CN107989979A - The air energy constant speed power set that a kind of robot uses - Google Patents

Abstract

The invention belongs to field of power equipment technology, a kind of more particularly to air energy constant speed power set that robot uses, it includes switch controlling device, mounting shell, power output shaft, direction switching mechanism, when driving shell is towards during the side movement that the 5th gear is provided with mounting shell, controls gases at high pressure to slide shell by switch controlling device and moved towards the side of the 5th gear；Sliding shell movement will cause power output shaft to rotate；When driving shell is moved towards the side away from the 5th gear in mounting shell, control gases at high pressure to slide shell movement by switch controlling device and moved away from the side of the 5th gear；Shell is slided to move so that power output shaft rotates；And remain same direction by the way that no matter direction switching mechanism can slide the rotation direction being delivered to when shell movement is moved away from the side movement or slip shell movement of the 5th gear towards the side of the 5th gear on power output shaft.

Description

The air energy constant speed power set that a kind of robot uses

Technical field

The invention belongs to field of power equipment technology, more particularly to the air energy constant speed power dress that a kind of robot uses Put.

Background technology

The gas energy driving device used at present generally uses piston driving swing rod to do work；It is dynamic so as to which gas can be transformed into Energy；But the service efficiency of gas energy is relatively low during piston driving swing rod acting；Thus cause the waste of resource；And And structure is complex in design by the acting of piston driving swing rod；Improve use cost；The kinetic energy of output is not sufficiently stable； So designing, a kind of structure is relatively simple, and the gas energy driving device that service efficiency is higher and output is stable is to be highly desirable 's.

The present invention designs the air energy constant speed power set that a kind of robot uses and solves the problems, such as above.

The content of the invention

To solve drawbacks described above of the prior art, the present invention discloses the air energy constant speed power dress that a kind of robot uses Put, it is realized using following technical scheme.

The air energy constant speed power set that a kind of robot uses, it is characterised in that：It includes triggering bar, triggering driving Bar, switch controlling device, mounting shell, power output shaft, the first one-way air inlet mouth, the first unidirectional gas outlet, the second one-way air inlet Mouth, the second unidirectional gas outlet, direction switching mechanism, drive rack, the first return spring, limit spring, the 3rd shaft, first Support, the second support, the 3rd support, the 5th gear, frizzen, triggering block, the 4th shaft, the 7th gear, the 6th gear, triggering are led To groove, rack pilot hole, the 4th shaft hole, the 3rd installation cavity, the 4th installation cavity, the 5th shaft, driving shell, the second return bullet Spring, triggering block pilot hole, frizzen pilot hole, spring mounting blocks, spring installing plate, slip shell, escape groove, the 3rd return bullet Spring, the wherein inner side of mounting shell one end have the 3rd installation cavity；The inner side of the mounting shell other end has the 4th installation cavity；3rd peace It behave affectedly and the rack pilot hole of perforation is provided between the 4th installation cavity；It is provided with the end face of the 4th installation cavity side and opens on mounting shell There is the 4th shaft hole；4th shaft hole is communicated with the 4th installation cavity；It is provided with mounting shell on the periphery of the 3rd installation cavity one end Triggering guide groove is provided with the axial direction；Triggering guide groove is communicated with the 3rd installation cavity, and triggers the starting end face of guide groove With termination endface two end faces with the 3rd installation cavity respectively；Mounting shell, which is provided with the periphery of the 3rd installation cavity one end, pacifies Equipped with the first one-way air inlet mouth, the first unidirectional gas outlet, the second one-way air inlet mouth and the second unidirectional gas outlet；First one-way air inlet Mouth, the first unidirectional gas outlet, the second one-way air inlet mouth and the second unidirectional gas outlet are communicated with the 3rd installation cavity respectively；First is unidirectional Air inlet and the first unidirectional gas outlet are located at the side away from the 4th installation cavity on mounting shell；Second one-way air inlet mouth and the second list It is located to gas outlet on mounting shell close to the side of the 4th installation cavity；Slide and be provided with escape groove on the periphery of shell；Slide shell Periphery is installed on mounting shell on the disc of the 3rd installation cavity；Slide the triggering guide groove in the escape groove and mounting shell on shell Coordinate；Slide and be separately installed with a limit spring between the both ends of the surface of the 3rd installation cavity on the both ends and mounting shell of shell；Driving The both ends of shell are provided with two symmetrical triggering block pilot holes；Two triggering block pilot holes on the inside of driving shell respectively with communicating；Drive A frizzen pilot hole is provided with the periphery of dynamic shell；Frizzen pilot hole on the inside of driving shell with communicating；Outside driving shell Disc is installed on the inner headed face for sliding shell；Frizzen pilot hole in driving shell coordinates with the escape groove slided on shell；Driving On the inside of the both ends of shell and slip shell the 3rd return spring is separately installed between both ends of the surface；One end of frizzen has two Symmetrical inclined-plane；Two spring mounting blocks are symmetrically installed on the two sides of frizzen；Frizzen does not have inclined-plane by it One end and driving shell on frizzen pilot hole be fitted in driving shell；Frizzen is with sliding escape groove and peace on shell The triggering guide groove filled on shell coordinates；First return is separately installed between two spring mounting blocks and driving shell inner headed face Spring；One end of triggering block has inclined-plane；The two sides that triggering block has inclined-plane one end are separately installed with a spring installing plate； Two triggering blocks with two triggering block pilot holes in driving shell respectively by being fitted in driving shell；In two triggering blocks Have bevelled one end to be respectively positioned in driving shell, and coordinate respectively with two inclined-planes on frizzen；It is corresponding in two triggering blocks Four spring installing plates end face corresponding with driving shell between be separately installed with second return spring；Two frizzens Do not have the both sides that bevelled one end is located at driving shell respectively；Trigger in the triggering guide groove that bar is installed on mounting shell；Triggering Bar coordinates with frizzen；Switch controlling device is installed on the periphery of mounting shell；Lead between switch controlling device and triggering bar Cross the connection of triggering drive rod；First one-way air inlet mouth, the first unidirectional gas outlet, the second one-way air inlet mouth and the second unidirectional gas outlet It is connected respectively by high-voltage tube between switch controlling device；One end of drive rack is installed on driving shell close to rack pilot hole On the end face of side；The other end of drive rack is located in the 4th installation cavity through the rack pilot hole in mounting shell；4th turn One end of axis has cone tooth；4th shaft is installed in the 4th installation cavity by the 3rd support；5th gear is installed on the 4th turn On axis；5th gear is engaged with drive rack；Direction switching mechanism is installed in the 4th installation cavity by the second support；5th turn One end of axis has cone tooth；The other end of 5th shaft is connected with direction switching mechanism；5th shaft have cone tooth one end with There is one end engagement of cone tooth in 4th shaft；3rd shaft is installed in the 4th installation cavity by the first support；3rd shaft One end be connected with direction switching mechanism；The other end of 3rd shaft is provided with the 6th gear；Power output shaft passes through mounting shell On the 4th shaft hole be installed on mounting shell on；7th gear is installed on power output shaft and the 7th gear is positioned at the 4th installation Intracavitary；7th gear is engaged with the 6th gear.

Above-mentioned direction switching mechanism include converter mounting shell, converter input shaft, converter output shaft, first gear, Drive shaft, second gear, pocket-wheel, support shaft, the first triggering support ring, the first gear ring connection ring, first rotating shaft, output T Shape annulate shaft, the first freewheel clutch, the second freewheel clutch, sun gear, support thread spindle, thread bush, resetting spring, the 3rd tooth Wheel, the second shaft, guide block, be fixedly mounted shell, the first installation cavity, first rotating shaft hole, the second shaft hole, the second installation cavity, the 3rd Shaft hole, the 4th gear, the first cylinder groove, the second cylinder groove, guide groove, the second gear ring connection ring, gear ring, fixed drive ring, ring Shape guide groove, annular guide block, friction annulus, torque limiter, are wherein provided with the first installation cavity on the inside of converter mounting shell one end； The second installation cavity is provided with the inside of the converter mounting shell other end；The end face of the first installation cavity side is provided with converter mounting shell On be provided with the 3rd shaft hole；3rd shaft hole is communicated with the first installation cavity；The second installation cavity side is provided with converter mounting shell End face on be provided with the second shaft hole；Second shaft hole is communicated with the second installation cavity；Between first installation cavity and the second installation cavity It is provided with the first rotating shaft hole of perforation；One end that shell is fixedly mounted is provided with the first cylinder groove；Is provided with the end face of first cylinder groove Two cylinder grooves；Two guide grooves are symmetrically provided with the disc of second cylinder groove；It is fixedly mounted on shell and is not provided with the first cylinder groove It is provided with the second installation cavity that one end is fixedly mounted on converter mounting shell on the end face of first rotating shaft hole side；Converter is defeated Enter axis to be installed on converter mounting shell by the second shaft hole；One end of sun gear is installed on converter input shaft and is located at It is fixedly mounted in the first cylinder groove on shell；One end of drive shaft is installed on the other end of sun gear；The other end peace of drive shaft Equipped with torque limiter；Supporting on the periphery of thread spindle has external screw thread；One end of support thread spindle is installed on torque limit On device；There is internal thread on the inner headed face of thread bush；Two guide blocks are symmetrically installed on the periphery of thread bush one end；Screw thread Friction annulus is installed on the periphery of set；Thread bush is fitted to fixed installation shell by two guide blocks and two guide grooves It is interior；Thread bush passes through thread fitting with support thread spindle；Thread bush be provided with one end of guide block and the second cylinder groove end face it Between resetting spring is installed；Annular guide channel is provided with the inner headed face of first gear ring connection ring；One end peace of first gear ring connection ring Equipped with fixed drive ring；The periphery of first gear ring mounting ring, which is installed on, to be fixedly mounted in shell on the disc of the first cylinder groove；Tooth There are teeth on the inner headed face of circle；Gear ring is installed on the other end of the first gear ring mounting ring and is nested in and is fixedly mounted first in shell On the disc of cylinder groove；One end of second gear ring connection ring, which is installed on gear ring and is nested in, is fixedly mounted the first cylinder groove in shell Disc on；The other end of second gear ring connection ring is provided with the second freewheel clutch；Output T-shaped annulate shaft is divided into small ring end and big Ring end；Small ring end on output T-shaped annulate shaft is provided with teeth；It is nested on converter input shaft to export T-shaped annulate shaft, and exports The big ring end of T-shaped annulate shaft is connected with the second freewheel clutch；Annular guide block is installed on the periphery of first triggering support ring；The One triggering support ring being fitted on the inner headed face of the first gear ring connection ring by annular guide block and annular guide channel；Three branch One end of support shaft is circumferentially uniformly mounted to the first triggering support ring on the end face of output T-shaped annulate shaft side；Three stars Shape wheel is separately mounted in three support shafts；Three pocket-wheels are engaged with sun gear and gear ring respectively；First freewheel clutch One end be installed on three support shaft the other ends；The other end of first freewheel clutch is connected with output T-shaped annulate shaft；First It is provided with the second installation cavity that shaft is installed on converter mounting shell on the end face of the second shaft hole side；First gear is installed In first rotating shaft；First gear is engaged with the teeth on output T-shaped annulate shaft；Second shaft is installed on by first rotating shaft hole to be turned The inner side of parallel operation mounting shell；One end that second shaft is located in the second installation cavity is provided with second gear；Second gear and first Gear engages；One end that second shaft is located in the first installation cavity is provided with the 3rd gear；Converter output shaft passes through the 3rd turn Axis hole is installed on conversion mounting shell；4th gear is installed on first on converter output shaft and on converter mounting shell In installation cavity；4th gear is engaged with the 3rd gear.

Above-mentioned friction annulus coordinates with the first triggering support ring and fixed drive ring.

Above-mentioned converter input shaft is connected with the 5th shaft；Converter output shaft is connected with the 3rd shaft.

Further as this technology is improved, and is installed between above-mentioned annular guide block and annular guide channel by bearing.

Further as this technology is improved, and above-mentioned resetting spring is compression spring.

Further as this technology is improved, and the above-mentioned annulus of friction in an initial condition is located under the action of resetting spring The centre of first triggering support ring and fixed drive ring.

Further as this technology is improved, and above-mentioned fixed installation shell is fixedly mounted on converter peace by welding Fill in shell.

Relative to traditional power set technology, the power set that the present invention designs can be by itself regulating guarantee power The rotation of output shaft is constant revolution.

The one end for not being provided with the first cylinder groove in the present invention on fixed installation shell is fixedly mounted on converter mounting shell It is provided with second installation cavity on the end face of first rotating shaft hole side；Converter input shaft is installed on converter by the second shaft hole On mounting shell；One end of sun gear is installed on converter input shaft and in the first cylinder groove being fixedly mounted on shell；Drive One end of moving axis is installed on the other end of sun gear；The other end of drive shaft is provided with torque limiter；Support the outer of thread spindle There is external screw thread on disc；One end of thread spindle is supported to be installed on torque limiter；There is interior spiral shell on the inner headed face of thread bush Line；Two guide blocks are symmetrically installed on the periphery of thread bush one end；Friction annulus is installed on the periphery of thread bush；Spiral shell Line set is fixedly mounted in shell by two guide blocks and two being fitted to for guide groove；Thread bush passes through screw thread with support thread spindle Coordinate；Thread bush is provided between one end of guide block and the end face of the second cylinder groove and is provided with resetting spring；First gear ring connects One end of ring is provided with fixed drive ring；The periphery of first gear ring mounting ring, which is installed on, is fixedly mounted the first cylinder groove in shell On disc；There are teeth on the inner headed face of gear ring；Gear ring is installed on the other end of the first gear ring mounting ring and is nested in fixed peace Fill in shell on the disc of the first cylinder groove；One end of second gear ring connection ring is installed on gear ring and is nested in and is fixedly mounted in shell On the disc of first cylinder groove；The other end of second gear ring connection ring is provided with the second freewheel clutch；Export on T-shaped annulate shaft Small ring end is provided with teeth；Export that T-shaped annulate shaft is nested to be installed on converter input shaft, and export the big ring end of T-shaped annulate shaft and the Two freewheel clutches connect；First triggering support ring is connected by first gear ring that is fitted to of annular guide block and annular guide channel On the inner headed face of ring；One end of three support shafts is circumferentially uniformly mounted to the first triggering support ring close to output T-shaped annulate shaft On the end face of side；Three pocket-wheels are separately mounted in three support shafts；Three pocket-wheels respectively with sun gear and gear ring Engagement；One end of first freewheel clutch is installed on the other end of three support shafts；The other end of first freewheel clutch with Export the connection of T-shaped annulate shaft；The second shaft hole side is provided with the second installation cavity that first rotating shaft is installed on converter mounting shell End face on；First gear is installed in first rotating shaft；First gear is engaged with the teeth on output T-shaped annulate shaft；Second shaft The inner side of converter mounting shell is installed on by first rotating shaft hole；One end that second shaft is located in the second installation cavity is provided with Two gears；Second gear is engaged with first gear；One end that second shaft is located in the first installation cavity is provided with the 3rd gear；Turn Parallel operation output shaft is installed on conversion mounting shell by the 3rd shaft hole；4th gear is installed on converter output shaft；4th Gear is engaged with the 3rd gear；The annulus that rubs coordinates with the first triggering support ring and fixed drive ring；Rub in an initial condition Annulus is under the action of resetting spring positioned at the first triggering support ring and the centre of fixed drive ring.When converter input shaft rotates When, converter input shaft can drive sun gear to rotate；Sun gear, which rotates, drives drive shaft turns；Drive shaft turns are limited by moment of torsion Device processed drives support thread spindle to rotate；Since thread bush by two guide blocks and two guide grooves is fitted to fixed installation shell It is interior；Thread bush passes through thread fitting with support thread spindle；So support thread spindle rotates and thread bush can be moved along guide groove； When the rotation for supporting thread spindle make it that thread bush is moved towards the first triggering support ring, in moving process, when installed in spiral shell When the annulus that rubs on line set is contacted with the first triggering support ring, friction annulus will extrude the first triggering support ring and cause first Triggering support ring remains static；I.e. three support shafts remain static；Sun gear, which rotates, at this time will drive three Star wheels index；Three star wheels index drive ring gear against rotation；Ring gear against rotation by the second gear ring connection ring and second surmount from Clutch drives output T-shaped annulate shaft to rotate；Export T-shaped annulate shaft and rotate drive first gear rotation；First gear, which rotates, drives second Gear rotates；Second gear, which rotates, drives the second shaft to rotate；Second shaft, which rotates, drives the 3rd gear to rotate；3rd gear turns It is dynamic to drive the 4th gear to rotate；4th gear, which rotates, drives converter output shaft to rotate；I.e. converter input shaft rotates band turn Parallel operation output shaft rotates；When the rotation for supporting thread spindle make it that thread bush is moved towards fixed drive ring, in moving process, When the friction annulus on thread bush is contacted with fixed drive ring, friction annulus will extrude fixed drive ring and cause admittedly Determine drive ring to remain static；I.e. the first gear ring connection ring remains static；I.e. gear ring remains static；The sun at this time Wheel, which rotates, will drive three pocket-wheels to be rotated around the axis of sun gear；Three pocket-wheels rotate band around the axis of sun gear Dynamic three support shafts are rotated around the axis of sun gear；Three support shafts are rotated by the first surpassing around the axis of sun gear More clutch drives output T-shaped annulate shaft to rotate；Export T-shaped annulate shaft and rotate drive first gear rotation；First gear, which rotates, to be driven Second gear rotates；Second gear, which rotates, drives the second shaft to rotate；Second shaft, which rotates, drives the 3rd gear to rotate；3rd tooth Wheel, which rotates, drives the 4th gear to rotate；4th gear, which rotates, drives converter output shaft to rotate；I.e. converter input shaft rotates band Dynamic converter output shaft rotates；By controlling gear ring and the first inactive state for triggering support ring to export T-shaped annulate shaft to drive Rotate；Drive the rotation of converter output shaft；And the transmission converter input shaft for passing through sun gear, pocket-wheel and gear ring Either rotating clockwise or rotating counterclockwise can ensure that exporting T-shaped annulate shaft remains that a direction rotates；Change Device input shaft remains that a direction rotates；It can be ensured when output T-shaped annulate shaft by the first freewheel clutch in the present invention When being rotated under the drive of gear ring, the rotation of output T-shaped annulate shaft will not cause three pocket-wheels to be rotated around the axis of sun gear, The rotation for exporting T-shaped annulate shaft does not interfere with three pocket-wheels；It can be ensured when output T-shaped annulate shaft by the second freewheel clutch When three pocket-wheels rotate under the drive that sun gear axis rotates, the rotation of output T-shaped annulate shaft will not cause gear ring to send out Raw to rotate, that is, the rotation for exporting T-shaped annulate shaft does not interfere with gear ring；In the present invention when thread bush is moved along guide groove, thread bush Can be to one compression stress of resetting spring or a pulling force；When converter input shaft stops operating, in the effect of resetting spring Lower thread bush is returned on original position；The effect of torque limiter in the present invention is when friction annulus and first touch The first triggering support ring or fixed drive ring will be to one resistances of annulus that rubs when hair support ring either fixes drive ring contact Power；And the resistance is delivered on support thread spindle by the annulus that rubs；So that support thread spindle is subject to larger resistance；Turning round at this time Drive shaft would not drive support thread spindle have rotated by torque limiter under the action of square limiter；I.e. converter is defeated at this time Enter the movement that axis does not interfere with thread bush.

The periphery that shell is slided in the present invention is installed on mounting shell on the disc of the 3rd installation cavity；Slide the avoidance on shell Groove coordinates with the triggering guide groove on mounting shell；Slide and distinguish on the both ends and mounting shell of shell between the both ends of the surface of the 3rd installation cavity One limit spring is installed；The periphery of driving shell is installed on the inner headed face for sliding shell；Frizzen in driving shell is oriented to Hole coordinates with the escape groove slided on shell；On the inside of the both ends of driving shell and slip shell one the 3rd is separately installed between both ends of the surface Return spring；One end of frizzen has two symmetrical inclined-planes；Two springs are symmetrically installed on the two sides of frizzen Mounting blocks；What frizzen did not had frizzen pilot hole in bevelled one end and driving shell by it is fitted to driving shell It is interior；Frizzen coordinates with the triggering guide groove slided in the escape groove and mounting shell on shell；One end of triggering block has inclined-plane；Two A triggering block with two triggering block pilot holes in driving shell respectively by being fitted in driving shell；Have in two triggering blocks Bevelled one end is respectively positioned in driving shell, and is coordinated respectively with two inclined-planes on frizzen；It is corresponding in two triggering blocks Four spring installing plates are separately installed with second return spring between end face corresponding with driving shell；Two frizzens are not Have the both sides that bevelled one end is located at driving shell respectively；Trigger in the triggering guide groove that bar is installed on mounting shell；Trigger bar Coordinate with frizzen；Switch controlling device is installed on the periphery of mounting shell；Pass through between switch controlling device and triggering bar Trigger drive rod connection；First one-way air inlet mouth, the first unidirectional gas outlet, the second one-way air inlet mouth and the second unidirectional gas outlet with Connected respectively by high-voltage tube between switch controlling device；One end of drive rack is installed on driving shell close to rack pilot hole one On the end face of side；The other end of drive rack is located in the 4th installation cavity through the rack pilot hole in mounting shell；4th shaft It is installed on by the 3rd support in the 4th installation cavity；5th gear is installed in the 4th shaft；5th gear is nibbled with drive rack Close；Direction switching mechanism is installed in the 4th installation cavity by the second support；In one end of 5th shaft and direction switching mechanism Converter input shaft connects；Engaged with one end with cone tooth in the 4th shaft the one end of 5th shaft with cone tooth；3rd turn Axis is installed in the 4th installation cavity by the first support；One end of 3rd shaft and the converter output shaft in the switching mechanism of direction Connection；The other end of 3rd shaft is provided with the 6th gear；Power output shaft is installed on by the 4th shaft hole on mounting shell On mounting shell；7th gear is installed on power output shaft and the 7th gear is located in the 4th installation cavity；7th gear and the 6th Gear engages；When driving shell is towards during the side movement that the 5th gear is provided with mounting shell, controlled by switch controlling device First one-way air inlet mouth causes the first one-way air inlet mouth to be in open mode；First unidirectional gas outlet is closed；Second One-way air inlet mouth is closed；Second unidirectional gas outlet is in open mode；At this time gases at high pressure by first unidirectionally into Gas port enters in the 3rd installation cavity in mounting shell；The gases at high pressure entered at this time in the 3rd installation cavity, which will promote, slides shell court The side movement of the 5th gear；Slide shell movement and drive drive rack movement；Drive rack movement will drive the 5th gear Rotate；5th gear, which rotates, drives the 4th shaft to rotate；4th shaft, which rotates, drives the 5th shaft to rotate；5th shaft rotates logical Crossing direction switching mechanism drives the 3rd shaft to rotate；3rd shaft, which rotates, drives the 6th gear to rotate；6th gear, which rotates, to be driven 7th gear rotates；7th gear, which rotates, drives power output shaft to rotate；When driving shell towards in mounting shell away from the 5th gear Side movement when, by switch controlling device control first the first one-way air inlet of one-way air inlet mouth mouth be in close shape State；First unidirectional gas outlet is in open mode；Second one-way air inlet mouth is in open mode；Second unidirectional gas outlet, which is in, closes Closed state；Gases at high pressure are entered in the 3rd installation cavity in mounting shell by the second one-way air inlet mouth at this time；Enter the 3rd at this time Gases at high pressure in installation cavity will promote the side movement for sliding shell movement away from the 5th gear；Shell movement is slided to drive Drive rack moves；Drive rack movement will drive the 5th gear to rotate；5th gear, which rotates, drives the 4th shaft to rotate；The Four shafts, which rotate, drives the 5th shaft to rotate；5th shaft is rotated drives the 3rd shaft to rotate by direction switching mechanism；3rd Shaft, which rotates, drives the 6th gear to rotate；6th gear, which rotates, drives the 7th gear to rotate；7th gear, which rotates, drives power defeated Shaft rotates；Due to sliding shell movement away from the side movement of the 5th gear and sliding shell movement towards the one of the 5th gear Drive rack drives the rotation direction of the 5th gear opposite when side is moved；That is the rotation direction of the 5th shaft is opposite；But pass through The adjusting of direction switching mechanism；It is mobile or slide shell movement towards the away from the side of the 5th gear no matter shell movement is slided The rotation direction being delivered to during the side movement of five gears in the 3rd shaft remains same direction；When into the present invention When gases at high pressure in three installation cavitys promote slip shell movement, if the load carried on power output shaft is smaller；Enter at this time Gases at high pressure in 3rd installation cavity promote the speed for sliding shell movement relatively fast；But it is mounted in the driving slided on the inside of shell Shell phase is larger compared with translational speed difference slow and between the two to sliding shell translational speed；Sliding shell in this state will be quickly It is moved to and is contacted with corresponding triggering block, corresponding triggering block will be promoted so that triggering block is moved by sliding shell at this time；Touch Hair block movement will cause frizzen towards the side movement for being provided with triggering bar；Triggering block movement will promote triggering bar to move It is dynamic；Triggering bar is moved through triggering drive rod adjusting switch control device；First one-way air inlet is controlled by switch controlling device Mouth or the second one-way air inlet mouth cause the first one-way air inlet mouth or the second one-way air inlet mouth to be closed；Shell is slided at this time Driving shell is driven to be moved in the 3rd installation cavity on mounting shell with a stable speed towards opposite side under effect of inertia； I.e. so that power output shaft keeps a stable speed output；If the load carried on power output shaft is larger；At this time into Entering the gases at high pressure in the 3rd installation cavity promotes the speed for sliding shell movement relatively slow；But it is mounted in the drive slided on the inside of shell Shell translational speed is also relatively slow and translational speed difference between the two is smaller to sliding for dynamic shell phase；Shell is slided in this state Contacted after one end distance can be moved with corresponding triggering block, corresponding triggering block will be promoted so that triggering block is sent out by sliding shell at this time Raw movement；Triggering block movement will cause frizzen towards the side movement for being provided with triggering bar；Triggering block movement will promote Trigger bar movement；Triggering bar is moved through triggering drive rod adjusting switch control device；First is controlled by switch controlling device One-way air inlet mouth or the second one-way air inlet mouth cause the first one-way air inlet mouth or the second one-way air inlet mouth to be closed；This When slide shell and driving shell driven under effect of inertia in the 3rd installation cavity on mounting shell with a stable speed towards another Move side；Power output shaft is allowd to keep a stable speed output；Pass through frizzen, triggering block and triggering bar The adjusting load that can no matter to carry on power output shaft larger or smaller power output shaft can be caused to keep steady Fixed output.The effect of limit spring is to ensure that sliding shoe will not be with two terminations of the 3rd installation cavity in moving process in the present invention Touch；So as to influence the first one-way air inlet mouth, the first unidirectional gas outlet, the second one-way air inlet mouth and the second unidirectional gas outlet.

When the power set that people are designed using the present invention, when driving shell is towards being provided with the 5th gear in mounting shell When side is moved, first the first one-way air inlet of one-way air inlet mouth mouth is controlled to be in open mode by switch controlling device； First unidirectional gas outlet is closed；Second one-way air inlet mouth is closed；Second unidirectional gas outlet, which is in, opens State；Gases at high pressure are entered in the 3rd installation cavity in mounting shell by the first one-way air inlet mouth at this time；Enter the 3rd peace at this time Gases at high pressure in behaveing affectedly will promote the side movement for sliding shell towards the 5th gear；Sliding shell movement drives drive rack to move It is dynamic；Drive rack movement will drive the 5th gear to rotate；5th gear, which rotates, drives the 4th shaft to rotate；4th shaft rotates The 5th shaft is driven to rotate；5th shaft is rotated drives the 3rd shaft to rotate by direction switching mechanism；3rd shaft rotates band Dynamic 6th gear rotates；6th gear, which rotates, drives the 7th gear to rotate；7th gear, which rotates, drives power output shaft to rotate；When When the side of driving shell towards remote 5th gear in mounting shell is moved, pass through switch controlling device and control the first one-way air inlet mouth So that the first one-way air inlet mouth is closed；First unidirectional gas outlet is in open mode；Second one-way air inlet mouth is in Open mode；Second unidirectional gas outlet is closed；Gases at high pressure enter mounting shell by the second one-way air inlet mouth at this time In the 3rd interior installation cavity；The gases at high pressure entered at this time in the 3rd installation cavity, which will promote, slides shell movement away from the 5th The side movement of gear；Slide shell movement and drive drive rack movement；Drive rack movement will drive the 5th gear to rotate；The Five gears, which rotate, drives the 4th shaft to rotate；4th shaft, which rotates, drives the 5th shaft to rotate；5th shaft, which rotates, passes through direction Switching mechanism drives the 3rd shaft to rotate；3rd shaft, which rotates, drives the 6th gear to rotate；6th gear, which rotates, drives the 7th tooth Wheel rotates；7th gear, which rotates, drives power output shaft to rotate；Due to sliding a sidesway of the shell movement away from the 5th gear It is dynamic with slide shell movement towards the 5th gear side movement when drive rack drive the rotation direction of the 5th gear opposite；I.e. The rotation direction of five shafts is opposite；But pass through the adjusting of direction switching mechanism；No matter shell movement is slided away from the 5th tooth The side of wheel is mobile or slides the rotation direction beginning being delivered to when shell movement is moved towards the side of the 5th gear in the 3rd shaft Same direction is kept eventually.

Brief description of the drawings

Fig. 1 is global facility appearance diagram.

Fig. 2 is global facility distribution schematic diagram.

Fig. 3 is global facility internal structure schematic diagram.

Fig. 4 is global facility internal structure scheme of installation.

Fig. 5 is mounting shell structure diagram.

Fig. 6 is mounting shell internal structure schematic diagram.

Fig. 7 is global facility internal structure distribution schematic diagram.

Fig. 8 is drive rack scheme of installation.

Fig. 9 is triggering block scheme of installation.

Figure 10 is driving shell structure diagram.

Figure 11 is triggering block and frizzen cooperation schematic diagram.

Figure 12 is the first return spring schematic diagram.

Figure 13 is the second return spring schematic diagram.

Figure 14 is to slide shell internal structure schematic diagram.

Figure 15 is to slide shell internal structure scheme of installation.

Figure 16 is to slide shell structure schematic diagram.

Figure 17 is direction switching mechanism appearance diagram.

Figure 18 is direction switching mechanism internal structure schematic diagram.

Figure 19 is direction switching mechanism internal structure scheme of installation.

Figure 20 is converter mounting shell structure diagram.

Figure 21 is converter mounting shell internal structure schematic diagram.

Figure 22 is output T-shaped annulate shaft and first gear cooperation schematic diagram.

Figure 23 is the 3rd gear and the 4th gear cooperation schematic diagram.

Figure 24 is that shell structure schematic diagram is fixedly mounted.

Figure 25 is gear ring scheme of installation.

Figure 26 is pocket-wheel scheme of installation.

Figure 27 is torque limiter scheme of installation.

Figure 28 is pocket-wheel operation principle schematic diagram.

Figure label title：1st, bar is triggered；2nd, drive rod is triggered；3rd, switch controlling device；4th, mounting shell；5th, power output Axis；6th, the first one-way air inlet mouth；7th, the first unidirectional gas outlet；8th, the second one-way air inlet mouth；9th, the second unidirectional gas outlet；10th, side To switching mechanism；11st, drive rack；12nd, the first return spring；13rd, limit spring；14th, the 3rd shaft；15th, the first support； 16th, the second support；17th, the 3rd support；18th, the 5th gear；19th, frizzen；20th, triggering block；21st, the 4th shaft；22nd, the 6th tooth Wheel；23rd, the 7th gear；24th, guide groove is triggered；25th, rack pilot hole；26th, the 4th shaft hole；27th, the 3rd installation cavity；28th, Four installation cavitys；29th, the 5th shaft；30th, driving shell；31st, the second return spring；32nd, triggering block pilot hole；33rd, frizzen is oriented to Hole；34th, spring mounting blocks；35th, spring installing plate；36th, shell is slided；37th, escape groove；38th, the 3rd return spring；57th, converter Mounting shell；58th, converter input shaft；59th, converter output shaft；60th, first gear；61st, second gear；62nd, pocket-wheel；63、 Support shaft；64th, the first triggering support ring；65th, the first gear ring connection ring；66th, first rotating shaft；67th, T-shaped annulate shaft is exported；68th, One freewheel clutch；69th, the second freewheel clutch；70th, sun gear；71st, thread spindle is supported；72nd, thread bush；73rd, resetting spring； 74th, the 3rd gear；75th, the second shaft；76th, guide block；77th, shell is fixedly mounted；78th, the first installation cavity；79th, first rotating shaft hole；80、 Second shaft hole；81st, the second installation cavity；82nd, the 3rd shaft hole；83rd, the 4th gear；84th, drive shaft；85th, the first cylinder groove； 86th, the second cylinder groove；87th, guide groove；89th, the second gear ring connection ring；90th, gear ring；91st, fixed drive ring；92nd, annular guide channel；93、 Annular guide block；95th, rub annulus；96th, torque limiter.

Embodiment

As shown in Figure 1, 2, it includes triggering bar 1, triggering drive rod 2, switch controlling device 3, mounting shell 4, power output Axis 5, the first one-way air inlet mouth 6, the first unidirectional gas outlet 7, the second one-way air inlet mouth 8, the second unidirectional gas outlet 9, direction conversion Mechanism 10, drive rack 11, the first return spring 12, limit spring 13, the 3rd shaft 14, first support 15, second support 16, 3rd the 17, the 5th gear 18 of support, frizzen 19, triggering block 20, the 4th shaft 21, the 7th gear 23, the 6th gear 22, triggering Guide groove 24, rack pilot hole 25,21 hole of the 4th shaft, the 3rd installation cavity 27, the 4th installation cavity 28, the 5th shaft 29, driving Shell 30, the second return spring 31, triggering block pilot hole 32, frizzen pilot hole 33, spring mounting blocks 34, spring installing plate 35, Wherein as shown in figure 5, the inner side of 4 one end of mounting shell has the 3rd installation cavity 27；The inner side of 4 other end of mounting shell has the 4th peace It behave affectedly 28；The rack pilot hole 25 of perforation is provided between 3rd installation cavity 27 and the 4th installation cavity 28；The 4th is provided with mounting shell 4 21 hole of the 4th shaft is provided with the end face of 28 side of installation cavity；As shown in fig. 6,21 hole of the 4th shaft and 28 phase of the 4th installation cavity It is logical；It is provided with mounting shell 4 on the periphery of 27 one end of the 3rd installation cavity and is provided with triggering guide groove 24 in the axial direction；Triggering is led Communicated to groove 24 with the 3rd installation cavity 27, and trigger guide groove 24 starting end face and termination endface respectively with the 3rd installation cavity 27 Two end faces；Mounting shell 4, which is provided with the periphery of 27 one end of the 3rd installation cavity, is provided with the first one-way air inlet mouth 6, One unidirectional gas outlet 7, the second one-way air inlet mouth 8 and the second unidirectional gas outlet 9；First one-way air inlet mouth 6, the first unidirectional gas outlet 7th, the second one-way air inlet mouth 8 and the second unidirectional gas outlet 9 are communicated with the 3rd installation cavity 27 respectively；First one-way air inlet mouth 6 and One unidirectional gas outlet 7 is located at the side away from the 4th installation cavity 28 on mounting shell 4；Second one-way air inlet mouth 8 and second unidirectionally goes out Gas port 9 is located on mounting shell 4 close to the side of the 4th installation cavity 28；As shown in figure 16, slide to be provided with the periphery of shell 36 and keep away Allow groove 37；As shown in figure 3, the periphery for sliding shell 36 is installed on mounting shell 4 on the disc of the 3rd installation cavity 27；Slide shell 36 On escape groove 37 coordinate with the triggering guide groove 24 on mounting shell 4；As shown in figure 4, slide on both ends and the mounting shell 4 of shell 36 A limit spring 13 is separately installed between the both ends of the surface of 3rd installation cavity 27；As shown in Figure 10, the both ends of driving shell 30 are opened There are two symmetrical triggering block pilot holes 32；Inner side of two triggering block pilot holes 32 respectively with driving shell 30 communicates；Driving shell A frizzen pilot hole 33 is provided with 30 periphery；Frizzen pilot hole 33 is communicated with the inner side of driving shell 30；Such as Figure 15 Shown, the periphery of driving shell 30 is installed on the inner headed face for sliding shell 36；As shown in figure 14, the frizzen in driving shell 30 is led Coordinate to hole 33 with sliding the escape groove 37 on shell 36；Pacify respectively between the both ends of driving shell 30 and slip 36 inner side both ends of the surface of shell Equipped with the 3rd return spring 38；As shown in figure 12, one end of frizzen 19 has two symmetrical inclined-planes；Frizzen 19 Two spring mounting blocks 34 are symmetrically installed on two sides；As shown in figure 9, frizzen 19 does not have bevelled one end by it It is fitted to frizzen pilot hole 33 in driving shell 30 in driving shell 30；Frizzen 19 is with sliding the escape groove on shell 36 37 and mounting shell 4 on triggering guide groove 24 coordinate；Installed respectively between 30 inner headed face of two spring mounting blocks 34 and driving shell There is first return spring 12；As shown in figure 13, one end of triggering block 20 has inclined-plane；Triggering block 20 has inclined-plane one end Two sides are separately installed with a spring installing plate 35；Two triggering blocks 20 with two triggering blocks in driving shell 30 respectively by leading To being fitted in driving shell 30 for hole 32；Have bevelled one end in two triggering blocks 20 to be respectively positioned in driving shell 30, such as Shown in Figure 11, and coordinate respectively with two inclined-planes on frizzen 19；Corresponding four spring installing plates in two triggering blocks 20 Second return spring 31 is separately installed between 35 and corresponding end face in driving shell 30；Two frizzens 19 do not have oblique The one end in face is located at the both sides of driving shell 30 respectively；As shown in figure 4, triggering bar 1 is installed on the triggering guide groove 24 on mounting shell 4 In；As shown in figure 8, triggering bar 1 coordinates with frizzen 19；As shown in Figure 1, switch controlling device 3 is installed on the cylindrical of mounting shell 4 On face；As shown in fig. 7, connected between switch controlling device 3 and triggering bar 1 by triggering drive rod 2；First one-way air inlet mouth 6, Pass through height respectively between first unidirectional gas outlet 7, the second one-way air inlet mouth 8 and the second unidirectional gas outlet 9 and switch controlling device 3 Pressure pipe connects；One end of drive rack 11 is installed on driving shell 30 on the end face of 25 side of rack pilot hole；Drive rack 11 other end is located in the 4th installation cavity 28 through the rack pilot hole 25 in mounting shell 4；One end of 4th shaft 21 has Bore tooth；4th shaft 21 is installed in the 4th installation cavity 28 by the 3rd support 17；5th gear 18 is installed on the 4th shaft 21 On；5th gear 18 is engaged with drive rack 11；Direction switching mechanism 10 is installed on the 4th installation cavity 28 by the second support 16 It is interior；One end of 5th shaft 29 has cone tooth；The other end of 5th shaft 29 is connected with direction switching mechanism 10；5th shaft 29 Engaged with one end with cone tooth in the 4th shaft 21 one end with cone tooth；3rd shaft 14 is installed on by the first support 15 In 4th installation cavity 28；One end of 3rd shaft 14 is connected with direction switching mechanism 10；The other end of 3rd shaft 14 is provided with 6th gear 22；Power output shaft 5 is installed on mounting shell 4 by 21 hole of the 4th shaft on mounting shell 4；7th gear 23 is pacified On power output shaft 5 and the 7th gear 23 is located in the 4th installation cavity 28；7th gear 23 is engaged with the 6th gear 22.

As shown in figure 17, above-mentioned direction switching mechanism 10 includes converter mounting shell 57, converter input shaft 58, converter Output shaft 59, first gear 60, drive shaft 84, second gear 61, pocket-wheel 62, support shaft 63, first trigger support ring 64, First gear ring connection ring 65, first rotating shaft 66, output T-shaped annulate shaft 67, the first freewheel clutch 68, the second freewheel clutch 69, Sun gear 70, support thread spindle 71, thread bush 72, resetting spring 73, the 3rd gear 74, the second shaft 75, guide block 76, fixed peace Fill shell 77, the first installation cavity 78, first rotating shaft hole 79, the second shaft hole 80, the second installation cavity 81, the 3rd shaft hole the 82, the 4th Gear 83, the first cylinder groove 85, the second cylinder groove 86, guide groove 87, the second gear ring connection ring 89, gear ring 90, fixed drive ring 91, Annular guide channel 92, annular guide block 93, friction annulus 95, torque limiter 96, wherein as shown in figure 20, converter mounting shell 57 1 The first installation cavity 78 is provided with the inside of end；The second installation cavity 81 is provided with the inside of 57 other end of converter mounting shell；Converter is pacified It is provided with dress shell 57 on the end face of 78 side of the first installation cavity and is provided with the 3rd shaft hole 82；3rd shaft hole 82 and the first installation cavity 78 communicate；As shown in figure 21, it is provided with converter mounting shell 57 on the end face of second installation cavity, 81 side and is provided with the second shaft hole 80；Second shaft hole 80 is communicated with the second installation cavity 81；The of perforation is provided between first installation cavity 78 and the second installation cavity 81 One shaft hole 79；As shown in figure 24, the one end for shell 77 being fixedly mounted is provided with the first cylinder groove 85；On the end face of first cylinder groove 85 It is provided with the second cylinder groove 86；Two guide grooves 87 are symmetrically provided with the disc of second cylinder groove 86；As shown in figure 18, it is fixedly mounted It is not provided with the second installation cavity 81 that one end of the first cylinder groove 85 is fixedly mounted on converter mounting shell 57 and is provided with shell 77 On the end face of 79 side of first rotating shaft hole；As shown in figure 19, converter input shaft 58 is installed on conversion by the second shaft hole 80 On device mounting shell 57；As shown in figure 18, one end of sun gear 70 is installed on converter input shaft 58 and positioned at fixed installation shell In the first cylinder groove 85 on 77；As shown in figure 27, one end of drive shaft 84 is installed on the other end of sun gear 70；Drive shaft 84 The other end torque limiter 96 is installed；Supporting on the periphery of thread spindle 71 has external screw thread；Support the one of thread spindle 71 End is installed on torque limiter 96；There is internal thread on the inner headed face of thread bush 72；As shown in figure 27, thread bush 72 one end Two guide blocks 76 are symmetrically installed on periphery；Friction annulus 95 is installed on the periphery of thread bush 72；As shown in figure 19, Thread bush 72 is fixedly mounted in shell 77 by two guide blocks 76 and two being fitted to for guide groove 87；Thread bush 72 and support spiral shell Line axis 71 passes through thread fitting；Thread bush 72, which is provided between one end of guide block 76 and the end face of the second cylinder groove 86, to be provided with again Position spring 73；As shown in figure 25, it is provided with annular guide channel 92 on the inner headed face of the first gear ring connection ring 65；First gear ring connection ring 65 One end fixed drive ring 91 is installed；The periphery of first gear ring, 90 mounting ring, which is installed on, is fixedly mounted the first cylinder in shell 77 On the disc of groove 85；There are teeth on the inner headed face of gear ring 90；Gear ring 90 be installed on 90 mounting ring of the first gear ring the other end and It is nested in and is fixedly mounted in shell 77 on the disc of first cylinder groove 85；One end of second gear ring connection ring 89 is installed on gear ring 90 And it is nested in and is fixedly mounted in shell 77 on the disc of first cylinder groove 85；The other end of second gear ring connection ring 89 is provided with second Freewheel clutch 69；As shown in figure 23, T-shaped annulate shaft 67 is exported to divide for small ring end and big ring end；Export the small ring on T-shaped annulate shaft 67 End is provided with teeth；Export that T-shaped annulate shaft 67 is nested to be installed on converter input shaft 58, and export the big ring end of T-shaped annulate shaft 67 with Second freewheel clutch 69 connects；As shown in figure 26, annular guide block 93 is installed on the periphery of the first triggering support ring 64；The One triggering support ring 64 passes through annular guide block 93 and the inner headed face for being fitted to the first gear ring connection ring 65 of annular guide channel 92 On；One end of three support shafts 63 is circumferentially uniformly mounted to the first triggering support ring 64 close to 67 side of output T-shaped annulate shaft End face on；Three pocket-wheels 62 are separately mounted in three support shafts 63；Three pocket-wheels 62 respectively with sun gear 70 and Gear ring 90 engages；One end of first freewheel clutch 68 is installed on the other end of three support shafts 63；First freewheel clutch 68 other end is connected with output T-shaped annulate shaft 67；First rotating shaft 66 is installed on the second installation cavity 81 on converter mounting shell 57 Inside it is provided with the end face of 80 side of the second shaft hole；As shown in figure 22, first gear 60 is installed in first rotating shaft 66；First tooth Wheel 60 is engaged with the teeth on output T-shaped annulate shaft 67；Second shaft 75 is installed on converter mounting shell by first rotating shaft hole 79 57 inner side；One end that second shaft 75 is located in the second installation cavity 81 is provided with second gear 61；As shown in figure 23, the second tooth Wheel 61 is engaged with first gear 60；One end that second shaft 75 is located in the first installation cavity 78 is provided with the 3rd gear 74；Conversion Device output shaft 59 is installed on conversion mounting shell 4 by the 3rd shaft hole 82；4th gear 83 is installed on converter output shaft 59 Above and in the first installation cavity 78 on converter mounting shell 57；4th gear 83 is engaged with the 3rd gear 74.

Above-mentioned friction annulus 95 coordinates with the first triggering support ring 64 and fixed drive ring 91.

Above-mentioned converter input shaft 58 is connected with the 5th shaft 29；Converter output shaft 59 is connected with the 3rd shaft 14.

Installed between above-mentioned annular guide block 93 and annular guide channel 92 by bearing.

Above-mentioned resetting spring 73 is compression spring.

The above-mentioned annulus 95 that rubs in an initial condition triggers 64 He of support ring under the action of resetting spring 73 positioned at first The centre of fixed drive ring 91.

Above-mentioned fixed installation shell 77 is fixedly mounted in converter mounting shell 57 by welding.

In summary：

The power set that the present invention designs can be constant revolution by the rotation of itself regulating guarantee power output shaft 5.

The one end for not being provided with the first cylinder groove 85 in the present invention on fixed installation shell 77 is fixedly mounted on converter mounting shell It is provided with the second installation cavity 81 on 57 on the end face of 79 side of first rotating shaft hole；Converter input shaft 58 passes through the second shaft hole 80 are installed on converter mounting shell 57；One end of sun gear 70 is installed on converter input shaft 58 and positioned at fixed installation shell In the first cylinder groove 85 on 77；One end of drive shaft 84 is installed on the other end of sun gear 70；The other end peace of drive shaft 84 Equipped with torque limiter 96；Supporting on the periphery of thread spindle 71 has external screw thread；Support one end of thread spindle 71 to be installed on to turn round On square limiter 96；There is internal thread on the inner headed face of thread bush 72；Symmetrically it is provided with the periphery of 72 one end of thread bush Two guide blocks 76；Friction annulus 95 is installed on the periphery of thread bush 72；Thread bush 72 is led by two guide blocks 76 with two Being fitted to for groove 87 is fixedly mounted in shell 77；Thread bush 72 passes through thread fitting with support thread spindle 71；Thread bush 72 is pacified One end equipped with guide block 76 and resetting spring 73 is installed between the end face of the second cylinder groove 86；The one of first gear ring connection ring 65 End is provided with fixed drive ring 91；The periphery of first gear ring, 90 mounting ring, which is installed on, is fixedly mounted the first cylinder groove 85 in shell 77 Disc on；There are teeth on the inner headed face of gear ring 90；Gear ring 90 is installed on the other end and nesting of 90 mounting ring of the first gear ring In be fixedly mounted shell 77 in the first cylinder groove 85 disc on；One end of second gear ring connection ring 89 is installed on gear ring 90 and embedding It is placed on and is fixedly mounted in shell 77 on the disc of first cylinder groove 85；The other end of second gear ring connection ring 89 is provided with second and surmounts Clutch 69；Small ring end on output T-shaped annulate shaft 67 is provided with teeth；Output T-shaped annulate shaft 67 is nested to be installed on converter input shaft On 58, and the big ring end for exporting T-shaped annulate shaft 67 is connected with the second freewheel clutch 69；First triggering support ring 64 is led by annular Block 93 is fitted on the inner headed face of the first gear ring connection ring 65 with annular guide channel 92；One end week of three support shafts 63 To being uniformly mounted to the first triggering support ring 64 on the end face of 67 side of output T-shaped annulate shaft；Three pocket-wheels 62 are distinguished In three support shafts 63；Three pocket-wheels 62 are engaged with sun gear 70 and gear ring 90 respectively；First freewheel clutch 68 one end is installed on the other end of three support shafts 63；The other end of first freewheel clutch 68 and output T-shaped annulate shaft 67 Connection；The end of 80 side of the second shaft hole is provided with the second installation cavity 81 that first rotating shaft 66 is installed on converter mounting shell 57 On face；First gear 60 is installed in first rotating shaft 66；First gear 60 is engaged with the teeth on output T-shaped annulate shaft 67；Second Shaft 75 is installed on the inner side of converter mounting shell 57 by first rotating shaft hole 79；Second shaft 75 is located in the second installation cavity 81 One end second gear 61 is installed；Second gear 61 is engaged with first gear 60；Second shaft 75 is located at the first installation cavity 78 Interior one end is provided with the 3rd gear 74；Converter output shaft 59 is installed on conversion mounting shell 4 by the 3rd shaft hole 82；The Four gears 83 are installed on converter output shaft 59；4th gear 83 is engaged with the 3rd gear 74；The annulus 95 and first that rubs touches Hair support ring 64 and fixed drive ring 91 coordinate；Rub in an initial condition annulus 95 under the action of resetting spring 73 positioned at the The centre of one triggering support ring 64 and fixed drive ring 91.When converter input shaft 58 rotates, converter input shaft 58 can band Dynamic sun gear 70 rotates；Sun gear 70, which rotates, drives drive shaft 84 to rotate；Drive shaft 84 is rotated and driven by torque limiter 96 Support thread spindle 71 rotates；Since thread bush 72 by two guide blocks 76 and two guide grooves 87 is fitted to fixed installation shell In 77；Thread bush 72 passes through thread fitting with support thread spindle 71；So support thread spindle 71, which rotates, can cause 72 edge of thread bush Guide groove 87 to move；When the rotation for supporting thread spindle 71 make it that thread bush 72 is moved towards the first triggering support ring 64, moving During dynamic, when the friction annulus 95 on thread bush 72 is contacted with the first triggering support ring 64, friction annulus 95 is just The first triggering support ring 64 can be extruded so that the first triggering support ring 64 remains static；I.e. three support shafts 63 are in quiet Only state；As shown in figure 28 a, the rotation of sun gear 70 at this time will drive three pocket-wheels 62 to rotate；Three pocket-wheels 62 rotate Gear ring 90 is driven to rotate；Gear ring 90 is rotated drives output T-shaped ring by the second gear ring connection ring 89 and the second freewheel clutch 69 Axis 67 rotates；Output T-shaped annulate shaft 67, which rotates, drives first gear 60 to rotate；First gear 60, which rotates, drives 61 turns of second gear It is dynamic；Second gear 61, which rotates, drives the second shaft 75 to rotate；Second shaft 75, which rotates, drives the 3rd gear 74 to rotate；3rd gear 74, which rotate the 4th gear 83 of drive, rotates；4th gear 83, which rotates, drives converter output shaft 59 to rotate；That is converter input shaft 58, which rotate drive converter output shaft 59, rotates；When the rotation of support thread spindle 71 causes thread bush 72 towards fixed drive ring 91 When mobile, in moving process, when the friction annulus 95 on thread bush 72 is contacted with fixed drive ring 91, friction circle Ring 95 will extrude fixed drive ring 91 so that fixed drive ring 91 remains static；That is the first gear ring connection ring 65 is in quiet Only state；I.e. gear ring 90 remains static；As depicted in fig. 28b, sun gear 70 rotates and will drive three pocket-wheels 62 at this time Axis around sun gear 70 rotates；Three pocket-wheels 62 around sun gear 70 axis rotate drive three support shafts 63 around The axis for sun gear 70 rotates；Three support shafts 63 are rotated around the axis of sun gear 70 passes through the first freewheel clutch 68 Output T-shaped annulate shaft 67 is driven to rotate；Output T-shaped annulate shaft 67, which rotates, drives first gear 60 to rotate；First gear 60, which rotates, to be driven Second gear 61 rotates；Second gear 61, which rotates, drives the second shaft 75 to rotate；Second shaft 75, which rotates, drives the 3rd gear 74 Rotate；3rd gear 74, which rotates, drives the 4th gear 83 to rotate；4th gear 83, which rotates, drives converter output shaft 59 to rotate；I.e. Converter input shaft 58, which rotates, drives converter output shaft 59 to rotate；By controlling gear ring 90 and first to trigger the quiet of support ring 64 Only state drives the rotation of output T-shaped annulate shaft 67；Drive the rotation of converter output shaft 59；And pass through sun gear 70, star The transmission of shape wheel 62 and gear ring 90 causes converter input shaft 58 is either rotated clockwise or rotated counterclockwise can ensure Output T-shaped annulate shaft 67 remains that a direction rotates；I.e. converter input shaft 58 remains that a direction rotates；The present invention In by the first freewheel clutch 68 can ensure when export T-shaped annulate shaft 67 rotated under the drive of gear ring 90 when, export T-shaped ring The rotation of axis 67 will not cause three pocket-wheels 62 to be rotated around the axis of sun gear 70, that is, export the rotation of T-shaped annulate shaft 67 not It can influence three pocket-wheels 62；It can be ensured when output T-shaped annulate shaft 67 is in three pocket-wheels 62 by the second freewheel clutch 69 When being rotated under the drive rotated around 70 axis of sun gear, the rotation of output T-shaped annulate shaft 67 will not cause gear ring 90 to rotate, The rotation for exporting T-shaped annulate shaft 67 does not interfere with gear ring 90；In the present invention when thread bush 72 is moved along guide groove 87, thread bush 72 can be to 73 1 compression stresses of resetting spring or a pulling force；When converter input shaft 58 stops operating, in resetting spring Thread bush 72 is returned on original position under the action of 73；The effect of torque limiter 96 in the present invention is when friction Annulus 95 and first triggers support ring 64 and either fixes the first triggering support ring 64 or fixed drive ring when drive ring 91 contacts 91 will give friction 95 1 resistances of annulus；And the resistance is delivered on support thread spindle 71 by the annulus 95 that rubs；So that support Thread spindle 71 is subject to larger resistance；Drive shaft 84 would not pass through torque limiter under the action of torque limiter 96 at this time 96 drive support thread spindle 71 have rotated；I.e. converter input shaft 58 does not interfere with the movement of thread bush 72 at this time.

The periphery that shell 36 is slided in the present invention is installed on mounting shell 4 on the disc of the 3rd installation cavity 27；Slide shell 36 On escape groove 37 coordinate with the triggering guide groove 24 on mounting shell 4；Slide the both ends of shell 36 and the 3rd installation cavity on mounting shell 4 A limit spring 13 is separately installed between 27 both ends of the surface；The periphery of driving shell 30 is installed on the inner headed face for sliding shell 36 On；Frizzen pilot hole 33 in driving shell 30 coordinates with sliding the escape groove 37 on shell 36；The both ends of driving shell 30 and slip The 3rd return spring 38 is separately installed between 36 inner side both ends of the surface of shell；One end of frizzen 19 is symmetrical oblique with two Face；Two spring mounting blocks 34 are symmetrically installed on the two sides of frizzen 19；Frizzen 19 does not have bevelled by it Frizzen pilot hole 33 is fitted in driving shell 30 on one end and driving shell 30；Frizzen 19 is with sliding keeping away on shell 36 The triggering guide groove 24 allowed on groove 37 and mounting shell 4 coordinates；One end of triggering block 20 has inclined-plane；Two triggering blocks 20 are led to respectively Cross and be fitted to two triggering block pilot holes 32 in driving shell 30 in driving shell 30；There is inclined-plane in two triggering blocks 20 One end be respectively positioned in driving shell 30, and respectively with frizzen 19 two inclined-planes coordinate；It is corresponding in two triggering blocks 20 Second return spring 31 is separately installed between four spring installing plates 35 and corresponding end face in driving shell 30；Two are touched Hair bar 19 does not have the both sides that bevelled one end is located at driving shell 30 respectively；The triggering that bar 1 is installed on mounting shell 4 is triggered to be oriented to In groove 24；Triggering bar 1 coordinates with frizzen 19；Switch controlling device 3 is installed on the periphery of mounting shell 4；Switch control dress Put and connected between 3 and triggering bar 1 by triggering drive rod 2；First one-way air inlet mouth 6, the first unidirectional gas outlet 7, second are unidirectional Connected respectively by high-voltage tube between 8 and second unidirectional gas outlet 9 of air inlet and switch controlling device 3；The one of drive rack 11 End is installed on driving shell 30 on the end face of 25 side of rack pilot hole；The other end of drive rack 11 is passed through in mounting shell 4 Rack pilot hole 25 be located in the 4th installation cavity 28；4th shaft 21 is installed on the 4th installation cavity 28 by the 3rd support 17 It is interior；5th gear 18 is installed in the 4th shaft 21；5th gear 18 is engaged with drive rack 11；Direction switching mechanism 10 passes through Second support 16 is installed in the 4th installation cavity 28；One end of 5th shaft 29 and converter input shaft in direction switching mechanism 10 58 connections；Engaged with one end with cone tooth in the 4th shaft 21 one end of 5th shaft 29 with cone tooth；3rd shaft 14 is logical The first support 15 is crossed to be installed in the 4th installation cavity 28；One end of 3rd shaft 14 and the converter in direction switching mechanism 10 are defeated Shaft 59 connects；The other end of 3rd shaft 14 is provided with the 6th gear 22；Power output shaft 5 passes through the 4th on mounting shell 4 21 hole of shaft is installed on mounting shell 4；7th gear 23 is installed on power output shaft 5 and the 7th gear 23 is positioned at the 4th installation In chamber 28；7th gear 23 is engaged with the 6th gear 22；When driving shell 30 is towards being provided with the one of the 5th gear 18 in mounting shell 4 When side is moved, 6 first one-way air inlet mouth 6 of the first one-way air inlet mouth is controlled to be in open mode by switch controlling device 3； First unidirectional gas outlet 7 is closed；Second one-way air inlet mouth 8 is closed；Second unidirectional gas outlet 9 is in and beats Open state；Gases at high pressure are entered in the 3rd installation cavity 27 in mounting shell 4 by the first one-way air inlet mouth 6 at this time；Enter at this time Gases at high pressure in 3rd installation cavity 27 will promote the side movement for sliding shell 36 towards the 5th gear 18；Shell 36 is slided to move Drive rack 11 is driven to move；11 movement of drive rack will drive the 5th gear 18 to rotate；5th gear 18, which rotates, drives the Four shafts 21 rotate；4th shaft 21, which rotates, drives the 5th shaft 29 to rotate；5th shaft 29, which rotates, passes through direction switching mechanism 10 the 3rd shafts 14 of drive rotate；3rd shaft 14, which rotates, drives the 6th gear 22 to rotate；6th gear 22, which rotates, drives the 7th Gear 23 rotates；7th gear 23, which rotates, drives power output shaft 5 to rotate；When driving shell 30 towards in mounting shell 4 away from the 5th During the side movement of gear 18, controlled by switch controlling device 3 at 6 first one-way air inlet mouth 6 of the first one-way air inlet mouth In closed mode；First unidirectional gas outlet 7 is in open mode；Second one-way air inlet mouth 8 is in open mode；Second unidirectionally goes out Gas port 9 is closed；Gases at high pressure enter the 3rd installation cavity 27 in mounting shell 4 by the second one-way air inlet mouth 8 at this time It is interior；At this time enter the 3rd installation cavity 27 in gases at high pressure will promote slide shell 36 move away from the 5th gear 18 one Move side；Sliding the movement of shell 36 drives drive rack 11 to move；11 movement of drive rack will drive the 5th gear 18 to rotate；The Five gears 18, which rotate, drives the 4th shaft 21 to rotate；4th shaft 21, which rotates, drives the 5th shaft 29 to rotate；5th 29 turns of shaft It is dynamic to drive the 3rd shaft 14 to rotate by direction switching mechanism 10；3rd shaft 14, which rotates, drives the 6th gear 22 to rotate；6th Gear 22, which rotates, drives the 7th gear 23 to rotate；7th gear 23, which rotates, drives power output shaft 5 to rotate；Moved due to sliding shell 36 The dynamic side away from the 5th gear 18 is mobile and slip shell 36 is moved towards sliding tooth during the side movement of the 5th gear 18 Articles 11 drive the rotation direction of the 5th gears 18 opposite；That is the rotation direction of the 5th shaft 29 is opposite；But changed by direction The adjusting of mechanism 10；No matter sliding shell 36, to move side away from the 5th gear 18 mobile or slide shell 36 and move towards the The rotation direction being delivered to during the side movement of five gears 18 in the 3rd shaft 14 remains same direction；In the present invention when into When entering the gases at high pressure promotion slip movement of shell 36 in the 3rd installation cavity 27, if the load carried on power output shaft 5 is smaller； The gases at high pressure entered at this time in the 3rd installation cavity 27 promote the speed for sliding the movement of shell 36 relatively fast；But it is mounted in slip Opposite 36 translational speed of shell of sliding of the driving shell 30 of the inner side of shell 36 is larger compared with translational speed difference slow and between the two；In this shape State lower slider shell 36 will be moved to quickly to be contacted with corresponding triggering block 20, and corresponding triggering will be promoted by sliding shell 36 at this time Block 20 is so that triggering block 20 is moved；20 movement of triggering block will cause frizzen 19 towards the side for being provided with triggering bar 1 It is mobile；20 movement of triggering block will promote triggering bar 1 to move；Triggering bar 1 is moved through triggering drive rod 2 adjusting switch control dress Put 3；8 first one-way air inlet mouth of first one-way air inlet mouth 6 or the second one-way air inlet mouth is controlled by switch controlling device 3 6 or second one-way air inlet mouth 8 be closed；Shell 36 is slided at this time, and driving shell 30 is driven under effect of inertia in mounting shell 4 On the 3rd installation cavity 27 in moved with a stable speed towards opposite side；I.e. so that power output shaft 5 is kept for one surely Fixed speed output；If the load carried on power output shaft 5 is larger；Enter the gases at high pressure in the 3rd installation cavity 27 at this time Promote the speed for sliding the movement of shell 36 relatively slow；But it is mounted in the opposite shell 36 that slides of driving shell 30 slided on the inside of shell 36 to move Dynamic speed is also relatively slow and translational speed difference between the two is smaller；One end distance can be moved by sliding shell 36 in this state Contacted afterwards with corresponding triggering block 20, corresponding triggering block 20 will be promoted so that triggering block 20 is moved by sliding shell 36 at this time It is dynamic；20 movement of triggering block will cause frizzen 19 towards the side movement for being provided with triggering bar 1；20 movement of triggering block will push away Dynamic triggering bar 1 moves；Triggering bar 1 is moved through triggering 2 adjusting switch control device 3 of drive rod；Controlled by switch controlling device 3 The first one-way air inlet mouth 6 or the second one-way air inlet mouth 8 are made so that the first one-way air inlet mouth 6 or the second one-way air inlet mouth 8 are in Closed mode；Slide at this time in the 3rd installation cavity 27 that shell 36 drives driving shell 30 on mounting shell 4 under effect of inertia with one The speed of a stabilization is moved towards opposite side；Power output shaft 5 is allowd to keep a stable speed output；By touching Hair bar 19, triggering block 20 and trigger the adjusting of bar 1 and can make it that the load that is carried on power output shaft 5 is larger or smaller all Power output shaft 5 can be caused to keep stablizing output.The effect of limit spring 13 is to ensure that sliding shoe is being moved through in the present invention Will not be with two end in contact of the 3rd installation cavity 27 in journey；So as to influence the first one-way air inlet mouth 6, the first unidirectional gas outlet 7, second 8 and second unidirectional gas outlet 9 of one-way air inlet mouth.

Embodiment：When the power set that people are designed using the present invention, when driving shell 30 is towards in mounting shell 4 When the side movement of 5th gear 18 is installed, control the first one-way air inlet mouth 6 first unidirectional by switch controlling device 3 Air inlet 6 is in open mode；First unidirectional gas outlet 7 is closed；Second one-way air inlet mouth 8 is closed； Second unidirectional gas outlet 9 is in open mode；Gases at high pressure enter the in mounting shell 4 by the first one-way air inlet mouth 6 at this time In three installation cavitys 27；The gases at high pressure entered at this time in the 3rd installation cavity 27, which will promote, slides shell 36 towards the 5th gear 18 Move side；Sliding the movement of shell 36 drives drive rack 11 to move；11 movement of drive rack will drive the 5th gear 18 to rotate； 5th gear 18, which rotates, drives the 4th shaft 21 to rotate；4th shaft 21, which rotates, drives the 5th shaft 29 to rotate；5th shaft 29 Rotate and drive the 3rd shaft 14 to rotate by direction switching mechanism 10；3rd shaft 14, which rotates, drives the 6th gear 22 to rotate；The Six gears 22, which rotate, drives the 7th gear 23 to rotate；7th gear 23, which rotates, drives power output shaft 5 to rotate；When 30 court of driving shell When the side movement of remote 5th gear 18 in mounting shell 4, the first one-way air inlet mouth 6 is controlled to make by switch controlling device 3 The first one-way air inlet mouth 6 is obtained to be closed；First unidirectional gas outlet 7 is in open mode；Second one-way air inlet mouth 8 is in Open mode；Second unidirectional gas outlet 9 is closed；Gases at high pressure are entered by the second one-way air inlet mouth 8 and installed at this time In the 3rd installation cavity 27 in shell 4；The gases at high pressure entered at this time in the 3rd installation cavity 27, which will promote, slides the movement of shell 36 court The side away from the 5th gear 18 to move；Sliding the movement of shell 36 drives drive rack 11 to move；11 movement of drive rack will The 5th gear 18 is driven to rotate；5th gear 18, which rotates, drives the 4th shaft 21 to rotate；4th shaft 21, which rotates, drives the 5th turn Axis 29 rotates；5th shaft 29 is rotated drives the 3rd shaft 14 to rotate by direction switching mechanism 10；3rd shaft 14 rotates band Dynamic 6th gear 22 rotates；6th gear 22, which rotates, drives the 7th gear 23 to rotate；7th gear 23, which rotates, drives power output Axis 5 rotates；Moved since slip shell 36 is moved away from the side movement of the 5th gear 18 and slip shell 36 towards the 5th tooth Drive rack 11 drives the rotation direction of the 5th gear 18 opposite during the side movement of wheel 18；That is the rotation direction of the 5th shaft 29 Conversely；But pass through the adjusting of direction switching mechanism 10；No matter slide shell 36 and move a sidesway away from the 5th gear 18 Dynamic or slip shell 36 is moved to be protected all the time towards the rotation direction being delivered to during the side movement of the 5th gear 18 in the 3rd shaft 14 Hold same direction.

Claims (5)

1. A kind of 1. air energy constant speed power set that robot uses, it is characterised in that：It include triggering bar, triggering drive rod, Switch controlling device, mounting shell, power output shaft, the first one-way air inlet mouth, the first unidirectional gas outlet, the second one-way air inlet mouth, Second unidirectional gas outlet, direction switching mechanism, drive rack, the first return spring, limit spring, the 3rd shaft, first support, Second support, the 3rd support, the 5th gear, frizzen, triggering block, the 4th shaft, the 7th gear, the 6th gear, triggering are oriented to Groove, rack pilot hole, the 4th shaft hole, the 3rd installation cavity, the 4th installation cavity, the 5th shaft, driving shell, the second return spring, Triggering block pilot hole, frizzen pilot hole, spring mounting blocks, spring installing plate, slip shell, escape groove, the 3rd return spring, its The inner side of middle mounting shell one end has the 3rd installation cavity；The inner side of the mounting shell other end has the 4th installation cavity；3rd installation cavity And the 4th rack pilot hole for being provided with perforation between installation cavity；It is provided with mounting shell on the end face of the 4th installation cavity side and is provided with Four shaft holes；4th shaft hole is communicated with the 4th installation cavity；It is provided with mounting shell on the periphery of the 3rd installation cavity one end in axis Triggering guide groove is provided with line direction；Triggering guide groove is communicated with the 3rd installation cavity, and triggers starting end face and the end of guide groove Not-go-end face two end faces with the 3rd installation cavity respectively；Mounting shell is provided with the periphery of the 3rd installation cavity one end and is provided with First one-way air inlet mouth, the first unidirectional gas outlet, the second one-way air inlet mouth and the second unidirectional gas outlet；First one-way air inlet mouth, First unidirectional gas outlet, the second one-way air inlet mouth and the second unidirectional gas outlet are communicated with the 3rd installation cavity respectively；First unidirectionally into Gas port and the first unidirectional gas outlet are located at the side away from the 4th installation cavity on mounting shell；Second one-way air inlet mouth and second unidirectional Gas outlet is located on mounting shell close to the side of the 4th installation cavity；Slide and be provided with escape groove on the periphery of shell；Slide the outer of shell Disc is installed on mounting shell on the disc of the 3rd installation cavity；The triggering guide groove slided in escape groove and mounting shell on shell is matched somebody with somebody Close；Slide and be separately installed with a limit spring between the both ends of the surface of the 3rd installation cavity on the both ends and mounting shell of shell；Driving shell Both ends be provided with two symmetrical triggering block pilot holes；Two triggering block pilot holes on the inside of driving shell respectively with communicating；Driving A frizzen pilot hole is provided with the periphery of shell；Frizzen pilot hole on the inside of driving shell with communicating；Driving shell it is cylindrical Face is installed on the inner headed face for sliding shell；Frizzen pilot hole in driving shell coordinates with the escape groove slided on shell；Driving shell Both ends and slide and be separately installed with the 3rd return spring between both ends of the surface on the inside of shell；One end of frizzen is right with two The inclined-plane of title；Two spring mounting blocks are symmetrically installed on the two sides of frizzen；Frizzen does not have bevelled by it Frizzen pilot hole is fitted in driving shell on one end and driving shell；Frizzen is with sliding escape groove and installation on shell Triggering guide groove on shell coordinates；A first return bullet is separately installed between two spring mounting blocks and driving shell inner headed face Spring；One end of triggering block has inclined-plane；The two sides that triggering block has inclined-plane one end are separately installed with a spring installing plate；Two A triggering block with two triggering block pilot holes in driving shell respectively by being fitted in driving shell；Have in two triggering blocks Bevelled one end is respectively positioned in driving shell, and is coordinated respectively with two inclined-planes on frizzen；It is corresponding in two triggering blocks Four spring installing plates are separately installed with second return spring between end face corresponding with driving shell；Two frizzens are not Have the both sides that bevelled one end is located at driving shell respectively；Trigger in the triggering guide groove that bar is installed on mounting shell；Trigger bar Coordinate with frizzen；Switch controlling device is installed on the periphery of mounting shell；Pass through between switch controlling device and triggering bar Trigger drive rod connection；First one-way air inlet mouth, the first unidirectional gas outlet, the second one-way air inlet mouth and the second unidirectional gas outlet with Connected respectively by high-voltage tube between switch controlling device；One end of drive rack is installed on driving shell close to rack pilot hole one On the end face of side；The other end of drive rack is located in the 4th installation cavity through the rack pilot hole in mounting shell；4th shaft One end have cone tooth；4th shaft is installed in the 4th installation cavity by the 3rd support；5th gear is installed on the 4th shaft On；5th gear is engaged with drive rack；Direction switching mechanism is installed in the 4th installation cavity by the second support；5th shaft One end have cone tooth；The other end of 5th shaft is connected with direction switching mechanism；5th shaft has one end and the of cone tooth There is one end engagement of cone tooth in four shafts；3rd shaft is installed in the 4th installation cavity by the first support；3rd shaft One end is connected with direction switching mechanism；The other end of 3rd shaft is provided with the 6th gear；Power output shaft passes through on mounting shell The 4th shaft hole be installed on mounting shell on；7th gear is installed on power output shaft and the 7th gear is located at the 4th installation cavity It is interior；7th gear is engaged with the 6th gear；

   Above-mentioned direction switching mechanism includes converter mounting shell, converter input shaft, converter output shaft, first gear, driving Axis, second gear, pocket-wheel, support shaft, the first triggering support ring, the first gear ring connection ring, first rotating shaft, output T-shaped ring Axis, the first freewheel clutch, the second freewheel clutch, sun gear, support thread spindle, thread bush, resetting spring, the 3rd gear, Second shaft, guide block, be fixedly mounted shell, the first installation cavity, first rotating shaft hole, the second shaft hole, the second installation cavity, the 3rd shaft Hole, the 4th gear, the first cylinder groove, the second cylinder groove, guide groove, the second gear ring connection ring, gear ring, fixed drive ring, annular are led Groove, annular guide block, friction annulus, torque limiter, are wherein provided with the first installation cavity on the inside of converter mounting shell one end；Conversion The second installation cavity is provided with the inside of the device mounting shell other end；It is provided with the end face of the first installation cavity side and opens on converter mounting shell There is the 3rd shaft hole；3rd shaft hole is communicated with the first installation cavity；The end of the second installation cavity side is provided with converter mounting shell The second shaft hole is provided with face；Second shaft hole is communicated with the second installation cavity；It is provided between first installation cavity and the second installation cavity The first rotating shaft hole of perforation；One end that shell is fixedly mounted is provided with the first cylinder groove；The second circle is provided with the end face of first cylinder groove Column groove；Two guide grooves are symmetrically provided with the disc of second cylinder groove；The one end for not being provided with the first cylinder groove on shell is fixedly mounted It is provided with the second installation cavity being fixedly mounted on converter mounting shell on the end face of first rotating shaft hole side；Converter input shaft It is installed on by the second shaft hole on converter mounting shell；One end of sun gear is installed on converter input shaft and positioned at fixation In the first cylinder groove on mounting shell；One end of drive shaft is installed on the other end of sun gear；The other end of drive shaft is provided with Torque limiter；Supporting on the periphery of thread spindle has external screw thread；One end of thread spindle is supported to be installed on torque limiter； There is internal thread on the inner headed face of thread bush；Two guide blocks are symmetrically installed on the periphery of thread bush one end；Thread bush Friction annulus is installed on periphery；Thread bush is fixedly mounted in shell by two guide blocks and two being fitted to for guide groove； Thread bush passes through thread fitting with support thread spindle；Thread bush, which is provided between one end of guide block and the end face of the second cylinder groove, pacifies Equipped with resetting spring；Annular guide channel is provided with the inner headed face of first gear ring connection ring；One end of first gear ring connection ring is provided with Fixed drive ring；The periphery of first gear ring mounting ring, which is installed on, to be fixedly mounted in shell on the disc of the first cylinder groove；Gear ring There are teeth on inner headed face；Gear ring, which is installed on the other end of the first gear ring mounting ring and is nested in, is fixedly mounted the first cylinder in shell On the disc of groove；One end of second gear ring connection ring is installed on gear ring and is nested in the circle that the first cylinder groove in shell is fixedly mounted On face；The other end of second gear ring connection ring is provided with the second freewheel clutch；Output T-shaped annulate shaft is divided into small ring end and big ring End；Small ring end on output T-shaped annulate shaft is provided with teeth；It is nested on converter input shaft to export T-shaped annulate shaft, and exports T The big ring end of shape annulate shaft is connected with the second freewheel clutch；Annular guide block is installed on the periphery of first triggering support ring；The One triggering support ring being fitted on the inner headed face of the first gear ring connection ring by annular guide block and annular guide channel；Three branch One end of support shaft is circumferentially uniformly mounted to the first triggering support ring on the end face of output T-shaped annulate shaft side；Three stars Shape wheel is separately mounted in three support shafts；Three pocket-wheels are engaged with sun gear and gear ring respectively；First freewheel clutch One end be installed on three support shaft the other ends；The other end of first freewheel clutch is connected with output T-shaped annulate shaft；First It is provided with the second installation cavity that shaft is installed on converter mounting shell on the end face of the second shaft hole side；First gear is installed In first rotating shaft；First gear is engaged with the teeth on output T-shaped annulate shaft；Second shaft is installed on by first rotating shaft hole to be turned The inner side of parallel operation mounting shell；One end that second shaft is located in the second installation cavity is provided with second gear；Second gear and first Gear engages；One end that second shaft is located in the first installation cavity is provided with the 3rd gear；Converter output shaft passes through the 3rd turn Axis hole is installed on conversion mounting shell；4th gear is installed on first on converter output shaft and on converter mounting shell In installation cavity；4th gear is engaged with the 3rd gear；

   Above-mentioned friction annulus coordinates with the first triggering support ring and fixed drive ring；

   Above-mentioned converter input shaft is connected with the 5th shaft；Converter output shaft is connected with the 3rd shaft.
2. 2. the air energy constant speed power set that a kind of robot according to claim 1 uses, it is characterised in that：Above-mentioned ring Installed between shape guide block and annular guide channel by bearing.
3. 3. the air energy constant speed power set that a kind of robot according to claim 1 uses, it is characterised in that：It is above-mentioned multiple Position spring is compression spring.
4. 4. the air energy constant speed power set that a kind of robot according to claim 1 uses, it is characterised in that：It is above-mentioned The annulus that rubs under original state triggers support ring positioned at first under the action of resetting spring and fixes the centre of drive ring.
5. 5. the air energy constant speed power set that a kind of robot according to claim 1 uses, it is characterised in that：It is above-mentioned solid Determine mounting shell to be fixedly mounted on by welding in converter mounting shell.