can walk through the crawler belt at the moment; the shifting fork is driven by the steering engine shaft, so that the clutch sleeve is shifted forward to be meshed with the shaft end gear ring, the clutch sleeve pulls the torsion spring through the inhaul cable to tighten the crawler belt, meanwhile, the wheels are exposed, power is directly output to the wheels to realize robot walking, and the requirements of various aspects such as straight walking or obstacle crossing can be met; however, the wheel-track coupling structure in the technical scheme has poor structural reliability due to the complex transmission route; and the wheel-track conversion speed can not meet the occasion of high-speed use, and in addition, the number of clutches used in the wheel-track conversion speed is large, so the use cost is relatively high.

Disclosure of Invention

The invention aims to solve the problems mentioned in the background technology and provide a star wheel transmission mechanism with a clutch function, which has the advantages of good transmission reliability and less component number.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:

a star gear transmission with clutch functionality, comprising: the axial lead is a first rotating shaft, an idler rotating shaft and a second rotating shaft which are arranged in parallel; a first gear is sleeved on the outer side of the first rotating shaft, a second gear is sleeved on the outer side of the second rotating shaft, and an idler wheel is sleeved on the outer side of the idler wheel rotating shaft; the idler gear is positioned between the first gear and the second gear and is in inside and outside meshed connection with the first gear and the second gear in the same plane; a bracket is arranged between the idler wheel rotating shaft and the first rotating shaft, and a rocker is arranged between the idler wheel rotating shaft and the second rotating shaft;

a clutch driving device is coaxially arranged on the outer side of one end of the idler wheel rotating shaft; when the clutch driving device is closed, the position between the rocker and the bracket is kept relatively fixed; when the clutch driving device is started, the rocker can push the second gear to rotate in a planetary way by taking the idler gear as a sun gear until the second gear and the first gear are meshed and interlocked or are disengaged; when the second gear and the first gear are meshed and interlocked, the positions of all parts in the transmission mechanism can be kept relatively static.

Further, the first rotating shaft is a power input shaft; when the second gear and the first gear are meshed and interlocked, the transmission mechanism as a whole rotates around the first rotating shaft.

Further, the idler wheel rotating shaft is a power input shaft; when the second gear and the first gear are meshed and interlocked, the transmission mechanism as a whole rotates around the idle wheel rotating shaft.

Furthermore, the clutch driving device comprises a steering engine arranged on the support, a steering engine shaft arranged coaxially with the idle wheel rotating shaft is arranged on the outer side of one end of the steering engine, and the steering engine shaft and the idle wheel rotating shaft are not interfered with each other; the outer side of the steering engine shaft is further provided with a connecting piece, and one end, far away from the steering engine shaft, of the connecting piece is detachably and fixedly connected with the rocker.

Further, the connecting piece is a shifting fork, one end of the shifting fork is fixed on the outer side of the end part of the rudder machine shaft, and the other end of the shifting fork is fixed on the rocker through a pin.

Furthermore, the connecting piece still includes the stainless steel cable, the both ends of cable respectively with shift fork and rocker fixed connection.

Furthermore, a transmission gear train formed by connecting a plurality of transmission gears in an inner and outer meshed manner in the same plane is further arranged on the support between the first gear and the idler wheel, and the transmission gear train is in an inner and outer meshed manner in the same plane with the first gear and the idler wheel.

Further, the number of gears of the transmission gear train is determined according to the design transmission ratio requirement; when the number of the gears in the whole transmission mechanism is even, the number of teeth of the first gear is different from that of the second gear.

Further, the support is any one of a single rigid body, a multi-link mechanism or a flexible hinge.

Furthermore, the two ends of the support and the rocker are provided with rotating shaft mounting holes, the support is aligned with one of the rotating shaft mounting holes of the rocker and rotatably mounts an idler rotating shaft in the aligned rotating shaft mounting holes, the rocker is rotatably mounted with a second rotating shaft 31 in the rotating shaft mounting hole far away from the idler rotating shaft, and the support is rotatably mounted with a first rotating shaft in the rotating shaft mounting hole far away from the idler rotating shaft.

The invention has the following beneficial effects:

1. when the steering engine shaft stops rotating in the mechanism, the first gear and the second gear are normally externally meshed; when the steering engine shaft rotates, the rocker is directly driven to rotate through the connecting piece, and then the second gear is driven to rotate around the idler wheel planet until the first gear and the second gear are meshed and interlocked, so that the whole mechanism is tightened and an integrated component with relatively fixed internal parts is formed; the mechanism with the two states can form a wheel-track switching clutch which can replace a wheel-track switching structure in the prior art, and the clutch has a simple transmission structure and good reliability.

2. When the mechanism is used for wheel-track conversion, the overall structure is compact and the transmission path is shorter than that in the prior art, so that the wheel-track switching speed is higher, and the high-speed use occasion can be met.

3. Compared with the prior art that the crawler belt and the wheels respectively use different power input shafts, in order to not mutually interfere, a large number of clutches are needed to cut off or transmit wheel power and crawler belt power during wheel-track conversion; in the wheel-track conversion process of the mechanism, unnecessary power is cut off by interlocking between gears or mechanism parts, and a power input shaft is always unchanged in use, so that a clutch is not required to be additionally introduced, and the use cost can be effectively reduced.

Drawings

FIG. 1 is a schematic diagram of an axial structure of the present invention;

FIG. 2 is a schematic diagram of a front view configuration of the present invention;

FIG. 3 is a schematic structural view of the clutch in a disconnected state in the first embodiment of the present invention;

fig. 4 is a schematic structural view of the clutch in the engaged state in the first embodiment of the present invention.

The label names in the figure: first gear 1, first pivot 11, idler 2, idler pivot 21, second gear 3, second pivot 31, support 4, rocker 5, rocker 6, shift fork 7, pin 8.

Detailed Description

Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is to be understood that the described embodiments are merely a few, but not all, embodiments of the invention.

The first embodiment:

referring to fig. 1 to 4, a star wheel transmission mechanism with a clutch function according to the present embodiment includes: a first rotating shaft 11, an idler rotating shaft 21 and a second rotating shaft 31, the axes of which are arranged in parallel; the outer side of the first rotating shaft 11 is sleeved with a first gear 1, the outer side of the second rotating shaft 31 is sleeved with a second gear 3, and the outer side of the idler rotating shaft 21 is sleeved with an idler 2; the idle gear 2 is positioned between the first gear 1 and the second gear 3 and is in inside and outside meshed connection on the same plane; a bracket 4 is arranged between the idle wheel rotating shaft 21 and the first rotating shaft 11, and a rocker 5 is arranged between the idle wheel rotating shaft 21 and the second rotating shaft 31.

Wherein, both ends of support 4 and rocker 5 all are equipped with the pivot mounting hole, and one of them pivot mounting hole aligns and rotatably installs idler pivot 21 in the pivot mounting hole that aligns, and second pivot 31 is rotatably installed in the pivot mounting hole that rocker 5 kept away from idler pivot 21, and first pivot 11 is rotatably installed in the pivot mounting hole that support 4 kept away from idler pivot 21.

Wherein, a clutch driving device is coaxially arranged at the outer side of one end of the idler wheel rotating shaft 21; when the clutch driving device is closed, the position between the rocker 5 and the bracket 4 is kept relatively fixed; when the clutch driving device is started, the rocker 5 can push the second gear 3 to perform planetary rotation by taking the idle gear 2 as a sun gear until the second gear 3 and the first gear 1 are meshed and interlocked or are disengaged; when the second gear 3 and the first gear 1 are meshed and interlocked, the positions of all parts in the transmission mechanism can be kept relatively static.

In this embodiment, when the first rotating shaft 11 is a power input shaft and the second gear 3 and the first gear 1 are meshed and interlocked with each other, the transmission mechanism as a whole rotates around the first rotating shaft 11; when the idle gear rotating shaft 21 is a power input shaft, when the second gear 3 and the first gear 1 are meshed and interlocked, the transmission mechanism as a whole rotates around the idle gear rotating shaft 21.

It should be noted that, with the above structure, a special clutch capable of simultaneously changing the end effector and the rotation speed can be formed, and the clutch can be used in place of the wheel-track switching structure in the wheel-track coupled wheel described in the publication number CN112373585A, and the technical solutions of the above-mentioned patent publications are not described herein again.

To better explain the principle of the clutch, the following application methods are listed; it should be noted that the present embodiment is not limited to the use method, and in fact, the transmission mechanism in the present embodiment can be considered and modified to expand the application range in any situation or equipment where it is necessary to change the end effector and the rotation speed at the same time.

Specifically, in the transmission mechanism of the embodiment, when the clutch driving device is closed (i.e. the clutch is in a disconnected state), the position between the rocker 5 and the bracket 4 is kept relatively fixed; at this time, the first gear 1, the second gear 3 and the idler gear 2 are normally meshed externally, the crawler belt can be arranged on the outer side of the gears or on the corresponding executing element, and the crawler belt is in a tensioned state and depends on the crawler belt to walk; when the clutch driving device is started (namely the clutch is in an engaged state), the second gear 3 and the first gear 1 are meshed and interlocked, the transmission structure is tightened to form an integral component with internal parts which are relatively static, a traveling wheel capable of covering the integral component is arranged at the power input shaft end, and the crawler belt is retracted and the traveling is dependent on the traveling wheel.

To avoid excessive eccentric inertia, the clutches may be used in pairs, i.e. multiple sets of such clutches are combined, but share the same power input shaft.

Referring to fig. 1, the clutch driving device includes a steering engine mounted on the bracket 4, a steering engine shaft 6 arranged coaxially with the idle wheel rotating shaft 21 is provided at an outer side of one end of the steering engine, and the steering engine shaft 6 and the idle wheel rotating shaft 21 do not interfere with each other; the outer side of the steering engine shaft 6 is also provided with a connecting piece, and one end of the connecting piece, which is far away from the steering engine shaft 6, is detachably and fixedly connected with the rocker 5.

Wherein, the connecting piece can be set as a shifting fork 7, one end of the shifting fork 7 is fixed on the outer side of the end part of the rudder machine shaft 6, and the other end thereof is fixed on the rocker 5 through a pin 8; the connecting piece can also be used by combining the shifting fork 7 and a stainless steel cable, and two ends of the stainless steel cable are respectively and fixedly connected with the shifting fork 7 and the rocker 5.

In this embodiment, a support 4 between the first gear 1 and the idler gear 2 is further provided with a transmission gear train formed by connecting a plurality of transmission gears in an inside-outside meshed manner on the same plane, the transmission gear train is connected with the first gear 1 and the idler gear 2 in an inside-outside meshed manner on the same plane, and the number of the transmission gear train is determined according to the requirement of a designed transmission ratio; when the number of the whole gears in the transmission mechanism is even, the number of teeth of the first gear 1 and the second gear 3 cannot be the same, otherwise, the first gear 1 and the second gear 3 cannot be meshed and interlocked.

The support is not necessarily a single rigid body, but may be a multi-link mechanism or a flexible hinge.

Wherein, steering wheel axle 6 drives rocker 5 through the connecting piece and just, the reverse rotation, as long as second gear 3 can mesh the interlocking with first gear 1 can.

The transmission mechanism in the embodiment replaces the wheel-track conversion structure in the prior art, and has the advantages of high conversion efficiency, simple wheel-track coupling structure, high reliability and the like.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.