CN216789158U - Self-propelled equipment with automatic differential function - Google Patents

Abstract

The utility model provides a self-propelled device with an automatic differential function, which aims to solve the problem that the speed difference exists between an inner wheel and an outer wheel when the self-propelled device turns. This self-propelled equipment includes: the walking machine comprises a machine body, a driving device, at least two walking wheels and at least two differential transmission devices. The driving device is arranged on the machine body and drives the transmission shaft to rotate, and at least two traveling wheels are respectively and rotatably arranged on two sides of the machine body; at least two differential transmission devices are respectively arranged at two ends of the transmission shaft and have a driving state for driving the travelling wheels to rotate and an unlocking state for separating the transmission shaft from the travelling wheels; when the rotating speeds of the two travelling wheels are asynchronous, the differential transmission device corresponding to the travelling wheel with relatively low rotating speed automatically enters an unlocking state. The utility model can make the differential transmission device corresponding to the travelling wheels with relatively low rotating speed automatically enter the unlocking state when the rotating speeds of the two travelling wheels are asynchronous, so that the travelling wheels on two sides are kept synchronous, and the stability of the self-propelled equipment can be improved.

Description

Self-propelled equipment with automatic differential function

Technical Field

The utility model relates to the field of self-propelled equipment driving, in particular to self-propelled equipment with an automatic differential function.

Background

The self-propelled equipment often drives the travelling wheels to travel through the driving device, for example, the hand-propelled self-propelled mower drives the travelling wheels to rotate through the driving device, so that the hand-propelled self-propelled mower automatically travels on the ground, has the advantages of labor saving, high efficiency, simplicity and convenience in operation and the like, and is very suitable for lawn trimming in green and shadow areas of environmental sanitation grasslands and the like.

The drive arrangement of tradition self-propelled lawn mower and walking between the wheel are passed through transmission and are connected, and current transmission mostly is one-way drive, can only provide self-propelled function to the direction of advance, need the manual work to turn around when hand propelled self-propelled lawn mower need relapse many times cutting work, at this in-process, the walking wheel of mowing equipment both sides can appear speed difference, not only can influence the smooth degree of lawn mower walking, can cause drive arrangement to damage when serious moreover. Therefore, it is necessary to provide a self-propelled device with an automatic differential function to solve the problem that the safety of a driving device is affected by the speed difference between the inner wheel and the outer wheel when the self-propelled device turns.

SUMMERY OF THE UTILITY MODEL

In view of the above disadvantages of the prior art, the present invention provides a self-propelled device with an automatic differential function, so as to solve the problem that the safety of a driving device is affected by the speed difference between an inner wheel and an outer wheel when the self-propelled device turns.

To achieve the above and other related objects, the present invention provides a self-propelled apparatus having an automatic differential function, the self-propelled apparatus including: the walking machine comprises a machine body, a driving device, at least two walking wheels and at least two differential transmission devices. The driving device is arranged on the machine body and drives the transmission shaft to rotate, and at least two travelling wheels are respectively and rotatably arranged on two sides of the machine body; the at least two differential transmission devices are respectively arranged at two ends of the transmission shaft and have a driving state for driving the travelling wheels to rotate and an unlocking state for separating the transmission shaft from the travelling wheels; when the rotating speeds of the two walking wheels are asynchronous, the differential transmission device corresponding to the walking wheel with relatively low rotating speed automatically enters an unlocking state.

In one example of the present invention, a differential transmission includes: locking piece, driving piece and elastic component. Wherein, the locking piece is arranged on the transmission shaft and has a locking position and an unlocking position; the driving piece is arranged on the transmission shaft and drives the locking piece to move from the unlocking position to the locking position when the transmission shaft rotates; the elastic piece stores energy when the locking piece moves from the unlocking position to the locking position, so that the elastic piece can restore to deform when the power input of the transmission shaft is released or the input torque of the transmission shaft is smaller than the resistance torque of the traveling wheel, and the locking piece is reset to the unlocking position.

In an example of the utility model, the driving part is detachably mounted on the transmission shaft, and a steering speed regulating structure for buffering the acting force of the transmission shaft on the driving part during steering is arranged between the transmission shaft and the driving part.

In one example of the utility model, a through hole is arranged on the driving part, the transmission shaft penetrates into the through hole, the steering speed regulation structure comprises at least one avoidance structure arranged on the transmission shaft, a protruding part correspondingly arranged in the through hole and corresponding to the avoidance structure, and a circumferential gap arranged between the avoidance structure and the corresponding protruding part and used for buffering; the avoiding structure drives the driving part to rotate when rotating to the corresponding protruding part.

In an example of the present invention, the avoiding structure is a flat surface disposed on the transmission shaft, and a mating surface is disposed on a side of the protrusion portion facing the flat surface when the transmission shaft rotates.

In an example of the present invention, the driving device can drive the transmission shaft to rotate forward and backward, the two sides of the protruding portion along the circumferential direction are both provided with the mating surfaces, and the flat surfaces are respectively mated with the mating surfaces on the two sides of the protruding portion in the process of forward rotation or backward rotation of the transmission shaft.

In one example of the utility model, the avoidance structures are provided in plurality, the transmission shafts are uniformly distributed on the circumference, the number of the convex parts is the same as that of the avoidance structures, and the convex parts are uniformly distributed on the inner wall of the through hole along the circumference.

In one example of the present invention, the elastic member includes a first return elastic body and a second return elastic body; the first reset elastic body is arranged between the locking piece and the driving piece and accumulates circumferential reset energy when the locking piece rotates relative to the driving piece; the second return elastic body is installed between the traveling wheel and the locking member, and accumulates axial return energy when the locking member moves to the traveling wheel side.

In one example of the present invention, the first return elastic body includes a torsion spring, one end of which is mounted on the driving member and the other end of which is mounted on the locking member.

In one example of the utility model, a clutch plug-in structure is arranged between the locking piece and the travelling wheel; the separation and reunion grafting structure is including setting up with a plurality of first grafting teeth on the locking piece and setting up with a plurality of second grafting teeth on the walking wheel, and a plurality of first grafting teeth and a plurality of second grafting teeth are pegged graft mutually when the locking piece is in latched position to the road wheel rotation of driving.

In an example of the utility model, the differential transmission device further comprises a power output part, the power output part is arranged on the transmission shaft on one side of the locking part facing the travelling wheels and can rotate relative to the transmission shaft, a clutch plug-in structure is arranged between the output part and the locking part, and a driving structure is arranged between the output part and the travelling wheels.

In one example of the utility model, the clutch plug-in structure comprises a plurality of first plug-in teeth arranged on the locking piece and a plurality of second plug-in teeth arranged on the power output piece, and the plurality of first plug-in teeth and the plurality of second plug-in teeth are plugged in when the locking piece is in the locking position.

In one example of the present invention, the drive structure includes a gear assembly.

In one example of the present invention, the second return elastic body includes a spring, one end of which abuts against the locking member, and the other end of which abuts against the power output member.

The self-propelled equipment with the automatic differential function can enable the differential transmission device corresponding to the travelling wheels with relatively low rotating speed to automatically enter an unlocking state when the rotating speeds of the two travelling wheels are asynchronous, so that the travelling wheels on two sides are kept synchronous, the stability of the self-propelled equipment can be effectively improved, the damage of a driving device caused by the fact that the travelling wheels have inconsistent rotating speed and the resistance is too large can be avoided, and the problem that the safety of the driving device is influenced due to the speed difference between the inner wheels and the outer wheels when the travelling equipment turns can be effectively solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of the overall structure of the self-propelled apparatus of the present invention;

fig. 2 is a bottom view of the self-propelled apparatus of the present invention;

FIG. 3 is an exploded view of the self-propelled device housing and the road wheels;

fig. 4 is a three-dimensional schematic view of a rear side walking wheel of the walking device;

FIG. 5 is a schematic view of the drive arrangement between the pto and road wheels of FIG. 4;

FIG. 6 is a three-dimensional view of the rear side traveling wheel of the self-propelled apparatus of the present invention at another angle;

fig. 7 is a schematic structural view of a driving device in the self-propelled apparatus of the present invention;

fig. 8 is an exploded view of the driving means in the self-propelled apparatus of the present invention;

fig. 9 is a schematic view of the gear engagement of the driving means in the self-propelled apparatus of the present invention;

FIG. 10 is a view showing the construction of the differential transmission of the present invention mounted on a propeller shaft;

FIG. 11 is an exploded view of the differential drive of the present invention on a drive shaft;

FIG. 12 is an exploded view of the differential drive of the present invention at another angle on the drive shaft;

FIG. 13 is a three-dimensional schematic view of the differential drive of the present invention at the start of rotation of the drive shafts;

FIG. 14 is a three-dimensional schematic view of the locking member driven by the driving member to a locked position in the differential transmission of the present invention;

FIG. 15 is a schematic view showing the locking member being forced after the driving shaft stops rotating in the differential transmission according to the present invention;

FIG. 16 is a three-dimensional schematic view of the locking member being returned to the unlocked position by the resilient member in the differential transmission of the present invention;

FIG. 17 is a schematic view of the differential drive of the present invention with a circumferential gap between the drive shaft and the drive member in the initial state;

FIG. 18 is a schematic structural view of the driving shaft and the driving member after the flat surface of the driving shaft contacts the mating surface of the driving member in the differential transmission device of the present invention;

FIG. 19 is a schematic view of the differential transmission device of the present invention with the driving member rotating with the driving shaft to drive the locking member to the locked position;

FIG. 20 is a schematic view of the angle of rotation of the drive shaft relative to the driver and the angle of rotation between the unlocked and locked positions of the locking member in the differential transmission of the present invention;

FIG. 21 is a three-dimensional cross-sectional view of the locking member in the differential drive of the present invention;

FIG. 22 is a front cross-sectional view of the locking member in the differential drive of the present invention;

FIG. 23 is a schematic view of the position of the balls in the first, second and third positions of the lock in the differential transmission of the present invention.

Element number description:

100. a body; 101. a front side travel wheel; 102. a rear side traveling wheel; 1021. a traveling wheel cover; 1022. a driven gear; 110. a cutting blade mounting groove; 120. a cutting blade; 200. a grass collecting component; 300. a push rod assembly; 400. a drive device; 410. a drive shaft; 411. a circumference; 412. flat surface; 420. a gearbox; 421. a duplicate gear; 422. a bull gear; 430. a motor assembly; 431. a motor housing; 432. a self-propelled motor; 433. a motor tooth; 500. a differential transmission; 510. a drive member; 511. a second through hole; 512. a groove; 513. a rolling body; 514. a spring mounting section; 515. a first torsion spring insertion groove; 516. a torsion spring mounting section; 517. an end face; 518. a boss portion; 519. a mating surface; 520. a first reset elastic body; 521. a first end; 522. a second end; 530. a locking member; 531. a chute; 5311. a first helical groove; 5312. a second helical groove; 532. a first bayonet tooth; 533. a spring mounting groove on the locking member; 534. a first through hole; 535. a second torsion spring slot; 540. a second reset elastic body; 550. a power take-off; 551. an inner side end surface; 552. a second plug-in tooth; 553. a spring mounting groove on the power take-off; 554. a drive gear; 560. a gasket; 570. a retainer ring for a shaft.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The utility model is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. It is also to be understood that the terminology used in the examples is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present invention. Test methods in which specific conditions are not specified in the following examples are generally carried out under conventional conditions or under conditions recommended by the respective manufacturers.

It should be understood that the terms "upper", "lower", "left", "right", "middle" and "one" used herein are for clarity of description only, and are not intended to limit the scope of the utility model, and that changes or modifications in the relative relationship may be made without substantial technical changes and modifications.

Referring to fig. 1 to 23, the present invention provides a self-propelled apparatus with an automatic differential function, which can improve the problem that the safety of the driving device 400 is affected by the speed difference between the inner and outer wheels when the self-propelled apparatus turns.

Referring to fig. 1 to 9, the self-propelled apparatus mainly includes: the main body 100, the driving device 400, at least two road wheels and at least two differential transmission devices 500. The driving device 400 is provided with a transmission shaft 410, the driving device 400 is installed on the machine body 100 and drives the transmission shaft 410 to rotate, in an example of the self-propelled apparatus of the present invention, the traveling wheels are installed on the machine body 100 by a wheel shaft mechanism, the number of the traveling wheels is at least two, in this example, four traveling wheels are provided, and each traveling wheel is a group, specifically, the front traveling wheel 101 and the rear traveling wheel 102, the rear traveling wheel 102 is a driving wheel, and the front traveling wheel 101 is a driven wheel. The drive device 400 includes a motor assembly 430, a gearbox 420, and a drive shaft 410. Motor assembly 430 includes motor housing 431, self-propelled motor 432, and motor teeth 433. The self-propelled motor 432 drives the motor teeth 433 to rotate, the motor teeth 433 drives the duplicate gear 421 in the gearbox 420 to rotate, the duplicate gear 421 drives the large gear 422 mounted on the transmission shaft 410 to rotate, and two ends of the transmission shaft 410 extend out of two sides of the machine body 100; at least two traveling wheels are respectively and rotatably installed at both sides of the body 100; at least two differential transmission devices 500 are respectively installed at both ends of the transmission shaft 410, and have a driving state for driving the traveling wheels to rotate and an unlocking state for separating the transmission shaft 410 from the traveling wheels; when the rotation speeds of the two traveling wheels are asynchronous, the differential transmission device 500 corresponding to the traveling wheel with relatively low rotation speed enters an unlocking state by itself.

The self-propelled equipment can be any one of a mower, a snowplow or a scarifier. Referring to fig. 1 to 3, in an example of the self-propelled apparatus of the present invention, the self-propelled apparatus is a lawn mower, the lawn mower further includes a mowing assembly, a push rod assembly 300 and a grass collecting assembly 200, the body 100 of the self-propelled apparatus includes a chassis, the lawn mower has four traveling wheels, which are two front traveling wheels 101 and two rear traveling wheels 102, respectively, the rear traveling wheels 102 are driving wheels, the front traveling wheels 101 are driven wheels, and the two rear traveling wheels are connected to two ends of a transmission shaft 410 through a differential transmission device 500, respectively, to drive the body 100 to travel. The mowing assembly includes a mowing driving device 400 and a cutting blade 120, a cutting blade mounting groove 110 is provided at the bottom of the body 100, the mowing assembly is mounted on the body 100, and the cutting blade 120 extends downward into the cutting blade mounting groove 110 and trims the lawn under the chassis, the mowing driving device 400 is mounted on the body 100 and drives the cutting blade 120 to rotate. The push rod assembly 300 is installed at a side of the body 100 facing an operator, and the operator operates the push rod assembly 300 to operate and move the body 100 assembly, trim the lawn through the grass cutting assembly during the movement, and collect the cut grass in the grass collecting assembly 200; the structures and corresponding installation relationships of the mowing assembly, the push rod assembly 300 and the grass collecting assembly 200 in the utility model can be conventional structures of existing hand-push type mowers, and are not described herein again.

Referring to fig. 11 to 16, in an example of the present invention, a differential transmission 500 includes: a locking member 530, a driving member 510, and an elastic member. Wherein the locking member 530 is installed on the driving shaft 410 and has a locking position and an unlocking position; when locking member 530 is in the locked position, locking member 530 locks drive shaft 410 to the road wheels, and locking member 530 rotates with drive shaft 410 and further drives the road wheels to rotate. When locking member 530 is in the unlocked position, the connection between locking member 530 and the road wheels is broken, drive shaft 410 is unable to provide walking power for the road wheels, and the road wheels are free to rotate relative to drive shaft 410. The driving member 510 is disposed on the transmission shaft 410 and drives the locking member 530 to move from the unlocking position to the locking position when the transmission shaft 410 rotates, so as to realize the driving connection between the transmission shaft 410 and the road wheel. The elastic member accumulates energy when the locking member 530 moves from the unlock position to the lock position, and restores deformation when the power input of the driving shaft 410 is released or the input torque of the driving shaft 410 is less than the resistance torque of the traveling wheels, so that the locking member 530 is restored to the unlock position.

Referring to fig. 17 to 20, in consideration of the fact that the rotation speeds of the inner and outer wheels are not synchronous and the steering resistance is large when the travelling wheels are manually operated to steer, in order to achieve the lightness of steering, in an example of the present invention, the driving member 510 is detachably mounted on the transmission shaft 410, and a steering speed-adjusting structure is disposed between the transmission shaft 410 and the driving member 510. In an example of the present invention, the driving member 510 is provided with a second through hole 511, the transmission shaft 410 is inserted into the second through hole 511, and the steering and speed regulating structure includes at least one avoiding structure provided on the transmission shaft 410, a protruding portion 518 correspondingly provided in the second through hole 511 and corresponding to the avoiding structure, and a circumferential gap provided between the avoiding structure and the corresponding protruding portion 518; when the steering device is used for steering the travelling wheel, the travelling wheel rotates relative to the transmission shaft 410 so as to temporarily separate the protruding portion 518 from the transmission shaft 410, the transmission shaft 410 cannot drive the travelling wheel to rotate in the process of temporarily separating the protruding portion 518 from the transmission shaft 410, and the driving piece 510 cannot be driven to rotate until the avoiding structure rotates to the corresponding protruding portion 518, so that the travelling wheel is decelerated during turning. The avoiding structure may be any suitable structure that provides a gap between the drive shaft 410 and the protruding portion 518, such as a groove 512, and preferably, in one example of the utility model, the avoiding structure is a flat surface 412 disposed on the circumference 411 of the drive shaft 410, and a mating surface 519 is disposed on a side of the protruding portion 518 facing the flat surface 412 when the drive shaft 410 rotates. A circumferential gap is provided between the flat surface 412 and the mating surface 519, and the driving device 400 can only be normally driven to rotate when the flat surface 412 rotates through the circumferential gap to reach the mating surface 519.

Referring to fig. 17 to 20, in an example of the present invention, the driving device 400 can drive the transmission shaft 410 to rotate forward and backward, the protruding portion 518 has matching surfaces 519 on both sides along the circumferential direction 411, and the flat surface 412 is respectively matched with the matching surfaces 519 on both sides of the protruding portion 518 during the forward rotation or the backward rotation of the transmission shaft 410, so as to drive the driving device 400 to rotate forward or backward.

Referring to fig. 20, in consideration of the stress balance, in an example of the present invention, preferably, two (or more) avoidance structures are provided and are uniformly distributed along the circumference 411 of the transmission shaft 410, the number of the protruding portions 518 is the same as that of the avoidance structures, and the protruding portions are uniformly distributed along the circumference 411 on the inner wall of the through hole to form an approximately "8" -shaped shaft hole, a maximum Y-degree avoidance gap is provided between the protruding portions and the avoidance structures on both sides, and specific values of the avoidance gap can be set according to the diameter of the traveling wheel, the turning speed, and the like in the design and manufacturing process.

Referring to fig. 11 to 12, as long as the locking member 530 can be driven to move to the locking position by rotating the driving shaft 410, and the locking member 530 is reset from the locking position to the unlocking position by the elastic member when the power input to the driving shaft 410 is released or the input torque to the driving shaft 410 is less than the resistance torque of the road wheel, the driving structure between the locking member 530 and the driving member 510 may not be limited to a large extent. In an example of the present invention, the locking member 530 is provided with a sliding groove 531, the driving member 510 is provided with a rolling body 513 matching with the sliding groove 531, and when the transmission shaft 410 rotates in the forward direction, the sliding groove 531 moves relative to the rolling body 513 to force the elastic member to deform, so as to move from the unlocking position to the locking position.

In an example of the present invention, the driving device 400 can only achieve forward driving, and the locking member 530 has only one locking position, and when the driving device 400 drives the transmission shaft 410 to rotate in a forward direction, the sliding groove 531 slides relative to the rolling body 513 under the action of the rolling body 513 to drive the locking member 530 to move from the unlocking position to the locking position. The sliding groove 531 is a spiral groove formed on the inner wall of the locking member 530, the locking member 530 is in the unlocking position when the rolling member 513 is at an end of the spiral groove facing the traveling wheel, the locking member 530 is in the locking position when the rolling member 513 is at an end of the spiral groove facing away from the traveling wheel, and the rolling member 513 drives the locking member 530 to rotate while moving axially. The spiral direction of the spiral groove matches the direction of rotation of the transmission shaft 410, so that the locking member 530 moves to the side of the traveling wheel along the axial direction during the rotation process by the acting force of the rolling body 513 on the spiral groove until the locking member 530 is in driving connection with the traveling wheel.

Referring to fig. 17 to 23, in another example of the present invention, a driving device 400 can drive a transmission shaft 410 to rotate bidirectionally, and a locking member 530 is mounted on the transmission shaft 410 and has a first position, a second position and a third position; the driving device 400 drives the transmission shaft 410 to rotate, and the transmission shaft 410 drives the locking piece 530 to switch among the first position, the second position and the third position through the driving piece 510; the first position is a locking position where the locking member 530 is in driving connection with the road wheels when the transmission shaft 410 rotates forward, and when the locking member 530 is in the first position, the driving device 400 rotates forward and drives the road wheels to rotate forward; the second position is a locking position where the locking member 530 is in driving connection with the traveling wheels when the transmission shaft 410 rotates in the reverse direction, and when the locking member 530 is in the second position, the driving device 400 rotates in the reverse direction and drives the traveling wheels to rotate in the reverse direction; the third position is an unlocked position disconnecting drive shaft 410 from the road wheels, and when lock 530 is in the third position, the road wheels are free to rotate relative to drive shaft 410. Locking member 530 can be switched between the third position and the first position when drive shaft 410 is rotated in the forward direction, or between the third position and the second position when drive shaft 410 is rotated in the reverse direction. In this example, the sliding groove 531 includes a first spiral groove 5311 and a second spiral groove 5312 with opposite rotation directions, one ends of the first spiral groove 5311 and the second spiral groove 5312 intersect, the other ends of the first spiral groove 5311 and the second spiral groove 5312 extend to a side away from the traveling wheel, the first spiral groove 5311 and the second spiral groove 5312 are symmetrically arranged in an approximately herringbone shape, and the rotation angles are ± X °, the transmission shaft 410 drives the driving member 510 and the rolling member 513 to rotate, the rotation angle of the locking member 530 relative to the driving member 510 is positive rotation X ° and negative rotation X °, and it should be noted that the specific value of X may be set according to design requirements. The axial extension distances of the first spiral groove 5311 and the second spiral groove 5312 are the same and the maximum values are M, so that the locking piece 530 is locked with the traveling wheel at the same axial position, and it should be noted that the specific value of M can be set according to design requirements. Wherein the locking member 530 is in the third position when the rolling body 513 reaches the intersection of the first and second spiral grooves 5311 and 5312; when the rolling body 513 reaches an end of the first spiral groove 5311 away from the intersection point, the locking member 530 is in the first position; when the rolling body 513 reaches an end of the second spiral groove 5312 facing away from the intersection point, the locking member 530 is in the second position.

Considering that one sliding groove 531 can drive the locking member 530 by the rolling bodies 513, the number of the sliding grooves 531 in the present invention may be at least one, but considering the uniformity of the force, preferably, in an example of the present invention, two sliding grooves 531 are provided on the inner wall of the locking member 530 uniformly along the circumference 411, and the number of the rolling bodies 513 is matched with the number of the sliding grooves 531 and is provided on the driving member 510 uniformly along the circumference 411 at positions corresponding to the sliding grooves 531.

In the present invention, as long as the rolling element 513 can be of other revolving body structures, it only needs to match with the rotation direction of the spiral groove and roll in the spiral groove to drive the locking element 530 to move, preferably, referring to fig. 11 to 16, in an example of the present invention, the rolling element 513 is a ball, such as a steel ball, the driving element 510 is provided with a groove 512 matching with the ball, the groove 512 is a spherical groove, and the radius size of the spherical surface matches with the radius of the ball, a part of the ball is accommodated in the groove 512, another part of the ball is exposed out of the groove 512, the ball rolls in the groove 512, and the part exposed out of the groove 512 drives the sliding slot 531 on the locking element 530 to move.

Referring to fig. 11 to 12, in an example of the present invention, the elastic element includes a first restoring elastic body 520 and a second restoring elastic body 540; the first restoring elastic body 520 is installed between the locking member 530 and the driver 510 and accumulates circumferential restoring energy when the locking member 530 rotates relative to the driver 510; in an example of the present invention, a cylindrical torsion spring mounting section 516 and a first torsion spring insertion groove 515 are disposed on a side of the driving member 510 facing the locking member 530, an outer diameter of the torsion spring mounting section 516 matches an inner diameter of the torsion spring, the locking member 530 is provided with a first through hole 534, the first through hole 534 is sleeved outside the driving member 510, the torsion spring and the transmission shaft 410 and can rotate relative to the driving member 510, the torsion spring and the transmission shaft 410, a second torsion spring insertion groove 535 is disposed on an inner side surface 551 of the first through hole 534, the torsion spring is sleeved on the torsion spring mounting section 516, a first end 521 is inserted into the first torsion spring insertion groove 515, and a second end 522 is inserted into the second torsion spring insertion groove 535. The second restoring elastic body 540 is installed between the traveling wheel and the locking member 530, and accumulates axial restoring energy when the locking member 530 moves to the traveling wheel side.

Although drive can be achieved by direct engagement of the locking member 530 with the road wheels, preferably, referring to fig. 11-12, in one example of the utility model, the automatic clutch further comprises a power take-off member 550, the power take-off member 550 being mounted on the drive shaft 410 on the side of the locking member 530 facing the road wheels and being rotatable relative to the drive shaft 410, one side of the power take-off member 550 abutting against an end surface 517 of the drive member 510, and the other side being axially fixed by a spacer 560 and a shaft retainer 570. A clutch plug-in structure is arranged between the output piece and the locking piece 530, and a driving structure is arranged between the output piece and the travelling wheel. The clutch plug structure comprises a plurality of first plug teeth 532 arranged on the locking member 530 and a plurality of second plug teeth 552 arranged on the power output member 550, and the plurality of first plug teeth 532 and the plurality of second plug teeth 552 are plugged when the locking member 530 is in the locking position so as to drive the travelling wheels to rotate. When the locking member 530 is in the unlocked position, the first plurality of bayonet teeth 532 and the second plurality of bayonet teeth 552 are disengaged. The second return elastic body 540 is installed between the power take-off member 550 and the locking member 530, and accumulates axial return energy when the locking member 530 moves toward the power take-off member 550. The second elastic restoring body 540 may be any suitable structure that pushes the locking member 530 to move in the axial direction when restoring the elastic deformation, such as a bent reed, an elastic pad with certain elasticity, etc. in this embodiment, the second elastic restoring body 540 is a spring, and the power output member 550 and the locking member 530 are respectively provided with a spring mounting groove, one end of the spring abuts against the spring mounting groove 553 on the power output member, and the other end of the spring abuts against the spring mounting groove 533 on the locking member. The transmission shaft 410 is provided with a corresponding spring mounting section 514, the outer diameter of the spring mounting section 514 is smaller than the inner diameter of the spring, and the spring is sleeved on the spring mounting section 514.

In another example of the present invention, the locking member 530 is directly engaged with the road wheel to realize driving, for example, the road wheel is rotatably mounted on the vehicle body, and a clutch plug-in structure is directly arranged between the locking member 530 and the road wheel; the clutch plug-in structure comprises a plurality of first plug-in teeth 532 arranged on the locking piece 530 and a plurality of second plug-in teeth 552 arranged on the travelling wheel, the locking piece 530 is switched between an unlocking position and a locking position under the action of the driving piece 510, the plurality of first plug-in teeth 532 and the plurality of second plug-in teeth 552 are plugged in when the locking piece 530 is in the locking position so as to drive the travelling wheel to rotate, and the plurality of first plug-in teeth 532 and the plurality of second plug-in teeth 552 are separated when the locking piece 530 is in the unlocking position. The second restoring elastic body 540 is installed between the traveling wheel and the locking member 530, and accumulates axial restoring energy when the locking member 530 moves to the traveling wheel side. The second reset elastic body 540 can push the locking member 530 to move axially when restoring the elastic deformation, such as a bent reed, an elastic cushion with certain elasticity, etc. in this embodiment, the second reset elastic body 540 is a spring, the walking wheel and the locking member 530 are respectively provided with a spring mounting groove, one end of the spring is abutted in the spring mounting groove on the walking wheel, and the other end of the spring is abutted in the spring mounting groove 533 on the locking member.

Referring to fig. 11 to 16, the driving structure of the present invention may be any suitable form for driving the traveling wheels to rotate through the rotation of the power output member 550, such as a plurality of gear sets, a belt transmission, a chain transmission, etc., but in view of the transmission efficiency, in one example of the present invention, the driving structure includes a gear assembly, the gear assembly includes a driving gear 554 disposed on the power output member 550 and a driven gear 1022 disposed on the traveling wheels, the driving gear 554 and the driven gear 1022 are engaged to drive the traveling wheels to rotate, and a traveling wheel cover 1021 for including the driving gear 554 and the driven gear 1022 is disposed outside the driven gear 1022. When the power input of the propeller shaft 410 is released or the input torque of the propeller shaft 410 is smaller than the resistance torque of the road wheels, the first and second socket teeth 532 and 552 are separated by the elastic member.

Referring to fig. 11 to 16, in an example of the present invention, the driving member 510 and the transmission shaft 410 are separately disposed, the driving member 510 is provided with a second through hole 511 matching with the transmission shaft 410, the transmission shaft 410 is inserted into the second through hole 511 and extends out of the driving member 510, and the driving member 510 is sleeved on the transmission shaft 410 and rotates with the transmission shaft 410.

The self-propelled equipment with the automatic differential function can enable the differential transmission device corresponding to the travelling wheels with relatively low rotating speed to automatically enter an unlocking state when the rotating speeds of the two travelling wheels are asynchronous, so that the travelling wheels on two sides are kept synchronous, the stability of the self-propelled equipment can be effectively improved, the damage of a driving device caused by the fact that the travelling wheels have inconsistent rotating speed and the resistance is too large can be avoided, and the problem that the safety of the driving device is influenced due to the speed difference between the inner wheels and the outer wheels when the travelling equipment turns can be effectively solved. Therefore, the utility model effectively overcomes some practical problems in the prior art, thereby having high utilization value and use significance.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the utility model. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (14)

1. A self-propelled apparatus with an automatic differential function, comprising:

a body;

the driving assembly is arranged on the machine body and drives the transmission shaft to rotate;

at least two traveling wheels which are respectively and rotatably installed on two sides of the machine body;

the at least two differential transmission devices are arranged at two ends of the transmission shaft and have a driving state for driving the travelling wheels to rotate and an unlocking state for separating the transmission shaft from the travelling wheels;

when the rotating speeds of the two walking wheels are asynchronous, the differential transmission device corresponding to the walking wheels with relatively low rotating speed automatically enters an unlocking state.

2. The self-propelled apparatus of claim 1, wherein said differential transmission comprises:

a locking member mounted on the transmission shaft and having a locking position and an unlocking position;

the driving piece is arranged on the transmission shaft and drives the locking piece to move from the unlocking position to the locking position when the transmission shaft rotates;

the elastic piece is used for storing energy when the locking piece moves from the unlocking position to the locking position so as to restore the deformation when the power input of the transmission shaft is released or the input torque of the transmission shaft is smaller than the resistance torque of the travelling wheel, so that the locking piece is reset to the unlocking position.

3. The self-propelled apparatus of claim 2, wherein the driving member is detachably mounted on the transmission shaft, and a steering buffer structure is disposed between the transmission shaft and the driving member for buffering the acting force of the transmission shaft on the driving member during steering.

4. The self-propelled apparatus of claim 3, wherein the driving member is provided with a through hole, the transmission shaft is inserted into the through hole, the steering buffer structure comprises at least one avoiding structure arranged on the transmission shaft and a protruding portion correspondingly arranged in the through hole and corresponding to the avoiding structure, and a circumferential gap for buffering is arranged between the avoiding structure and the corresponding protruding portion; the avoiding structure drives the driving piece to rotate when rotating to the corresponding protruding part.

5. The self-propelled apparatus of claim 4, wherein the avoidance structure is a flat surface disposed on the transmission shaft, and a mating surface is disposed on a side of the protrusion facing the flat surface when the transmission shaft rotates.

6. The self-propelled apparatus of claim 5, wherein the drive assembly is capable of driving the transmission shaft to rotate in a forward direction and a reverse direction, the protrusions are provided with mating surfaces on both sides in a circumferential direction, and the flat surfaces are respectively mated with the mating surfaces on both sides of the protrusions during forward rotation or reverse rotation of the transmission shaft.

7. The self-propelled device of claim 4, wherein the number of the avoiding structures is multiple, the transmission shafts are evenly distributed along the circumference, and the number of the protrusions is the same as that of the avoiding structures and is evenly distributed on the inner wall of the through hole along the circumference.

8. The self-propelled apparatus of claim 2, wherein the resilient member comprises a first return resilient body and a second return resilient body; the first reset elastic body is arranged between the locking piece and the driving piece and accumulates circumferential reset energy when the locking piece rotates relative to the driving piece; the second return elastic body is installed between the traveling wheel and the locking member, and accumulates axial return energy when the locking member moves to the traveling wheel side.

9. The self-propelled apparatus of claim 8, wherein the first return elastomer comprises a torsion spring having one end mounted on the drive member and the other end mounted on the lock member.

10. The self-propelled apparatus of claim 9, wherein a clutch plug-in structure is provided between the locking member and the road wheel; the separation and reunion grafting structure including set up with a plurality of first grafting teeth on the locking piece with set up with a plurality of second grafting teeth on the walking wheel the locking piece is in when locking position a plurality of first grafting teeth with a plurality of second grafting teeth are pegged graft mutually, in order to drive the walking wheel rotates.

11. The self-propelled apparatus of claim 8, wherein the differential drive further comprises a power take-off mounted on the drive shaft on a side of the locking member facing the road wheels and rotatable relative to the drive shaft, a clutch plug-in structure is provided between the power take-off and the locking member, and a drive structure is provided between the power take-off and the road wheels.

12. The self-propelled apparatus of claim 11, wherein said clutch-engaging structure includes a plurality of first engaging teeth disposed on said locking member and a plurality of second engaging teeth disposed on said pto member, said plurality of first engaging teeth and said plurality of second engaging teeth being engaged when said locking member is in said locked position.

13. The self-propelled apparatus of claim 11, wherein said drive structure comprises a gear drive assembly.

14. The self-propelled apparatus of claim 11, wherein said second return elastomer comprises a spring, one end of said spring abutting against said lock and the other end of said spring abutting against said pto.

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