阅读说明：本技术 一种变速装置及其控制方法、转向系统及其控制方法 (Speed changing device and control method thereof, steering system and control method thereof ) 是由 王兴 刘峰宇 李�杰 鲁岳 于 2020-03-09 设计创作，主要内容包括：一种变速装置,包括外转动轮(3)；内转动轮(1),内转动轮(1)的旋转轴线(P1)与外转动轮(3)的旋转轴线(P2)平行且不同轴；多个啮合件(5),且沿内转动轮(1)或外转动轮(3)的周向布设；外转动轮(3)和内转动轮(1)的其中一个转动轮上开设有多个滑槽(7),且多个滑槽(7)与多个啮合件(5)一一对应,另一个转动轮上具有与啮合件(5)相啮合的固定啮合齿(8)；啮合件(5)能够沿着相对应的滑槽(7)滑动,在啮合件(5)由滑槽(7)的第一端朝第二端滑动的情况下,啮合件(5)与内转动轮(1)的旋转轴线(P1)逐渐减小。还公开了一种变速控制方法、一种转向系统以及一种转向控制方法。(A transmission comprising an outer rotatable wheel (3); an inner rotating wheel (1), the rotation axis (P1) of the inner rotating wheel (1) is parallel to and not coaxial with the rotation axis (P2) of the outer rotating wheel (3); a plurality of meshing parts (5) are arranged along the circumferential direction of the inner rotating wheel (1) or the outer rotating wheel (3); one of the outer rotating wheel (3) and the inner rotating wheel (1) is provided with a plurality of sliding chutes (7), the sliding chutes (7) correspond to the meshing parts (5) one by one, and the other rotating wheel is provided with fixed meshing teeth (8) meshed with the meshing parts (5); the engaging pieces (5) can slide along the corresponding sliding grooves (7), and under the condition that the engaging pieces (5) slide from the first ends to the second ends of the sliding grooves (7), the rotating axes (P1) of the engaging pieces (5) and the inner rotating wheel (1) are gradually reduced. A shift control method, a steering system, and a steering control method are also disclosed.)

1. A transmission device, characterized by comprising:

an outer rotating wheel;

the inner rotating wheel is positioned inside the outer rotating wheel, and the rotating axis of the inner rotating wheel is parallel to and not coaxial with the rotating axis of the outer rotating wheel;

the plurality of meshing pieces are positioned between the outer side surface of the inner rotating wheel and the inner side surface of the outer rotating wheel and are distributed along the circumferential direction of the inner rotating wheel or the outer rotating wheel;

one of the outer rotating wheel and the inner rotating wheel is provided with a plurality of sliding grooves, the sliding grooves correspond to the plurality of meshing parts one by one, the other rotating wheel is provided with fixed meshing teeth which are distributed along the circumferential direction of the other rotating wheel and are used for meshing with the meshing parts, and the fixed meshing teeth extend along the direction consistent with the extending direction of the sliding grooves;

the engaging pieces are slidable along the corresponding slide grooves, and the distance between the engaging pieces and the rotation axis of the inner rotating wheel is gradually reduced in a case where the engaging pieces are slid from the first ends toward the second ends of the slide grooves.

2. The transmission of claim 1, wherein the radial dimension of the outer rotating wheel and the radial dimension of the inner rotating wheel are each tapered along the first end to the second end of the sliding channel, and the groove depth of the sliding channel is tapered along the first end to the second end of the sliding channel.

3. The transmission device according to claim 1 or 2, characterized by further comprising:

the plurality of speed adjusting rods correspond to the plurality of meshing pieces one by one;

the adjusting ring is arranged inside the inner rotating wheel, the central axis of the adjusting ring is coaxial with the rotating axis of the inner rotating wheel, the adjusting ring is connected with a first driving source, the axis of the output shaft of the first driving source is coaxial with the rotating axis of the inner rotating wheel, and the first driving source can drive the adjusting ring to move along the direction of the rotating axis of the inner rotating wheel;

the sliding grooves are formed in the inner rotating wheel, one end of each speed adjusting rod is connected with the corresponding meshing part, the other end of each speed adjusting rod is connected with the adjusting ring, and when the first driving source drives the adjusting ring to move along the direction of the rotating axis of the inner rotating wheel, the speed adjusting rods and the adjusting ring synchronously move along the direction of the rotating axis of the inner rotating wheel;

the adjusting rod is fixed relative to the adjusting ring along the circumferential direction of the adjusting ring, and the adjusting ring and the adjusting rod can rotate around the circumferential direction of the output shaft of the first driving source synchronously.

4. The transmission of claim 3, further comprising:

the shaft sleeve is arranged in the inner rotating wheel, the shaft sleeve and the inner rotating wheel are relatively fixed, and the axis of the shaft sleeve is coaxial with the rotation axis of the inner rotating wheel;

a sliding shaft which is arranged in the shaft sleeve in a sliding manner and is connected with an output shaft of the first driving source, the adjusting ring is rotatably sleeved outside the shaft sleeve and is connected with the sliding shaft through a connecting pin, the first end of the connecting pin is fixed relative to the adjusting ring, the circumferential direction of the sliding shaft is provided with a clamping groove for the second end of the connecting pin to slide, when the speed adjusting rod and the adjusting ring synchronously rotate around the shaft sleeve, the connecting pin rotates along the clamping groove, the shaft sleeve is provided with a guide groove for the second end of the connecting pin to move along the axial direction of the shaft sleeve, when the first driving source drives the sliding shaft to move along the axial direction of the shaft sleeve, the connecting pin moves along the guide groove, so that the adjustment ring and the adjustment lever move synchronously in the axial direction of the bushing, the first end of the connecting pin being opposite to the second end.

5. The transmission of claim 4, wherein the throttle lever comprises:

one end of the first connecting rod is connected with the meshing part, the other end of the first connecting rod is hinged with a fixed seat through a first hinge shaft, and the fixed seat is relatively fixed on the shaft sleeve;

one end of the second connecting rod is hinged with the middle part of the first connecting rod through a second hinge shaft, and the other end of the second connecting rod is hinged with the adjusting ring through a third hinge shaft; the axes of the first hinge shaft, the second hinge shaft and the third hinge shaft are all vertical to a first plane, the straight line where the first connecting rod is located is a first straight line, and the plane where the first straight line and the axis of the shaft sleeve are located is the first plane;

the sliding groove is an arc-shaped groove, and the circle center of the circle where the arc-shaped groove is located coincides with the rotation center of the first connecting rod relative to the fixed seat.

6. The transmission device according to claim 1 or 2, characterized by further comprising:

the plurality of speed adjusting rods correspond to the plurality of meshing pieces one by one;

the adjusting ring is sleeved outside the outer rotating wheel, the central axis of the adjusting ring is coaxial with the rotating axis of the outer rotating wheel, the adjusting ring is connected with a first driving source, the axis of the output shaft of the first driving source is parallel to and not coaxial with the rotating axis of the outer rotating wheel, and the first driving source can drive the adjusting ring to move along the direction of the rotating axis of the outer rotating wheel;

the sliding grooves are formed in the outer rotating wheel, one end of each speed adjusting rod is connected with the corresponding meshing part, the other end of each speed adjusting rod is connected with the adjusting ring, and when the first driving source drives the adjusting ring to move along the direction of the rotating axis of the outer rotating wheel, the speed adjusting rods and the adjusting ring synchronously move along the direction of the rotating axis of the outer rotating wheel;

the adjusting ring is relatively fixed with the output shaft of the first driving source, and the speed adjusting rod can rotate around the circumferential direction of the adjusting ring.

7. The transmission of claim 6, wherein a speed-changing groove is formed at an end of the speed-adjusting lever close to the adjusting ring, the depth of the speed-changing groove is greater than or equal to the radial distance between the first end and the second end along the outer rotating wheel, the adjusting ring is clamped in the speed-changing groove along the radial direction, and the speed-adjusting lever is in sliding fit with the adjusting ring through the speed-changing groove so that the speed-adjusting lever can rotate along the circumferential direction of the adjusting ring.

8. The transmission arrangement of claim 6 or 7, wherein a portion of the engagement member extends to a side of the outer rotatable wheel remote from the inner rotatable wheel;

the transmission device further includes:

the guide rail ring is fixed with the outer rotating wheel relatively, a plurality of guide rail grooves are formed in the guide rail ring along the circumferential direction of the guide rail ring, the extending direction of the guide rail grooves is consistent with the extending direction of the sliding grooves, and one end, far away from the meshing part, of any speed adjusting rod sequentially penetrates through the corresponding guide rail grooves to be connected with the adjusting ring.

9. The transmission of claim 8, wherein a stop structure is disposed at a position where the speed lever is engaged with the guide ring, and the stop structure is used for preventing the speed lever from moving in a direction away from the guide ring.

10. The transmission of claim 9, wherein the limit structure comprises:

the guide rail block is connected with the speed regulating rod and is relatively fixed with the speed regulating rod, the guide rail block is positioned on one side of the guide rail ring, which is far away from the outer rotating wheel, and the guide rail block is abutted to the guide rail ring;

the clamp plate compresses tightly keeping away from of guide rail piece one side of guide rail ring, and with guide rail ring relatively fixed, seted up on the clamp plate and kept away from the groove, keep away from the extending direction in groove with the extending direction in guide rail groove is unanimous, keeping away from of speed adjusting lever the one end of meshing piece passes in proper order the guide rail groove with keep away the groove and with the adjustable ring is connected.

11. The transmission device according to any one of claims 1 to 10, characterized by further comprising:

the first rotating shaft is connected with the inner rotating wheel and extends to the outside of the outer rotating wheel, and the axis of the first rotating shaft is coaxial with the rotating axis of the inner rotating wheel;

the second rotating shaft is connected with the outer rotating wheel and extends to the outer part of the outer rotating wheel, and the axis of the second rotating shaft is coaxial with the rotating axis of the outer rotating wheel.

12. A shift control method applied to the transmission device according to any one of claims 1 to 11, one of the inner rotating wheels and the outer rotating wheels being an input wheel, the other rotating wheel being an output wheel, the shift control method comprising:

when the rotating speed of the output wheel is greater than the preset rotating speed, the meshing component is controlled to slide towards the direction of the first end of the sliding chute until the rotating speed of the output wheel is equal to the preset rotating speed;

and when the rotating speed of the output wheel is lower than the preset rotating speed, the meshing component is controlled to slide towards the direction of the second end of the sliding chute until the rotating speed of the output wheel is equal to the preset rotating speed.

13. A steering system, comprising:

a second drive source;

a steering transmission mechanism, wherein the second driving source drives the steering transmission mechanism to enable steering of a steering wheel, an input end of the steering transmission mechanism is connected with an output end of the second driving source, and an output end of the steering transmission mechanism is connected with the steering wheel;

a speed change device as claimed in any one of claims 1 to 11, wherein one of the inner and outer rotatable wheels is connected to an output end of the second drive source, and the other rotatable wheel is connected to an input end of the steering transmission mechanism.

14. A steering control method, characterized by being applied to the steering system according to claim 13, the steering control method comprising:

detecting a steering torque of an output end of the second drive source;

and judging whether the steering torque is smaller than a preset steering torque, controlling the meshing part to move towards the direction close to the first end of the sliding groove when the steering torque is smaller than the preset steering torque, further reducing the transmission ratio of the inner rotating wheel and the outer rotating wheel until the steering torque is larger than or equal to the preset steering torque, and controlling the second driving source to drive the steering transmission mechanism to drive the steering wheel to steer.

15. The steering control method according to claim 14, characterized in that when the detected steering torque is greater than or equal to the preset steering torque, the steering transmission mechanism is driven by controlling the second drive source to steer the steered wheels.

16. The steering control method according to claim 14 or 15, wherein the second drive source includes a first motor and a second motor, an output of the first motor and an output of the second motor are connected to the inner rotating wheel or the outer rotating wheel of the speed change device and to an input of the steering transmission mechanism, and before the detection of the steering torque, the method further includes:

detecting the output power of the first motor and the output power of the second motor;

detecting the steering torque again when one of the first motor and the second motor does not have output power;

when the first motor and the second motor both have output power, the steering transmission mechanism is driven by controlling the second driving source to drive the steering wheel to steer.

17. A steering control method, characterized by being applied to the steering system according to claim 13, the steering control method comprising:

detecting the traveling speed of a steering wheel, and judging whether the traveling speed is greater than a preset speed or not;

and when the advancing speed is higher than the preset speed, controlling the meshing component to move towards the direction close to the second end of the sliding chute, and further increasing the transmission ratio of the inner rotating wheel and the outer rotating wheel so as to enable the advancing speed of the steering wheel to be lower than or equal to the preset speed.

18. The steering control method according to claim 17, characterized in that, when it is judged that the travel speed is less than or equal to the preset speed, the position of the engaging piece is controlled so that the transmission ratio of the inner rotating wheel and the outer rotating wheel is equal to 1.

Technical Field

The present disclosure relates to the field of mechanical transmission technologies, and in particular, to a transmission and a control method thereof, and a steering system and a control method thereof.

Background

The gearbox is a very important part on a vehicle, and the main functions of the gearbox comprise changing the transmission ratio and expanding the torque and the rotating speed of a driving wheel; the power transmission direction of the vehicle is changed to realize reversing; and the power transmission is interrupted, and the neutral position is realized. Through the development of more than 100 years, the gearbox is from an initial manual gearbox, to a hydraulic automatic gearbox and an electric control mechanical automatic gearbox, and then to the existing stepless gearbox, so that the gearbox gear change is smoother, the system is more oil-saving, and the impact in the gear shifting process is smaller while the function is realized and the operation intensity of a driver is reduced.

The existing speed change devices mainly include two types, one type is a gear mesh type speed change device, including an Automatic Transmission (AT), a Manual Transmission (MT), an Automatic Mechanical Transmission (AMT) and a Dual-clutch Transmission (DCT), and the speed change devices mainly realize power Transmission by mutual engagement between gear sets, and change of Transmission ratio and Transmission direction is realized by engagement between gear sets of different specifications, and since the number of teeth of each gear is fixed, the Transmission ratio between the gear sets is fixed, so that certain impact exists in gear change, and by arranging more gear sets, the Transmission ratio difference between gears can be reduced, further reducing gear shift impact, but due to the limitation of the size of the gearbox, more gear sets cannot be added in a limited space, therefore, the development of gear mesh transmissions has now met with bottlenecks; another type is a friction type Continuously Variable Transmission, mainly a Continuously Variable Transmission (CVT), referring to fig. 1a and 1b, which includes two sets of paired pulley assemblies and steel belts, i.e., a primary pulley assembly including a first moving pulley 011 and a first fixed pulley 012 arranged oppositely in a V-shaped configuration, a secondary pulley assembly including a second moving pulley 021 and a second fixed pulley 022 arranged oppositely in a V-shaped configuration, the primary pulley assembly and the secondary pulley assembly being connected by a steel belt 03, a position near the first moving pulley 011 having a first pressure chamber 041 to which a thrust is applied by an oil pressure in the first pressure chamber 041 to change a gap between the first moving pulley 011 and the first fixed pulley 012, a position near the second moving pulley 021 having a second pressure chamber 042 to which a thrust is applied by an oil pressure in the second pressure chamber 042, to change the spacing between the second moving pulley 021 and the second fixed pulley 022. Referring to fig. 1a, when the oil pressure in the second pressure chamber 042 acts on the second moving pulley 021, the second moving pulley 021 moves closer to the second fixed pulley 022, the steel band 03 is pushed to move in a direction close to the outer edges of the second moving pulley 021 and the second fixed pulley 022, and the first moving pulley 011 moves away from the first fixed pulley 012, which causes the running radius of the steel belt 03 on the main pulley assembly to increase, the speed change device is in a high speed state, referring to fig. 1b, when the oil pressure in the first pressure cavity 041 acts on the first movable pulley 011, the first movable pulley 011 approaches the first fixed pulley 012, the steel belt 03 is pushed to move towards the direction close to the outer edges of the first movable pulley 011 and the first fixed pulley 012, and the second moving pulley 021 is far away from the second fixed pulley 022, which causes the running radius of the steel belt 03 on the primary pulley assembly to be reduced and the transmission to be in a low speed state. Since the change of the distance between the first movable pulley 011 and the first fixed pulley 012 is continuous, and the change of the distance between the second movable pulley 021 and the second fixed pulley 022 is also continuous, the CVT transmission is a transmission capable of continuously obtaining any transmission ratio in a transmission range, namely, a continuously variable transmission, and when the continuously variable transmission is applied to an automobile, the gear shifting can be very stable without a sudden jump feeling, and the comfort level is improved.

However, in the continuously variable transmission, the steel belt drives the main pulley assembly and the auxiliary pulley assembly, that is, power is transmitted by the friction force between the steel belt and the main pulley assembly and the auxiliary pulley assembly, and when the transmitted torque is large, a slip phenomenon is easily generated on a friction surface, so that the continuously variable transmission cannot transmit large torque power.

Disclosure of Invention

Embodiments of the present application provide a speed changing device, a speed changing control method, a steering system, and a steering control method, and mainly aim to provide a speed changing device using engagement transmission, which can increase transmission power compared to friction transmission and avoid a slip phenomenon in a power transmission process.

In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions:

in a first aspect, the present application provides a transmission comprising:

an outer rotating wheel;

the inner rotating wheel is positioned inside the outer rotating wheel, and the rotating axis of the inner rotating wheel is parallel to and not coaxial with the rotating axis of the outer rotating wheel;

the plurality of meshing pieces are positioned between the opposite side surfaces of the inner rotating wheel and the outer rotating wheel and are distributed along the circumferential direction of the inner rotating wheel or the outer rotating wheel;

one of the outer rotating wheel and the inner rotating wheel is provided with a plurality of sliding grooves, the sliding grooves correspond to the plurality of meshing parts one by one, the other rotating wheel is provided with fixed meshing teeth which are used for meshing with the meshing parts, and the fixed meshing teeth extend along the direction consistent with the extending direction of the sliding grooves;

the engaging pieces can slide along the corresponding sliding grooves, and the distance between the engaging pieces and the rotating axis of the inner rotating wheel is gradually reduced under the condition that the engaging pieces slide from the first ends to the second ends of the sliding grooves.

According to the speed change device provided by the embodiment of the application, the outer rotating wheel and the inner rotating wheel realize inner meshing transmission through the meshing part and the fixed meshing teeth which are meshed with each other, the meshing part can slide along the sliding groove, and the distance from the meshing part to the rotating axis of the inner rotating wheel is gradually reduced under the condition that the meshing part slides from the first end to the second end of the sliding groove. That is, when the engaging member slides to the first end, the transmission ratio i of the inner rotating wheel and the outer rotating wheel is 1+ X/L1, X is the distance between the rotation axis of the inner rotating wheel and the rotation axis of the outer rotating wheel, and L1 is the distance from the position of the first end to the rotation axis of the inner rotating wheel; when the engaging piece slides to the second end, the transmission ratio i of the inner rotating wheel and the outer rotating wheel is 1+ X/L2, and L2 is the distance from the position of the second end to the rotation axis of the inner rotating wheel. The transmission ratio of the inner rotating wheel and the outer rotating wheel is continuously changed, namely the transmission ratio of the inner rotating wheel to the outer rotating wheel is gradually increased from the first end to the second end, and the speed change device can realize stepless speed change. In addition, the power transmission between the inner rotating wheel and the outer rotating wheel of the speed change device is transmitted through meshing transmission, and compared with the existing friction transmission, the meshing transmission has the advantages that the speed change efficiency is high, and the slippage phenomenon is not easy to occur in the process of carrying out larger power transmission, so that the speed change device provided by the embodiment of the application can be suitable for the torque environment with larger load.

In a possible implementation manner of the first aspect, the radial dimension of the inner rotating wheel and the radial dimension of the outer rotating wheel are both gradually reduced from the first end to the second end of the sliding chute, and the groove depth of the sliding chute is gradually reduced from the first end to the second end of the sliding chute. The radial dimension of the internal rotating wheel and the radial dimension of the external rotating wheel are designed to be gradually reduced, so that the distance from the meshing part to the rotating axis of the internal rotating wheel is gradually reduced along the direction from the first end to the second end, and the groove depth of the sliding groove is gradually reduced along the direction from the first end to the second end, so that the meshing part can realize meshing transmission with the fixed meshing teeth no matter at the first end, the second end or other positions between the first end and the second end.

In a possible implementation manner of the first aspect, the method further includes: the plurality of speed adjusting rods correspond to the plurality of meshing pieces one by one; the adjusting ring is arranged in the inner rotating wheel, the central axis of the adjusting ring is coaxial with the rotating axis of the inner rotating wheel, the adjusting ring is connected with the first driving source, the axis of the output shaft of the first driving source is coaxial with the rotating axis of the inner rotating wheel, and the first driving source can drive the adjusting ring to move along the direction of the rotating axis of the inner rotating wheel; the sliding groove is formed in the inner rotating wheel, one end of any speed adjusting rod is connected with the corresponding meshing part, the other end of any speed adjusting rod is connected with the adjusting ring, and when the first driving source drives the adjusting ring to move along the direction of the rotating axis of the inner rotating wheel, the speed adjusting rod and the adjusting ring synchronously move along the direction of the rotating axis of the inner rotating wheel; the circumferential speed adjusting rod along the adjusting ring is relatively fixed with the adjusting ring, and the adjusting ring and the speed adjusting rod can synchronously rotate around the circumferential direction of the output shaft of the first driving source.

Through adopting a plurality of speed adjusting rods and a plurality of corresponding meshing piece one-to-one connection to with speed adjusting rod and the adjustable ring of being connected with first driving source, just so can realize adopting a first driving source to drive the adjustable ring and remove, and then drive all meshing pieces synchronous motion in corresponding spout through a plurality of speed adjusting rods, compare and adopt a plurality of meshing piece motions of a plurality of corresponding drive of a plurality of driving sources difference, can simplify whole speed change gear's structure, and all meshing piece synchronous motion of easy control.

In addition, during operation of the transmission, the engaging member must rotate synchronously with the inner rotating wheel, in addition to sliding in the sliding groove. In order to realize that the meshing part can rotate synchronously along with the inner rotating wheel, the embodiment provided by the application is as follows: the circumference speed adjusting rod along the adjustable ring is relatively fixed with the adjustable ring, and adjustable ring and speed adjusting rod can be around the synchronous rotation of the circumference of the output shaft of first driving source, and the adjustable ring is under the drive of first driving source promptly, speed adjusting rod and the meshing piece of being connected with it to and the synchronous rotation of the circumference of the output shaft around first driving source of adjustable ring synchronization, just so can realize meshing piece and the synchronous rotation of internal rotation wheel.

In a possible implementation manner of the first aspect, the method further includes: the shaft sleeve is arranged in the inner rotating wheel, the shaft sleeve and the inner rotating wheel are relatively fixed, and the axis of the shaft sleeve is coaxial with the rotation axis of the inner rotating wheel; the sliding shaft, it sets up in the axle sleeve to slide, the sliding shaft is connected with the output shaft of first driving source, the adjustable ring rotates the cover and establishes the outside of axle sleeve and be connected with the sliding shaft through the connecting pin, the first end and the adjustable ring relatively fixed of connecting pin, the gliding draw-in groove of second end that supplies the connecting pin is seted up to the circumference of sliding shaft, when governor lever and adjustable ring rotate around the axle sleeve in step, the connecting pin rotates along the draw-in groove, set up the guide way that supplies the second end of connecting pin to follow the axial displacement of axle sleeve on the axle sleeve, when the axial displacement of axle sleeve is followed to first driving source drive sliding shaft, the connecting pin removes along the guide way, so that the axial motion of axle sleeve is followed in step to adjustable ring and governor lever, the first end and.

When rotating the inside of taking turns including with the adjustable ring setting, because the installation space of interior rotation in taking turns is limited, generally can set up the outside of rotating the wheel including first driving source, still ensure the adjustable ring through axle sleeve and the direction removal of the axis of rotation of interior rotation wheel with it complex sliding shaft like this, and realize the synchronous circumferential direction along the sliding shaft of speed adjusting lever and adjustable ring through the rotation of connecting pin along the draw-in groove.

In a possible implementation manner of the first aspect, one end of the first connecting rod is connected with the engaging member, the other end of the first connecting rod is hinged with the fixed seat through a first hinge shaft, and the fixed seat is relatively fixed on the shaft sleeve; one end of the second connecting rod is hinged with the middle part of the first connecting rod through a second hinge shaft, and the other end of the second connecting rod is hinged with the adjusting ring through a third hinge shaft; the axes of the first hinge shaft, the second hinge shaft and the third hinge shaft are all vertical to a first plane, the straight line where the first connecting rod is located is a first straight line, and the plane where the first straight line and the axis of the shaft sleeve are located is the first plane; the sliding groove is an arc-shaped groove, and the circle center of a circle where the arc-shaped groove is located coincides with the rotation center of the first connecting rod relative to the fixed seat. Because each first connecting rod is articulated with the fixing base, all meshing parts can be ensured to rotate around the axial direction of the shaft sleeve synchronously, and the sliding groove is arranged to be an arc-shaped groove, so that the meshing parts can be ensured to be driven by the first connecting rods to slide in the sliding groove smoothly.

In a possible implementation manner of the first aspect, the method further includes: the plurality of speed adjusting rods correspond to the plurality of meshing pieces one by one; the adjusting ring is sleeved outside the outer rotating wheel, the central axis of the adjusting ring is coaxial with the rotating axis of the outer rotating wheel, the adjusting ring is connected with the first driving source, the axis of the output shaft of the first driving source is parallel to and not coaxial with the rotating axis of the outer rotating wheel, and the first driving source can drive the adjusting ring to move along the direction of the rotating axis of the outer rotating wheel; the sliding grooves are formed in the outer rotating wheel, one end of each speed adjusting rod is connected with the corresponding meshing part, the other end of each speed adjusting rod is connected with the adjusting ring, and when the first driving source drives the adjusting ring to move along the direction of the rotating axis of the outer rotating wheel, the speed adjusting rods and the adjusting ring synchronously move along the direction of the rotating axis of the outer rotating wheel; the adjustable ring is fixed relatively with the output shaft of first driving source, and the gear lever can be around the circumferential direction rotation of adjustable ring.

Through adopting a plurality of speed adjusting rods and a plurality of corresponding meshing piece one-to-one connection to with speed adjusting rod and the adjustable ring of being connected with first driving source, just so can realize adopting a first driving source to drive the adjustable ring and remove, and then drive all meshing pieces through a plurality of speed adjusting rods and slide in step in corresponding spout, compare and adopt a plurality of meshing piece movements of corresponding drive of a plurality of driving sources difference, can simplify whole speed change gear's structure, and all meshing piece synchronous motion of easy control.

In addition, during operation of the transmission, the engagement member must rotate in synchronism with the outer rotating wheel, in addition to sliding within the sliding channel. In order to realize that the meshing piece can rotate along with the outer rotating wheel synchronously, the embodiment provided by the application is as follows: the adjustable ring is fixed relatively with the output shaft of first driving source, and the gear lever can be around the circumferential direction rotation of adjustable ring. That is, the adjusting ring does not rotate around the output shaft of the first driving source, but the speed adjusting rod rotates along the adjusting ring, so that the meshing part is driven to rotate around the rotation axis of the outer rotating wheel.

In a possible implementation manner of the first aspect, a speed change groove is formed in one end, close to the adjusting ring, of the speed adjusting rod, the groove depth of the speed change groove is larger than or equal to the radial distance between the first end and the second end along the outer rotating wheel, the adjusting ring is clamped in the speed change groove along the radial direction of the adjusting ring, and the speed adjusting rod is in sliding fit with the adjusting ring through the speed change groove so that the speed adjusting rod can rotate along the circumferential direction of the adjusting ring. Through seting up the gear shifting groove at the one end of speed adjusting lever that is close to the adjustable ring to make the groove depth of gear shifting groove be greater than or equal to first end and second end along the radial distance of outer rotation wheel, when meshing piece slides along first end towards the second end promptly, can realize through the gear shifting groove that the position that speed adjusting lever and meshing piece are connected increases gradually to the distance between the position that speed adjusting lever and adjustable ring are connected, can ensure smooth sliding in the spout of speed adjusting lever and meshing piece be connected with it like this, and guarantee through the gear shifting groove that speed adjusting lever follows the circumferential direction of adjustable ring.

In a possible implementation manner of the first aspect, a part of the engaging member extends to a side of the outer rotating wheel far away from the inner rotating wheel; further comprising: the guide rail ring is fixed relative to the outer rotating wheel, a plurality of guide rail grooves are formed in the guide rail ring along the circumferential direction of the guide rail ring, the extending direction of the guide rail grooves is consistent with the extending direction of the sliding grooves, and one end of any speed adjusting rod, which is far away from the meshing part, penetrates through the corresponding guide rail grooves in sequence and is connected with the adjusting ring. In the case where a portion of the engaging member extends to a side of the outer rotating wheel remote from the inner rotating wheel, there is a possibility that all the speed control levers cannot be moved in the direction of the rotation axis of the outer rotating wheel in synchronization, and thus all the engaging members cannot be slid in synchronization along the corresponding slide grooves, but by providing the guide rail ring and connecting all the speed control levers to the adjusting ring through the guide rail grooves provided in the guide rail ring, it is ensured that all the sliding engaging grooves slide in synchronization.

In a possible implementation manner of the first aspect, a position where the guide rail ring is matched with the speed adjusting lever is provided with a limiting structure, and the limiting structure is used for preventing the speed adjusting lever from moving towards a direction departing from the guide rail ring. In the rotating process of the external rotating wheel, the speed adjusting rod and the meshing component can correspondingly have centrifugal force, and the speed adjusting rod is prevented from moving towards the direction departing from the guide rail ring through the limiting structure, so that the meshing component is always in the sliding groove, and the performance of the whole speed changing device is finally guaranteed.

In a possible implementation manner of the first aspect, the limiting structure includes: the guide rail block is connected with the speed regulating rod and is relatively fixed with the speed regulating rod, the guide rail block is positioned on one side of the guide rail ring, which is far away from the outer rotating wheel, and the guide rail block is abutted against the guide rail ring; the clamp plate compresses tightly in the one side of keeping away from the guide rail ring of guide rail piece, and with guide rail ring relatively fixed, has seted up on the clamp plate and has dodged the groove, dodges the extending direction in groove and is unanimous with the extending direction in guide rail groove, and the one end of keeping away from the meshing piece of speed regulating rod passes the guide rail groove in proper order and dodges the groove and is connected with the adjustable ring. The pressure plate is pressed on the guide rail block to apply pressure on the guide rail block to rotate the inner part of the wheel outwards so as to prevent the speed regulating rod from moving away from the guide rail ring.

In a possible implementation manner of the first aspect, the method further includes: the first rotating shaft is connected with the inner rotating wheel and extends to the outside of the outer rotating wheel, and the axis of the first rotating shaft is coaxial with the rotating axis of the inner rotating wheel; and the second rotating shaft is connected with the outer rotating wheel and extends to the outside of the outer rotating wheel, and the axis of the second rotating shaft is coaxial with the rotating axis of the outer rotating wheel.

In a second aspect, the present application also provides a shift control method applied to the transmission device according to the first aspect or any one of the implementations of the first aspect, one of the inner and outer rotating wheels being an input wheel, the other being an output wheel, the shift control method including;

when the rotating speed of the output wheel is greater than the preset rotating speed, the meshing component is controlled to slide towards the direction of the first end of the sliding chute pair until the rotating speed of the output wheel is equal to the preset rotating speed;

when the rotating speed of the output wheel is lower than the preset rotating speed, the meshing component is controlled to slide towards the direction of the second end of the sliding chute until the rotating speed of the output wheel is equal to the preset rotating speed.

According to the speed change control method provided by the embodiment of the application, as the speed change device adopting any technical scheme is adopted, when the rotating speed of the output wheel is greater than the preset rotating speed, the meshing part is controlled to slide towards the direction of the first end, and when the rotating speed of the output wheel is less than the preset rotating speed, the meshing part is controlled to slide towards the direction of the second end until the rotating speed of the output wheel is equal to the preset rotating speed, so that the speed change of the output wheel is realized. The inner rotating wheel and the outer rotating wheel are in meshing transmission, and compared with the existing friction transmission, the meshing transmission has the advantages that the speed change efficiency is high, and the slippage phenomenon is not easy to occur in the process of carrying out larger power transmission, so that the speed change control method provided by the embodiment of the application can be suitable for the torque environment with larger load.

In a third aspect, the present application further provides a steering system, including:

a second drive source;

the second driving source drives the steering transmission mechanism to enable the steering wheel to steer, the input end of the steering transmission mechanism is connected with the output end of the second driving source, and the output end of the steering transmission mechanism is connected with the steering wheel;

a transmission device according to any one of the first aspect or the first aspect, wherein one of the inner rotatable wheel and the outer rotatable wheel is connected to an output end of the second drive source, and the other rotatable wheel is connected to an input end of the steering transmission mechanism.

In the steering system provided by the embodiment of the present application, because the speed change device described in the foregoing embodiment of the first aspect is adopted in the steering system, the same technical problems can be solved and the same expected effects can be achieved by the steering system provided by the embodiment of the present application and the speed change device described in the foregoing technical solution.

In a fourth aspect, the present application also provides a steering control method applied to the steering system according to the third aspect, the steering control method including;

detecting the steering torque at the output end of the second driving source, and judging whether the steering torque is smaller than a preset steering torque;

when the steering torque is smaller than the preset steering torque, the meshing part is controlled to move towards the direction close to the first end of the sliding groove, the transmission ratio of the inner rotating wheel and the outer rotating wheel is further reduced until the steering torque is larger than or equal to the preset steering torque, and the second driving source is controlled to drive the steering transmission mechanism to drive the steering wheel to steer.

According to the steering control method provided by the embodiment of the application, when the steering torque obtained through detection is smaller than the preset steering torque, the meshing part is controlled to slide towards the direction of the first end, so that the steering torque is larger than or equal to the preset steering torque, and the steering wheel is enabled to steer according to the preset steering torque.

In a possible implementation manner of the fourth aspect, when the steering torque is greater than or equal to the preset steering torque, the steering transmission mechanism is driven by controlling the second drive source to steer the steering wheel. If the steering torque is larger than or equal to the preset steering torque, the meshing piece does not need to be driven to slide, and the steering wheel is driven to steer through the driving of the second driving source.

In a possible implementation manner of the fourth aspect, the second driving source includes a first motor and a second motor, an output end of the first motor and an output end of the second motor are both connected to an inner rotating wheel or an outer rotating wheel of the transmission, and before detecting the steering torque, the method further includes: detecting the output power of the first motor and the output power of the second motor; detecting a steering torque when one of the first motor and the second motor does not have output power; when the first motor and the second motor have output power, the steering transmission mechanism is controlled to drive the steering wheel to steer. That is, when neither the first motor nor the second motor fails, the steering wheel is directly driven to rotate by the second driving source; when the first motor or the second motor breaks down, the steering torque is detected, so that even if the first motor or the second motor breaks down, the steering wheel can still be guaranteed to be installed at the preset angle for steering.

In a fifth aspect, the present application also provides a steering control method applied to the steering system according to the third aspect, the steering control method including; detecting the traveling speed of a steering wheel, and judging whether the traveling speed is greater than a preset speed or not; when the advancing speed is higher than the preset speed, the engaging component is controlled to move towards the direction close to the second end of the sliding chute, and then the transmission ratio of the inner rotating wheel and the outer rotating wheel is increased, so that the advancing speed of the steering wheel is smaller than or equal to the preset speed.

That is to say, when the travelling speed of directive wheel is greater than preset speed, control meshing piece towards the direction motion of being close to the second end, and then increase the drive ratio of interior commentaries on classics round and outer commentaries on classics round, reduce the moment of torsion, can reduce the sensitivity that the directive wheel turned to under high-speed travelling state like this to improve factor of safety.

In a possible implementation manner of the fifth aspect, upon determining that the travel speed is less than or equal to the preset speed, the position of the engaging member is controlled such that the gear ratio of the inner rotating wheel and the outer rotating wheel is equal to 1. When the traveling speed of the steering wheel is less than or equal to the preset speed, the meshing part is controlled to slide, so that the transmission ratio of the inner rotating wheel and the outer rotating wheel is equal to 1, namely the torque of the steering wheel is not changed, and the steering wheel is guaranteed to be installed at the preset angle for steering.

Drawings

FIG. 1a is a schematic view of a prior art transmission operating condition;

FIG. 1b is a schematic view of a prior art transmission operating condition;

FIG. 2 is a schematic structural diagram of a transmission according to an embodiment of the present application;

FIG. 3a is a schematic view of an operating condition of a transmission according to an embodiment of the present application;

FIG. 3b is a schematic view of an operating condition of a transmission according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of another transmission according to an embodiment of the present application;

FIG. 5a is a cross-sectional view of a transmission of an embodiment of the present application with the engagement member removed from a first end;

FIG. 5b is a cross-sectional view of a transmission of an embodiment of the present application at a first end;

FIG. 6a is a cross-sectional view of a transmission of an embodiment of the present application at a second end thereof with an engagement member removed;

FIG. 6b is a cross-sectional view of a transmission at a second end of an embodiment of the present application;

FIG. 6c is a cross-sectional comparison of a transmission of an embodiment of the present application at a first end and a second end;

FIG. 7a is a cross-sectional view of a transmission of an embodiment of the present application with the engagement member removed at a first end;

FIG. 7b is a cross-sectional view of a transmission of an embodiment of the present application at a first end;

FIG. 8a is a cross-sectional view of a transmission of an embodiment of the present application with the engagement member removed at a second end;

FIG. 8b is a cross-sectional view of a transmission at a second end of an embodiment of the present application;

FIG. 8c is a cross-sectional comparison of a transmission of an embodiment of the present application at a first end and a second end;

FIG. 9 is a schematic structural diagram of another transmission according to an embodiment of the present application;

FIG. 10 is a cross-sectional view of FIG. 9;

FIG. 11 is a schematic view showing the connection between the inner rotating wheel and the first rotating shaft of FIG. 9;

FIG. 12 is a schematic view showing the connection between the outer rotating wheel and the second rotating shaft of FIG. 9;

FIG. 13 is a schematic view of the rail ring of FIG. 9;

FIG. 14a is a schematic view of a coupling of the shift lever and the engagement member of FIG. 9;

FIG. 14b is a schematic view of the alternative coupling of the shift lever and the engagement member of FIG. 9;

FIG. 15 is a schematic view of the connection of the speed lever and the adjustment ring of FIG. 9;

FIG. 16 is a schematic structural diagram of another transmission according to an embodiment of the present application;

FIG. 17 is a schematic view of the adjustment ring of FIG. 16;

FIG. 18 is a schematic structural view of the bushing of FIG. 16;

FIG. 19 is a schematic structural view of the sliding shaft of FIG. 16;

fig. 20 is a block diagram showing a structure of a steering system according to an embodiment of the present application;

fig. 21 is a flowchart of a steering control method according to an embodiment of the present application.

Reference numerals:

011-a first moving pulley; 012-a first fixed sheave; 021-a second moving pulley; 022-a second fixed sheave; 03-a steel belt; 041-first pressure chamber; 042-a second pressure chamber; 1-an internal rotating wheel; 2-a first rotating shaft; p1-axis of rotation of the internal rotation wheel; 3-an external rotating wheel; 4-a second rotating shaft; p2-axis of rotation of the outer rotating wheel; a-a first end; b-a second end; 5-an engaging member; 6-a first drive source; 7-a chute; 8-fixed meshing teeth; 9-a speed-adjusting lever; 901-a first stop block; 902-a second stop block; 903-shift groove; 904-guide rail block; 905-a first link; 906-a second link; 907-first articulated shaft; 908-a second articulated shaft; 909-third hinge axis; 10-an adjusting ring; 101-a hinged support; 102-a jack; 11-a guide rail ring; 111-guide rail groove; 112-a stopper; 12-a shaft sleeve; 121-a fixed seat; 122-a guide groove; 13-a sliding shaft; 131-a card slot; 14-a connecting pin; 15-pressing plate; 151-avoidance groove.

Detailed Description

Embodiments of the present application relate to a transmission device and a control method thereof, and a steering system and a control method thereof, and will be described in detail below with reference to the accompanying drawings.

In one aspect, the present embodiment provides a speed changing device, referring to fig. 2 and 5a and 5b, the speed changing device includes an inner rotatable wheel 1, an outer rotatable wheel 3, and a plurality of engaging members 5, a rotation axis P1 of the inner rotatable wheel 1 is parallel to and not coaxial with a rotation axis P2 of the outer rotatable wheel 3, wherein the plurality of engaging members 5 are located between opposite side surfaces of the inner rotatable wheel 1 and the outer rotatable wheel 3 and are arranged along a circumferential direction of the inner rotatable wheel 1 or the outer rotatable wheel 3, one of the outer rotatable wheel 3 and the inner rotatable wheel 1 is provided with a plurality of sliding grooves 7, and the plurality of sliding grooves 7 correspond to the plurality of engaging members 5 one by one, the other rotatable wheel is provided with fixed engaging teeth 8 engaged with the engaging members 5, the fixed engaging teeth 8 extend in a direction corresponding to an extending direction of the sliding grooves 7, the engaging members 5 are capable of sliding along the corresponding sliding grooves 7, and in a case that the engaging members 5 slide from a first end of the sliding grooves 7 to a second end, the distance between the engagement member 5 and the axis of rotation P1 of the inner rotor 1 decreases gradually.

That is, the region between the outer side surface of the inner rotor 1 and the inner side surface of the outer rotor 1 is formed with a meshing region in which the fixed meshing teeth 8 mesh with the meshing member 5, and a non-meshing region in which the fixed meshing teeth 8 are disengaged from the meshing member 5.

The working principle of the speed change device is as follows: when one of the outer rotating wheel 3 and the inner rotating wheel 1 rotates, the other rotating wheel is driven to rotate through the meshing transmission of the meshing part 5 and the fixed meshing teeth 8, and finally, the torque is output. The speed change device adopts the engagement transmission power, can transmit the large-torque power compared with the existing friction transmission power, and is not easy to slip, so the speed change device can be applied to heavy-load large-torque transmission, and the engagement power transmission has higher transmission efficiency compared with the friction power transmission, thereby realizing the advantages of high speed and large power. The speed change principle of the speed change device is as follows: as shown in fig. 3a, when the engaging member 5 is at the first end a of the chute and the rotating inner rotating wheel 1 drives the outer rotating wheel 3, according to the linear velocity V1 of the inner rotating wheel 1 being equal to the linear velocity V2 of the outer rotating wheel 3, W1L1 is equal to W2O1, and the result is obtainedTo obtain the transmission ratioWherein W1 in the above formula is the angular velocity of the inner rotating wheel 1, L1 is the distance from the position of the first end a of the chute to the rotation axis P1 of the inner rotating wheel, W2 is the angular velocity of the outer rotating wheel 3, O1 is the distance from the position of the first end a of the chute to the rotation axis P2 of the outer rotating wheel, and X is the distance from the rotation axis P1 of the inner rotating wheel to the axis P2 of the outer rotating wheel.

When the engaging member 5 is at the second end B of the chute and the rotating inner wheel 1 rotates the outer wheel 3, as shown in fig. 3B, according to the linear velocity V1 of the inner wheel 1 being equal to the linear velocity V2 of the outer wheel 3, W1L2 is equal to W2O2, and the result is W2L 2To obtain the transmission ratioWherein W1 in the above formula is the angular velocity of the inner rotating wheel 1, and L2 is the position of the second end B of the sliding chute to the inner rotating wheelW2 is the angular velocity of the outer turning wheel 3, O2 is the distance from the location of the second end B of the chute to the axis of rotation P2 of the outer turning wheel, X is the distance from the axis of rotation P1 of the inner turning wheel to the axis of rotation P2 of the outer turning wheel.

From the shifting principle shown in fig. 3a and 3b, it is known that the transmission ratio is not constantWherein ix in the formula is a transmission ratio when the engaging member 5 is located at any position between the first end a of the sliding chute and the second end B of the sliding chute, Lx is a distance from any position to the rotation axis P1 of the rotating wheel, and it can be known from the formula that the transmission ratio is related to Lx, and the transmission ratio ix is continuously changed because the change of Lx from the first end to the second end is continuous, thereby further explaining that the speed change device can realize stepless speed change.

The speed changing device is a speed reducing device when the engaging member 5 slides from the first end a of the chute toward the second end B of the chute, and the speed increasing device when the engaging member 5 slides from the second end B of the chute toward the first end a of the chute.

The shape of the inner rotatable wheel 1 and the shape of the outer rotatable wheel 3 can be implemented in various ways, and the following description is given by way of two examples.

In a first embodiment, with reference to figure 2, the radial dimension of the inner rotating wheel 1 decreases progressively along the first end a to the second end B of the chute (as shown in figures 5a and 6a, and in figures 7a and 8a, the diameter D11 of the inner rotating wheel 1 at the first end a is greater than the diameter D12 of the inner rotating wheel 1 at the second end B). The radial dimension of outer rotatable wheel 3 also decreases progressively in the direction from first end a to second end B (as shown in fig. 5a and 6a, and in fig. 7a and 8a, diameter D21 of outer rotatable wheel 3 at first end a is greater than diameter D22 of outer rotatable wheel 3 at second end B). With this construction it is easy to achieve that the distance of the engagement member 5 from the rotational axis P1 of the inner rotatable wheel decreases from the first end to the second end.

Second embodiment, referring to fig. 4, the inner rotatable wheel 1 and the outer rotatable wheel 3 are both cylindrical in structure, so that it is also possible to achieve a gradual decrease in the distance of the engagement member 5 from the rotational axis P1 of the inner rotatable wheel. However, this structure may increase the difficulty of manufacturing compared to the structure shown in fig. 2, so it is preferable to provide the structure of the inner rotating wheel 1 and the structure of the outer rotating wheel 3 shown in fig. 2 according to the embodiment of the present application.

The arrangement position of the engaging member 5 has the following three embodiments.

In the first embodiment, as shown in fig. 5b and 6b, and fig. 7b and 8b, and fig. 11 and 12, the engaging member 5 is disposed on the outer rotating wheel 3, that is, the sliding groove 7 is formed on the outer rotating wheel 3, and the fixed engaging teeth 8 are disposed on the inner rotating wheel 1.

Second embodiment, as shown in fig. 16, the engaging member 5 is provided on the inner rotating wheel 1, that is, the sliding groove 7 is formed on the inner rotating wheel 1, and the fixed engaging teeth 8 are provided on the outer rotating wheel 3.

In the third embodiment, the first meshing part is arranged on the outer rotating wheel, and the second meshing part is arranged on the inner rotating wheel. Namely, a first sliding groove for the first meshing piece to slide is formed on the outer rotating wheel, and a second sliding groove for the second meshing piece to slide is formed on the inner rotating wheel.

However, in the third embodiment, since the outer rotating wheel 3 and the inner rotating wheel 1 are provided with the engaging members, that is, the first engaging member and the second engaging member are required to be driven to slide between the first end and the second end, and the inner rotating wheel 1 and the outer rotating wheel 3 are required to be in an engaged state at all times, so that the difficulty of controlling the sliding of the engaging members is increased, and the manufacturing accuracy of the whole speed changing device is increased. On the contrary, in the first and second embodiments, the engaging member 5 is disposed on the inner rotating wheel 1 or the outer rotating wheel 3, and the other rotating wheel is disposed with the fixed engaging teeth, which is convenient for control and greatly reduces the difficulty of manufacture. Therefore, the present application prefers that the engaging member is provided on the inner rotating wheel or the outer rotating wheel.

In some embodiments, the straight line where the sliding groove is located and the rotation axis of the inner rotating wheel are in the same plane, and compared with the mode that the sliding groove is designed to be a curve, the method is convenient to implement and reduces processing difficulty.

The engaging member 5 has a variety of realizable structures, and the following is illustrated by two examples.

In the first embodiment, referring to fig. 5b and 6b, the engaging member 5 is a spherical structure.

In the second embodiment, referring to fig. 7b and 8b, the engaging member 5 is of a tooth-shaped structure.

In addition, the engaging member 5 may have other structures, and the specific structure of the engaging member 5 is not limited in this application, and any structure is within the protection scope of this application.

Regardless of the structure of the engaging member 5, the shape of the slide groove 7 needs to be matched with the engaging member 5. For example, with reference to fig. 5b and 6b, when the engaging member 5 is of a spherical configuration, the cross section of the sliding groove 7 is a portion of a circular configuration matching the spherical configuration; for another example, referring to fig. 7b and 7b, when the engaging member 5 has a tooth-shaped engaging structure, the sliding groove 7 is a gradually-opened line groove matching with the tooth-shaped engaging structure.

Since the radial dimension of the inner rotor 1 and the radial dimension of the outer rotor 3 decrease from the first end to the second end, i.e. at the second end the circumference of the circular surface of the inner rotor 1 is smaller than the circumference of the circular surface of the inner rotor 1 at the first end, and likewise at the second end the circumference of the circular surface of the outer rotor 3 is smaller than the circumference of the circular surface of the outer rotor 3 at the first end.

In concrete implementation, referring to fig. 5a and 6a, and fig. 7a and 8a, the groove depth of the sliding groove 7 gradually decreases along the direction from the first end to the second end, that is, referring to fig. 6c and 8c, 7(a) is the sliding groove at the first end, 7(B) is the sliding groove at the second end, 1(a) is the structure of the cross section of the inner rotating wheel at the first end, and 1(B) is the structure of the cross section of the inner rotating wheel at the second end. At the second end, the maximum cross section M of the cross section of the chute 7 is the same as the maximum cross section M of the cross section of the chute 7 at the first end, except that at the second end the groove depth S2 of the chute 7 is smaller than the groove depth S1 of the chute 7 at the first end. The purpose of this design is: since the circumference of the circumferential surface of the inner rotating wheel 1 at the second end is smaller than the circumference of the circumferential surface of the inner rotating wheel 1 at the first end, the inner engagement of the inner rotating wheel and the outer rotating wheel is achieved in order to allow the engaging member 5 to slide to any position between the first end and the second end.

Since the engaging members 5 are provided in plural in the circumferential direction of the outer rotating wheel 3 or in the circumferential direction of the inner rotating wheel 1, and it is necessary to make the plural engaging members 5 slide between the first end and the second end in synchronization when the power transmission ratio of the inner rotating wheel 1 and the outer rotating wheel 3 is changed, the embodiment in which the plural engaging members 5 can slide in synchronization has the following two cases.

In the first embodiment, each engaging member 5 is connected to a first driving source.

In the second embodiment, all the engaging members 5 are connected to the same first driving source, that is, all the engaging members are driven by one first driving source to slide synchronously. The advantages of using one drive source are: firstly, the manufacturing cost is reduced, and secondly, the control is convenient. Therefore, the present application preferably uses one first driving source to drive all the engaging members to slide synchronously.

The following provides a structure in which all the engaging members are driven to slide synchronously by one first driving source. Of course, other configurations are possible, and the present application is not limited thereto.

Referring to fig. 9, 10 and 16, the transmission device further includes: speed adjusting rod 9 and adjustable ring 10, speed adjusting rod 9 have a plurality ofly, and a plurality of speed adjusting rod 9 and a plurality of meshing piece 5 one-to-one, and adjustable ring 10 is connected with first driving source 6, and first driving source can drive adjustable ring 10 and move along the direction of the axis of rotation of external rotation wheel. That is to say, each meshing piece 5 is connected with the corresponding speed adjusting lever 9, the speed adjusting levers 9 are connected with the adjusting ring 10, the adjusting ring 10 is driven to move by the first driving source 6, so as to drive the speed adjusting levers 9 to move synchronously, and finally the meshing pieces 5 are driven to slide in the synchronous sliding grooves.

The above embodiment can realize synchronous sliding of a plurality of meshing parts only by a plurality of speed adjusting rods 9 and one adjusting ring, and has simple structure, which can simplify the structure of the whole speed changing device.

The speed adjusting lever 9 and the engaging member 5 are connected in various ways, for example, the speed adjusting lever 9 is movably connected with the engaging member 5, referring to fig. 14a, an end of the speed adjusting lever 9 is provided with a slot, and the engaging member 5 is clamped in the slot. For another example, referring to fig. 14b, the speed lever 9 is fixedly connected to the engaging member 5, and in an embodiment, the speed lever 9 and the engaging member 5 may be integrally formed.

The setting position of the adjusting ring has two conditions.

In a first embodiment, referring to fig. 10, an adjusting ring 10 is sleeved outside the outer rotating wheel 3, a central axis of the adjusting ring 10 is coaxial with a rotation axis of the outer rotating wheel 3, the adjusting ring 10 is connected to the first driving source 6, and an axis of an output shaft of the first driving source 6 is parallel to and not coaxial with the rotation axis of the outer rotating wheel 3. In this embodiment one, the runner opens on an outer rotating wheel 3, as shown in fig. 10.

In this first embodiment, one end of each of the speed levers 9 is connected to the corresponding engagement member 5, and the other end is connected to the adjustment ring 10, and when the first driving source moves the adjustment ring 10 in the direction of the rotation axis of the outer rotating wheel 3, the speed levers 9 and the adjustment ring 10 move synchronously in the direction of the rotation axis of the outer rotating wheel. This ensures that all the engagement members slide along the corresponding slide grooves when the first drive source moves the adjusting ring and all the adjusting levers in the direction of the axis of rotation of the outer rotor 3.

In a second embodiment, referring to fig. 16, an adjusting ring 10 is sleeved inside the internal rotating wheel 1, a central axis of the adjusting ring 10 is coaxial with a rotation axis of the internal rotating wheel 1, the adjusting ring 10 is connected with a first driving source, an axis of an output shaft of the first driving source is coaxial with the rotation axis of the internal rotating wheel, and the first driving source can drive the adjusting ring to move along a direction of the rotation axis of the internal rotating wheel. In this second embodiment, the chute 7 opens onto the inner wheel 1.

In this second embodiment, one end of each of the speed levers 9 is connected to the corresponding engaging member 5, and the other end is connected to the adjusting ring 10, and when the first driving source moves the adjusting ring 10 in the direction of the rotational axis of the inner rotating wheel, the speed levers 9 and the adjusting ring 10 move synchronously in the direction of the rotational axis of the inner rotating wheel. This ensures that all the engagement members slide along the corresponding slide grooves when the first drive source moves the adjusting ring and all the speed control levers in the direction of the axis of rotation of the rotatable wheel.

In the first embodiment, since the distance between the engaging member 5 and the rotation axis of the inner rotating wheel is gradually decreased when the engaging member 5 slides from the first end to the second end, the distance between the position where the speed lever is connected to the engaging member and the position where the speed lever is connected to the adjusting ring is gradually increased in order to ensure smooth movement of the speed lever connected to the engaging member. There are various cases in which the distance between the position where the speed lever is coupled to the engagement member and the position where the speed lever is coupled to the adjustment ring is gradually increased, as described in detail below.

In the illustrated example, the speed lever 9 is a telescopic lever, i.e. the distance between the position where the speed lever is connected to the engagement member and the position where the speed lever is connected to the adjusting ring is gradually increased by a telescopic structure.

As another example, referring to fig. 15, a shift groove 903 is formed at one end of the shift lever 9 close to the adjusting ring, a groove depth H (shown in fig. 14 a) of the shift groove 903 is greater than or equal to a radial distance H (shown in fig. 2) between the first end and the second end of the outer rotating wheel, and the shift groove 903 is formed by a first stop block 901 and a second stop block 902 which are opposite to each other. I.e. the coupling of the gear lever 9 and the engagement member 5 with the fixed coupling, is moved along the axis of rotation of the outer rotor 3, the position of the coupling of the gear lever 9 with the adjusting ring 10 is adjusted by means of the shift groove 903.

In the first embodiment described above, the adjustment ring 10 is fixed relative to the output shaft of the first drive source 6, and the speed lever 9 is rotatable about the circumferential direction of the adjustment ring 10. There are various structures that enable the rotation of the governor lever 9 about the circumferential direction of the adjustment ring 10.

In the first embodiment, referring to fig. 15, a speed change groove 903 is formed at one end of the speed adjusting lever 9 close to the adjusting ring 10, the adjusting ring 10 is radially clamped in the speed change groove 903, and the speed adjusting lever 9 is slidably engaged with the adjusting ring 10 through the speed change groove 903 so that the speed adjusting lever 9 can rotate in the circumferential direction of the adjusting ring 10. Therefore, the speed-changing groove 903 formed in one end, close to the adjusting ring 10, of the speed-adjusting lever 9 not only enables the distance between the position where the speed-adjusting lever is connected with the meshing part and the position where the speed-adjusting lever is connected with the adjusting ring to gradually change, but also enables circumferential rotation along the adjusting ring 10, and through one structure, two functions are achieved, and implementation is convenient.

In the second embodiment, the speed adjusting lever 9 is a telescopic lever, one end of the speed adjusting lever 9 close to the adjusting ring 10 is connected through a connecting pin, and a guide groove for the connecting pin to slide is formed in the circumferential direction of the adjusting ring 10, that is, the speed adjusting lever 9 slides along the guide groove through the connecting pin to realize circumferential rotation of the adjusting ring 10.

In the first embodiment, when the part of the engaging member 5 extends to the side of the outer rotating wheel 3 far from the inner rotating wheel 1, that is, the part of the engaging member 5 extends to the outside of the outer rotating wheel 3, there is a possibility that all the shift levers cannot be synchronously moved in the direction of the rotation axis of the outer rotating wheel, which results in that all the engaging members do not synchronously slide along the corresponding sliding grooves.

In order to make all the engaging members slide along the corresponding sliding grooves synchronously, referring to fig. 10, the speed changing device further comprises a guide rail ring 11, the guide rail ring 11 and the outer rotating wheel 3 are fixed relatively, referring to fig. 13, a plurality of guide rail grooves 111 are formed in the guide rail ring 11 along the circumferential direction, the extending direction of the guide rail grooves 111 is consistent with the extending direction of the sliding grooves, and one end of any speed adjusting rod, which is far away from the engaging members, penetrates through the corresponding guide rail grooves in sequence to be connected with the adjusting ring. That is, after all the speed control levers 9 are passed through the corresponding guide grooves, they are connected to the adjusting ring 10, i.e. they are defined by a plurality of guide grooves 111 on the guide ring 11, so that all the speed control levers connected to the engaging member move synchronously along the rotation axis of the outer rotating wheel.

When the speed lever 9 and the engaging member 5 are rotating with the outer rotating wheel 3, a centrifugal force is generated, so that the speed lever and the engaging member have a tendency to move in a direction away from the outer rotating wheel. Since the speed adjusting lever is connected with the engaging component, the engaging component is limited by the speed adjusting lever.

Referring to fig. 9 and 10 and fig. 14a, the stopper structure includes: the guide rail block 904 is connected with the speed regulating rod and is relatively fixed with the speed regulating rod, the guide rail block is positioned on one side of the guide rail ring 11 far away from the outer rotating wheel 3, and the guide rail block is abutted to the guide rail ring; the clamp plate 15 compresses tightly in the one side of keeping away from the guide rail ring of guide rail piece, and relatively fixed with the guide rail ring, has seted up on the clamp plate and has dodged groove 151, dodges the extending direction in groove 151 and is unanimous with the extending direction in guide rail groove, and the one end of keeping away from the meshing piece of speed adjusting lever passes the guide rail groove in proper order and dodges the groove and is connected with the adjustable ring.

When the speed adjusting rod 9 slides along the guide rail groove 111, in order to further ensure that the speed adjusting rod 9 cannot move along the circumferential direction of the guide rail ring 11, limiting blocks are arranged on two sides of the guide rail groove of the guide rail ring, the guide rail block is arranged between the two opposite limiting blocks in a sliding manner, and the motion path of the speed adjusting rod is ensured through the matching of the guide rail block and the limiting blocks. In addition, the pressure plate 15 can be arranged between the opposite limiting blocks, so that the pressure plate is not protruded outside the guide rail ring, and the appearance attractiveness is not influenced.

In the second embodiment described above, the structure in which the adjustment ring 10 is rotatable about the output shaft of the first drive source 6 has a variety of configurations.

In the first embodiment, the adjusting ring 10 is sleeved outside the output shaft of the first driving source 6 and connected to the output shaft of the first driving source 6 through a connecting pin, a clamping groove is formed in the circumferential surface of the output shaft of the first driving source 6, the connecting pin is slidably disposed in the clamping groove, and the adjusting ring 10 rotates along the circumferential direction of the output shaft of the first driving source 6 through the connecting pin rotating along the clamping groove. Through making the connecting pin rotate along the draw-in groove, just can make speed adjusting lever, adjustable ring rotate around the output shaft of first driving source in step, and adopt and cooperate connecting pin and draw-in groove, the structure, it is also convenient to implement.

In the second embodiment, the adjusting ring 10 has a guide rail in the circumferential direction, and a guide groove that fits with the guide rail is formed in the circumferential direction of the output shaft of the first drive source 6. I.e. the adjustment of the rotation of the output shaft around the first drive source 6 is achieved by the cooperation of the guide rail and the guide groove.

In the third embodiment, the adjusting ring 10 has a guide groove in the circumferential direction, and a guide rail that is fitted to the guide groove is provided in the circumferential direction of the output shaft of the first drive source 6. I.e. the adjustment of the rotation of the output shaft around the first drive source 6 is achieved by the cooperation of the guide rail and the guide groove.

When the adjusting ring 10 is located inside the inner rotating wheel 1, and the plurality of speed adjusting levers 9 are provided, the installation space of the inner rotating wheel 1 is relatively narrow, and if the first driving source 6 is provided inside the inner rotating wheel 1, the structure is compact, so that the structure interference phenomenon is easily caused.

In order to avoid the interference phenomenon, referring to fig. 16, the transmission device further includes: the shaft sleeve 12 is arranged in the inner rotating wheel 1, the shaft sleeve 12 is relatively fixed with the inner rotating wheel 1, and the axis of the shaft sleeve 12 is coaxial with the rotation axis of the inner rotating wheel 1; a slide shaft 13 is slidably provided in the sleeve 12, and the slide shaft 13 is connected to an output shaft of a first drive source provided outside the inner rotating wheel 1.

Referring to fig. 16, 18 and 19, the adjusting ring 10 is sleeved outside the shaft sleeve 12 and is connected to the sliding shaft 13 through the connecting pin 14 (as shown in fig. 17, the adjusting ring 10 is provided with a jack 102 through which the connecting pin 14 passes), the locking groove 131 is provided in the circumferential direction of the sliding shaft 13, the shaft sleeve 12 is provided with a guide groove 122 through which the connecting pin 14 moves along the axial direction of the shaft sleeve 12, and the moving sliding shaft 13 slides along the guide groove 122 through the connecting pin 14 to drive the adjusting ring 10 to move synchronously. The specific working principle is as follows: when the inner rotating wheel 1 and the outer rotating wheel 3 rotate, the shaft sleeve 12 synchronously rotates along with the inner rotating wheel, and then the adjusting ring 10 moves along the clamping groove 131 through the connecting pin 14 so that the adjusting ring 10 rotates around the circumferential direction of the sliding shaft 13, and finally the adjusting ring, the speed regulating rod and all meshing parts are ensured to synchronously rotate; when the output shaft of the first driving source 6 drives the sliding shaft 13 to move in the axial direction of the shaft sleeve 12, the ring 10 slides in the axial direction of the shaft sleeve 12 by the sliding of the connecting pin along the guide groove 122.

In the second embodiment, referring to fig. 16, the speed adjusting lever 9 includes a first link 905 and a second link 906 which are hinged to each other, one end of the first link 905 is connected to the engaging member 5, the other end of the first link 905 is hinged to the fixed seat 121 through a first hinge shaft 907, the fixed seat 121 is relatively fixed to the bushing 13, one end of the second link 906 is hinged to the middle of the first link 905 through a second hinge shaft 908, and the other end of the second link 906 is hinged to the adjusting ring 10 through a third hinge shaft 909; the axes of the first hinge shaft 907, the second hinge shaft 908 and the third hinge shaft 909 are all perpendicular to a first plane, the straight line where the first link is located is a first straight line, and the plane where the first straight line and the axis of the shaft sleeve are located is the first plane.

In addition, the sliding groove is an arc-shaped groove, and the circle center of a circle where the arc-shaped groove is located coincides with the rotation center of the first connecting rod relative to the fixed seat. Because first connecting rod accessible first articulated shaft rotates around the fixing base, through setting up the spout into the arc wall, and coincide the centre of a circle of arc wall place circle and the center of rotation of the relative fixing base of first connecting rod to guarantee the smooth and easy rotation of first connecting rod, finally drive the meshing piece and slide along the arc wall.

Referring to fig. 17, the adjusting ring 10 has a plurality of hinge supports 101 in a circumferential direction, and an end of the second link 906 is hinged to the hinge supports 101 through a third hinge shaft.

The first drive source 6 related to the present application may be a linear drive motor; or a telescopic oil cylinder; telescopic cylinders are also possible, or other configurations.

In order to facilitate the connection of the inner rotatable wheel 1 and the outer rotatable wheel 3 to the driving structure for driving them to rotate, referring to fig. 10, the speed changing device further comprises: the first rotating shaft 2 is connected with the inner rotating wheel 1 and extends to the outside of the outer rotating wheel 3, and the axis of the first rotating shaft 2 is coaxial with the rotating axis of the inner rotating wheel 1; the second rotating shaft 4 is connected with the outer rotating wheel 3 and extends to the outside of the outer rotating wheel 3, and the axis of the second rotating shaft 4 is coaxial with the rotating axis of the outer rotating wheel 3.

The first rotating shaft 2 and the second rotating shaft 4 may be disposed at the same side of the inner rotating wheel or at opposite sides (as shown in fig. 10).

On the other hand, an embodiment of the present application further provides a shift control method applied to the transmission device provided in the above embodiment, in which one of the inner rotatable wheels and the outer rotatable wheels is an input wheel and the other rotatable wheel is an output wheel, the shift control method including:

when the rotating speed of the output wheel is greater than the preset rotating speed, the meshing component 5 is controlled to slide towards the first end A of the sliding chute until the rotating speed of the output wheel is equal to the preset rotating speed;

when the rotating speed of the output wheel is less than the preset rotating speed, the meshing part 5 is controlled to slide towards the second end B of the sliding chute until the rotating speed of the output wheel is equal to the preset rotating speed.

That is, the rotational speed of the output wheel is changed by sliding the engagement member between the first end and the second end. In addition, in the speed changing device, the outer rotating wheel and the inner rotating wheel transmit power through meshing, and the meshing transmission can realize larger power transmission compared with the traditional friction transmission, so that the phenomenon of slipping between the inner rotating wheel and the outer rotating wheel can not be caused.

In another aspect, an embodiment of the present application provides a steering system, and referring to fig. 20, the steering system includes: the second driving source, the steering transmission mechanism and the speed changing device provided by the above embodiment, wherein the second driving source drives the steering transmission mechanism to enable the steering wheel to steer, the input end of the steering transmission mechanism is connected with the output end of the second driving source, and the output end of the steering transmission mechanism is connected with the steering wheel; one of the inner rotating wheel and the outer rotating wheel is connected with the output end of the second driving source, and the other rotating wheel is connected with the input end of the steering transmission mechanism.

Because the steering system comprises the speed change device provided by the embodiment, when the speed change device realizes the rotation of the inner rotating wheel and the outer rotating wheel through meshing transmission, compared with friction transmission, the speed change device can transmit large torque power and is not easy to slip.

On the other hand, an embodiment of the present application further provides a steering control method, where the steering control method is applied to the steering system provided in the foregoing embodiment, and the steering control method includes the following steps:

the steering torque of the output end of the second drive source is detected.

And judging whether the steering torque is smaller than the preset steering torque, reducing the transmission ratio of the inner rotating wheel and the outer rotating wheel at the steering torque until the steering torque is larger than or equal to the preset steering torque, controlling the meshing part to move towards the direction close to the first end of the sliding groove by controlling the torque to be smaller than the preset steering torque, and driving the steering transmission mechanism by a second driving source to drive the steering wheel to steer.

That is, the steering torque of the output end of the second drive source is first detected; and if the steering torque is smaller than the preset steering torque, controlling the meshing component to move towards the direction close to the first end of the sliding chute until the steering torque is larger than or equal to the preset steering torque. Namely, the steering torque is increased by using the speed changing device so as to ensure the smooth steering of the steering wheel.

And if the steering torque obtained by detection is larger than or equal to the preset steering torque, controlling a second driving source to drive a steering transmission mechanism to drive a steering wheel to steer. Namely, the steering transmission mechanism is directly driven by the second driving source to drive the steering wheel to perform steering action.

Typically, the second drive source includes a first motor and a second motor, and an output of the first motor and an output of the second motor are both connected to the inner rotatable wheel or the outer rotatable wheel of the transmission and to an input of the steering gear. In particular, it is possible that one of the motors may fail.

The steering control system further includes: before the steering torque is detected, the method further comprises the following steps:

the output power of the first motor and the output power of the second motor are detected.

Detecting a steering torque when one of the first motor and the second motor does not have output power; when the first motor and the second motor both have output power, the steering transmission mechanism is driven by controlling the second driving source to drive the steering wheel to steer.

That is, when the first motor and the second motor both have output power, that is, both normally operate, the steering transmission mechanism is directly driven by the second driving source to drive the steering wheel to steer without detecting steering torque; when the first motor or the second motor does not have output power, namely when the first motor or the second motor breaks down, the steering torque is detected again so as to ensure the normal steering of the steering wheel.

Referring to fig. 21, a specific steering control method is provided, where a steering command is received, the first motor and the second motor are started, whether the first motor and the second motor have output power is detected, when the first motor and the second motor both have output power, the steering wheel is driven to steer through the steering transmission mechanism, when the first motor or the second motor does not have output power, the steering torque is detected, whether the steering torque is greater than a preset steering torque is determined, when the steering torque is less than the preset steering torque, the engaging member is controlled to move in a direction close to the first end of the chute through the speed changing device until the steering torque is greater than or equal to the preset steering torque, and when the steering torque is greater than or equal to the preset steering torque, the steering transmission mechanism is driven to steer the steering wheel through controlling the first motor and the second motor.

In another aspect, an embodiment of the present application further provides a steering control method, where the steering control method is applied to the steering system provided in the foregoing embodiment, and the steering control method includes the following steps:

the traveling speed of the steered wheel is detected.

Judging whether the traveling speed is greater than a preset speed or not; when the advancing speed is higher than the preset speed, the engaging component is controlled to move towards the direction close to the second end of the sliding chute, and then the transmission ratio of the inner rotating wheel and the outer rotating wheel is increased, so that the advancing speed of the steering wheel is smaller than or equal to the preset speed.

That is to say, when the travelling speed of directive wheel was greater than preset speed, control meshing piece towards the direction motion of the second end that is close to the spout, and then increased the drive ratio of interior commentaries on classics wheel and outer commentaries on classics wheel, reduce the moment of torsion, can reduce the sensitivity that the directive wheel turned to under high-speed travelling state like this to improve factor of safety.

And when the travelling speed is judged to be less than or equal to the preset speed, controlling the position of the meshing piece so that the transmission ratio of the inner rotating wheel and the outer rotating wheel is equal to 1. When the traveling speed of the steering wheel is less than or equal to the preset speed, the transmission ratio of the inner rotating wheel and the outer rotating wheel is equal to 1 by controlling the meshing part to slide, namely, the torque of the steering wheel is not changed.

In the description herein, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.