CN107826167B - Dual-drive crawler differential walking mechanism - Google Patents
Dual-drive crawler differential walking mechanism Download PDFInfo
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- CN107826167B CN107826167B CN201711283971.1A CN201711283971A CN107826167B CN 107826167 B CN107826167 B CN 107826167B CN 201711283971 A CN201711283971 A CN 201711283971A CN 107826167 B CN107826167 B CN 107826167B
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- bevel gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
Abstract
The invention relates to a dual-drive crawler differential walking mechanism, and belongs to the technical field of engineering machinery. The invention is composed of two motors, two groups of two-way clutches, a differential mechanism, a main transmission mechanism and two groups of power coupling mechanisms, wherein the two motors are respectively connected with a main bevel gear and the differential mechanism of the main transmission mechanism through the two groups of two-way clutches, each motor can independently realize the straight running, the pivot steering and the steering running of the tracked vehicle through the control of the two-way clutches, the two motors can be mutually replaced and can simultaneously or respectively carry out the power input of the straight running and the steering, and each motor adopts the variable frequency driving technology to realize the control of the turning radius of the tracked vehicle.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and particularly relates to a dual-drive crawler differential traveling mechanism which adopts double motors, two groups of bidirectional clutches and two groups of main reducers and realizes stepless steering of a differential steering mechanism by using a variable frequency driving technology.
Background
In the existing hybrid power or electric drive crawler traveling vehicle, the special double-power flow technology is mainly used for realizing the differential steering of the vehicle, and generally, the differential steering is completed by one or two three-phase alternating current motors and a hydraulic motor, wherein the three-phase alternating current motors are used for driving the crawler traveling in a straight line, and the hydraulic motor drives the differential steering of the vehicle.
In the existing double-power flow driving technology, a driving motor or a motor can only drive the linear walking of the tracked vehicle, a steering motor or a hydraulic motor can only drive the steering of the tracked vehicle, if one of the driving motor and the steering motor fails, the tracked vehicle cannot realize the linear running or the steering, and in the prior art, the driving motor and the steering motor cannot realize the mutual power supplement, so that the power performance of the tracked vehicle cannot meet the requirements under some limit working conditions.
Disclosure of Invention
The invention aims to solve the problems that the conventional electric transmission or hybrid power tracked vehicle differential traveling device driven by double power flows is complex in structure, high in manufacturing cost, high in maintenance cost of a hydraulic system, incapable of mutually replacing a driving motor and a steering motor and the like. The two driving motors are longitudinally and oppositely distributed, the distribution of linear running and steering power of the tracked vehicle and the mutual substitution of the steering motor and the driving motors are realized by controlling two groups of bidirectional clutches, and the output rotating speeds of the two driving motors are controlled by a variable frequency motor, so that the aims of stepless speed change and stepless steering of the tracked vehicle are fulfilled.
The technical scheme of the invention is as follows by combining the specification of the attached drawings:
the utility model provides a dual drive track differential running gear, comprises driving motor I1, driving motor II 2, two-way clutch I3, two-way clutch II 4, differential mechanism, main drive mechanism and two sets of power coupling mechanism, driving motor I1 and driving motor II 2 arrange the mode for vertical mutual disposition, and have certain axis offset distance H between driving motor I1 and the driving motor II 2, driving motor I1 and driving motor II 2 realize respectively through two-way clutch I3 and two-way clutch II 4 with differential mechanism and steering mechanism's power transmission.
The differential mechanism is composed of a shaft I19, a shaft II 20, a shaft III 34, a shaft IV 35, a bevel gear V28, a bevel gear VI 29, a bevel gear VII 30, a bevel gear VIII 31, a cylindrical gear IV 32 and a cylindrical gear V33.
The shaft I19 is fixedly connected with a bevel gear V28, the shaft II 20 is fixedly connected with a bevel gear VI 29, a shaft III 34 is fixedly connected with a bevel gear VIII 31 and a cylindrical gear IV 32 respectively, a shaft IV 35 is fixedly connected with a bevel gear VII 30 and a cylindrical gear V33 respectively, the bevel gear V28 is mutually meshed with the bevel gear VII 30, the bevel gear VIII 31 is mutually meshed with the bevel gear VI 29, the cylindrical gear V33 is mutually meshed with the cylindrical gear IV 32, no meshing relation exists between the bevel gear V28 and the bevel gear VIII 31, no meshing relation exists between the bevel gear VII 30 and the bevel gear VI 29, the shaft IV 35 is connected with a two-way clutch I3, the shaft III 34 is connected with a two-way clutch II 4, the shaft I19 is fixedly connected with a sun gear I13 of a left-side power coupling mechanism, and the shaft II 20 is fixedly connected with a sun gear II 14 of a right-side power coupling.
The main transmission mechanism is composed of a bevel gear I5, a bevel gear II 6, a bevel gear III 9, a bevel gear IV 10, a hollow shaft I21, a hollow shaft II 22, a cylindrical gear I23, a cylindrical gear II 24, a cylindrical gear III 25, a cylindrical gear III 27 and a shaft III 26.
The hollow shaft I21 is respectively fixedly connected with a bevel gear I5 and a cylindrical gear I23, the hollow shaft II 22 is respectively fixedly connected with a bevel gear II 6 and a cylindrical gear II 24, two ends of a shaft III 26 are respectively fixedly connected with a cylindrical gear III 25 and a cylindrical gear III 27, the bevel gear I5 is mutually meshed with a bevel gear III 9, the bevel gear II 6 is mutually meshed with a bevel gear IV 10, the cylindrical gear I23 is mutually meshed with the cylindrical gear III 25, the cylindrical gear II 24 is mutually meshed with the cylindrical gear III 27, the bevel gear I5 is not meshed with the bevel gear IV 10, the bevel gear III 9 is not meshed with the bevel gear 6, the hollow shaft I21 is connected with a two-way clutch I3 and sleeved outside a shaft IV 35 of the differential mechanism, the hollow shaft II 22 is connected with a two-way clutch II 4 and sleeved outside a shaft III 34 of the differential mechanism, and the bevel gear III 9 is fixedly connected with a gear ring I7 of, and the bevel gear IV 10 is fixedly connected with a gear ring II 8 of the right power coupling mechanism.
The power coupling mechanism divide into left side power coupling mechanism and right side power coupling mechanism, wherein left side power coupling mechanism comprises ring gear I7, planet wheel I11, sun gear I13, left output shaft 15, planet carrier I17, and right side power coupling mechanism comprises ring gear II 8, planet wheel II 12, sun gear II 14, planet carrier II 18, right output shaft 16, left side output shaft 15 links firmly with planet carrier I17, right output shaft 16 links firmly with planet carrier II 18.
The invention has the beneficial effects that:
(1) the two driving motors can drive the tracked vehicles simultaneously or respectively and can replace each other, when one driving motor fails, the vehicles can still run and steer normally, and when one motor has insufficient power, the other motor can also supplement the power; (2) the control is simple, and the stepless speed change and stepless steering of the tracked vehicle can be realized by controlling a variable frequency controller or a bidirectional clutch of the driving motor; (3) simple and compact structure and reasonable arrangement.
Drawings
FIG. 1 is a schematic structural view of a dual-drive crawler differential walking mechanism.
FIG. 2 is a schematic view of the main transmission.
Fig. 3 is a schematic bottom view of the main transmission.
Fig. 4 is a schematic structural view of the differential device.
Fig. 5 is a bottom view of the differential device.
Wherein: 1. the driving motor I, the driving motor II, the driving motor 3, the bidirectional clutch I, the bidirectional clutch II, the bevel gear I, the bevel gear II, the gear ring I, the gear ring II, the gear ring III, the gear ring IV, the gear ring I, the gear ring II, the gear ring III, the gear ring IV, the gear ring I, the gear ring II, the gear ring I, the gear ring II, the gear ring III, the gear ring V, the gear ring III, the gear ring IV, the gear V, the
Detailed Description
The driving state of the tracked vehicle can be divided into straight driving, steering driving, pivot steering and R-0.5B steering (B is the center distance of the two side tracks), and the principle of R-0.5B steering is similar to the principle of braking or disconnecting the power of one side track of the conventional single-power-flow tracked vehicle, namely, the rotating speed of one side output shaft is 0 through difference. According to the invention, the four running states of the tracked vehicle can be realized according to the control of the connection state of the two-way clutch, the interchange of the two driving motors can be realized, and the stepless speed change and stepless steering of the tracked vehicle can be realized according to the control of the variable-frequency controller on the driving motor and the steering motor.
Referring to table 1, O is clutch connected and X is clutch disconnected.
Straight-line running state of the tracked vehicle: when the end A of the bidirectional clutch I3 is disconnected with the end B, and the end D of the bidirectional clutch 4C is disconnected, the differential device is in a fixed state, at the moment, the tracked vehicle is in a linear running state driven by a single motor (a driving motor I1), power is sent out by the driving motor I1, is transmitted to the left output shaft 15 by the bevel gear I5, the bevel gear III 9 and the left power coupling device which are fixedly connected with the hollow shaft I21, and is transmitted to the right output shaft 16 by the cylindrical gear I23, the cylindrical gear III 25, the cylindrical gear III 27, the cylindrical gear II 24, the bevel gear II 6, the bevel gear IV 10 and the right power coupling device which are fixedly connected with the hollow shaft I21, and at the moment, the rotating speeds and the directions of the left output shaft 15 and the right; similarly, when the end B of the end A of the two-way clutch I3 is disconnected and the end D of the end C of the two-way clutch II 4 is disconnected, the differential device is in a fixed state, and the tracked vehicle is in a straight-line running state driven by a single motor (a driving motor II 2); when the end A of the bidirectional clutch I3 is disconnected with the end B, and the end IIC of the bidirectional clutch 4 is disconnected with the end D, the differential device is in a fixed state, the tracked vehicle is in a linear running state driven by double motors (driven by the driving motor I1 and the driving motor II 2 in a combined mode), and the output power is twice that of the tracked vehicle driven by the single motor.
Steering driving state of the tracked vehicle: when the end A of the bidirectional clutch I3 is disconnected with the end B, and the end C of the bidirectional clutch II 4 is disconnected with the end D, the tracked vehicle is in a running state that the driving motor I1 drives the straight running and the driving motor II 2 drives the steering, the straight running power is sent out by the driving motor I1, is transmitted to the gear ring I7 by the bevel gear I5 and the bevel gear III 9 which are fixedly connected with the hollow shaft I21, is transmitted to the gear ring II 8 by the cylindrical gear I23, the cylindrical gear III 25, the cylindrical gear III 27, the cylindrical gear II 24, the bevel gear 6 and the bevel gear 10 which are fixedly connected with the hollow shaft I21, and the steering power is sent out by the driving motor II 2, because the bevel gear VIII 31 and the bevel gear VI 29 which are fixedly connected with the shaft III 34 are transmitted to the sun wheel II 14, and is transmitted to the sun wheel I13 by the cylindrical gear IV 32, the cylindrical gear 33, the bevel gear VII 30 and the bevel gear V28 which are fixedly connected with, the output of different rotating speeds of the left output shaft 15 and the right output shaft 16 is realized, so that differential steering is realized, and the rotating speeds of the driving motor I1 and the driving motor II 2 are adjusted through a frequency converter to adjust the steering radius; similarly, when the end B of the end I3A of the bidirectional clutch is disconnected and the end D of the end II 4C of the bidirectional clutch is disconnected, the tracked vehicle is in a running state that the driving motor II 2 drives to run straight and the driving motor I1 drives to turn.
Pivot steering driving state of tracked vehicle: when the A end of the bidirectional clutch I3 is disconnected from the B end and the D end of the C end of the bidirectional clutch II 4 is disconnected, the main transmission device is in a fixed state, at the moment, the tracked vehicle is in an in-situ steering driving state driven by a single motor (a driving motor I1), power is transmitted by the driving motor I1, is transmitted to the left output shaft 15 by the bevel gear VII 30, the bevel gear V28, the sun gear I13 and the left power coupling device which are fixedly connected with the shaft IV 35, and is transmitted to the right output shaft 16 by the cylindrical gear 33, the cylindrical gear IV 32, the bevel gear VIII 31, the bevel gear VI 29, the sun gear II 14 and the right power coupling device which are fixedly connected with the shaft IV 35, and at the moment, the output rotating speeds of the left output shaft 15 and the right output shaft 16 are the; similarly, when the end B of the end A of the two-way clutch I3 is disconnected and the end D of the end II 4C of the two-way clutch is disconnected, the main transmission device is in a fixed state, and the tracked vehicle is in an in-situ steering running state driven by a single motor (a driving motor II 2); when the end A of the bidirectional clutch I3 is disconnected with the end B and the end C of the bidirectional clutch II 4 is disconnected with the end D, the main transmission device is in a fixed state, the tracked vehicle is in a pivot steering running state driven by the double motors (the driving motor I1 and the driving motor II 2 are driven in a combined mode), and the output power is twice that of the single motor.
R-0.5B steering driving state of the tracked vehicle: when the ends B and D of the ends B and II C of the two-way clutches I3 and II 4 are connected and disconnected, the power generated by the driving motor I1 is transmitted through the main transmission device and the differential device, and the rotating speed output by the left output shaft 15 is 0, so that the tracked vehicle is in a steering driving state with the left direction R being 0.5B driven by the driving motor I1; when the end B of the end A of the two-way clutch 3 is disconnected and the end D of the end C of the two-way clutch II 4 is connected, the power generated by the driving motor II 2 is transmitted by the main transmission device and the differential device, and the rotating speed output by the right output shaft 6 is 0, so that the tracked vehicle is in a steering driving state with the right R being 0.5B driven by the driving motor II 2;
TABLE 1 tracked vehicle Driving conditions
Claims (3)
1. The utility model provides a dual drive track differential running gear, comprises driving motor I (1), driving motor II (2), two-way clutch I (3), two-way clutch II (4), differential mechanism, final drive mechanism and two sets of power coupling mechanism, its characterized in that:
the driving motor I (1) and the driving motor II (2) are arranged in a longitudinal opposite mode, a certain axial offset distance H exists between the driving motor I (1) and the driving motor II (2), and the driving motor I (1) and the driving motor II (2) realize power transmission with the differential mechanism and the steering mechanism through the two-way clutch I (3) and the two-way clutch II (4) respectively;
the differential mechanism is composed of a shaft I (19), a shaft II (20), a shaft III (34), a shaft IV (35), a bevel gear V (28), a bevel gear VI (29), a bevel gear VII (30), a bevel gear VIII (31), a cylindrical gear IV (32) and a cylindrical gear V (33);
the shaft I (19) is fixedly connected with a bevel gear V (28), the shaft II (20) is fixedly connected with a bevel gear VI (29), the shaft III (34) is respectively fixedly connected with a bevel gear VIII (31) and a cylindrical gear IV (32), the shaft IV (35) is respectively fixedly connected with the bevel gear VII (30) and the cylindrical gear V (33), the bevel gear V (28) is meshed with the bevel gear VII (30), the bevel gear VIII (31) is meshed with the bevel gear VI (29), the cylindrical gear V (33) is meshed with the cylindrical gear IV (32), the bevel gear V (28) is not meshed with the bevel gear VIII (31), the bevel gear VII (30) is not meshed with the bevel gear VI (29), the shaft IV (35) is connected with a bidirectional clutch I (3), the shaft III (34) is connected with a bidirectional clutch II (4), the shaft I (19) is fixedly connected with a sun gear I (13) of a left-side power coupling mechanism, the shaft II (20) is fixedly connected with a sun gear II (14) of the right power coupling mechanism;
the main transmission mechanism is composed of a bevel gear I (5), a bevel gear II (6), a bevel gear III (9), a bevel gear IV (10), a hollow shaft I (21), a hollow shaft II (22), a cylindrical gear I (23), a cylindrical gear II (24), a cylindrical gear III (25), a cylindrical gear VI (27) and a shaft III (26).
2. The dual-drive crawler differential traveling mechanism according to claim 1, characterized in that:
the hollow shaft I (21) is respectively fixedly connected with a bevel gear I (5) and a cylindrical gear I (23), the hollow shaft II (22) is respectively fixedly connected with a bevel gear II (6) and a cylindrical gear II (24), two ends of a shaft III (26) are respectively fixedly connected with a cylindrical gear III (25) and a cylindrical gear VI (27), the bevel gear I (5) is meshed with a bevel gear III (9), the bevel gear II (6) is meshed with a bevel gear IV (10), the cylindrical gear I (23) is meshed with the cylindrical gear III (25), the cylindrical gear II (24) is meshed with the cylindrical gear VI (27), the bevel gear I (5) is not meshed with the bevel gear IV (10), the bevel gear III (9) is not meshed with the bevel gear II (6), the hollow shaft I (21) is connected with a two-way clutch I (3), the hollow shaft I (35) is sleeved outside the differential mechanism, and the hollow shaft II (22) is connected with a two-way clutch II (4), the bevel gear III (9) is fixedly connected with a gear ring I (7) of the left power coupling mechanism, and the bevel gear IV (10) is fixedly connected with a gear ring II (8) of the right power coupling mechanism.
3. The dual-drive crawler differential traveling mechanism according to claim 1 or 2, characterized in that:
the power coupling mechanism divide into left side power coupling mechanism and right side power coupling mechanism, wherein left side power coupling mechanism comprises ring gear I (7), planet wheel I (11), sun gear I (13), left output shaft (15), planet carrier I (17), and right side power coupling mechanism comprises ring gear II (8), planet wheel II (12), sun gear II (14), planet carrier II (18), right output shaft (16), left side output shaft (15) link firmly with planet carrier I (17), right side output shaft (16) link firmly with planet carrier II (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283971.1A CN107826167B (en) | 2017-12-07 | 2017-12-07 | Dual-drive crawler differential walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283971.1A CN107826167B (en) | 2017-12-07 | 2017-12-07 | Dual-drive crawler differential walking mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN107826167A CN107826167A (en) | 2018-03-23 |
| CN107826167B true CN107826167B (en) | 2021-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711283971.1A Active CN107826167B (en) | 2017-12-07 | 2017-12-07 | Dual-drive crawler differential walking mechanism |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018116077A1 (en) * | 2018-07-03 | 2020-01-09 | Liebherr-Components Biberach Gmbh | tracked vehicle |
| CN109733175B (en) * | 2018-12-07 | 2022-03-22 | 江苏大学 | Control device and method for double-motor power confluence of gardening electric tractor |
| CN109733174A (en) * | 2018-12-07 | 2019-05-10 | 江苏大学 | A kind of control device of electric tractor double-motor power confluence |
| CN109624627B (en) * | 2019-02-20 | 2023-07-21 | 吉林大学 | Dual-clutch dual-planetary gear transmission mechanism of amphibious vehicle in motor driving mode and control method thereof |
| CN110171475A (en) * | 2019-07-02 | 2019-08-27 | 洛阳履坦智能科技有限公司 | The double power flow differential steering drive mechanism of a11wheel drive, all-wheel steering mobile device |
| CN110939702B (en) * | 2019-12-18 | 2021-01-08 | 中国北方车辆研究所 | Compound planet row confluence mechanism |
| CN115416771B (en) * | 2022-08-15 | 2023-12-22 | 中国北方车辆研究所 | Self-walking crawler wheel and vehicle and heat dissipation system thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2115268U (en) * | 1991-09-04 | 1992-09-09 | 张光柱 | Caterpillar vehicle power steering gear |
| US6478706B1 (en) * | 1999-12-17 | 2002-11-12 | Caterpillar Inc | Planetary steering differential |
| DE102005045281A1 (en) * | 2005-09-22 | 2007-04-12 | Zf Friedrichshafen Ag | Drive system for the single drive of the two drive wheels of a drive wheel pair |
| CN201914108U (en) * | 2010-12-31 | 2011-08-03 | 吉林大学 | Electric-transmission bulldozer walking driving device |
| CN103507857B (en) * | 2013-07-23 | 2015-08-26 | 北京理工大学 | Double-motor coupled mode electromechanical compound transmission device of tracked vehicle |
| CN207670491U (en) * | 2017-12-07 | 2018-07-31 | 吉林大学 | A kind of double drive crawler belt differential walking mechanism |
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2017
- 2017-12-07 CN CN201711283971.1A patent/CN107826167B/en active Active
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