CN101234598A - Double power driven walking mechanism - Google Patents
Double power driven walking mechanism Download PDFInfo
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- CN101234598A CN101234598A CNA2008101011972A CN200810101197A CN101234598A CN 101234598 A CN101234598 A CN 101234598A CN A2008101011972 A CNA2008101011972 A CN A2008101011972A CN 200810101197 A CN200810101197 A CN 200810101197A CN 101234598 A CN101234598 A CN 101234598A
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Abstract
The invention discloses a double power drive walking mechanism, which belongs to a vehicle walking system. The technical proposal comprises: a differential gear train 4-5-6-7, an internal gear 7 and a wheel 8 are coaxially connected through a long-closed torque clutch 12; a bevel gear 3 is fixedly connected and coaxially rotates with a center gear 5; a bevel gear 2 is meshing driven with the bevel 3; a cylindrical gear 9 is fixed connected and coaxially rotates with the bevel gear 2 to form a right-sided driving device 9-2-3-4-5-6-7-12-8 which is symmetrically arranged with a completely identical left-sided driving device 9<1>-2<1>-3<1>-4<1>-5<1>-6<1>-7<1>-12<1>-8<1> on a frame 13 under the condition that the cylindrical gear 9 is correctly meshing transmitted with 91; tie bars 4 and 41 are fixedly connected and coaxially rotate with the bevel gear 1 and a main shaft 10; the bevel gears 11 is meshing driven with the bevel 1; the bevel gear 11 is driven by the main power and the cylindrical gear 9 is driven by the auxiliary power; the left and right wheels are driven by the main and auxiliary power to realize the vehicle running through the differential gear train.
Description
Technical field
The present invention relates to a kind of double power driven walking mechanism, belong to the vehicle to run system.This double power driven walking mechanism is furnished with main and auxiliary two relatively independent propulsive efforts, generally travels by the active force powered vehicle, and when active force lost efficacy, by auxilliary power driven vehicle ', when main and auxiliary power drives simultaneously, the vehicle fast running.Double power driven walking mechanism is adapted to the travel driving system of field, emergent and safety factor tall vehicle.
Technical background
Double-acting vehicle can not only satisfy the requirement of energy-saving and environmental protection and have higher flexibility, applicability and strained handling ability in actual applications, has become an emphasis of vehicle research and development.
The two-motor drive running gear can be divided into series, parallel, series-parallel connection two-motor drive running gear three major types at present.It is simple in structure to drive traveling gear in the series connection two-motor drive running gear, but energy utilization rate is lower, is specially adapted to the operating mode at the urban district low cruise.Under complex working condition, parallel connection or series-parallel connection two-motor drive running gear are used more, application number is that 98119232.7 patent of invention belongs to two-motor drive running gear in parallel, and it drives in traveling gear, and driving engine and electrical motor are coaxial to be input to a differential gear train and by the rear-axle drive wheel.The drive system of the Prius of Toyota Company car belongs to series-parallel connection two-motor drive running gear, it drives driving engine direct drive tie-rod, electrical motor direct drive inner gear in the traveling gear, and two power directly pass through the rear-axle drive wheel by a differential gear train combination back.The characteristics of these two double power driven walking mechanisms are that mode of operation is more, can satisfy the requirement of different operating modes, energy conversion efficiency is higher, compact conformation, but double dynamical differential gear train combination back of passing through is by the rear-axle drive wheel, make whole driving running gear structure and control setup complexity, cost is higher.
Summary of the invention
The objective of the invention is to provide a kind of double power driven walking mechanism, this double power driven walking mechanism utilizes mechanical transmission structure that two relatively independent propulsive efforts are combined in the same driving traveling gear, and active force and auxilliary power drive left and right wheel by differential gear train and realizes vehicle '.Main and auxiliary two propulsive efforts can work alone respectively, also can work simultaneously, normal vehicle operation when active force drives traveling gear, active force lost efficacy, vehicle also can travel when assisting power-driven walking mechanism, when main and auxiliary power drives traveling gear simultaneously, the vehicle fast running.
Comprise in order to reach the technical scheme that purpose of the present invention takes: differential gear train is made up of tie-rod 4, sun gear 5, planetary wheel 6 and inner gear 7, inner gear 7 and wheel 8 are by long enclosed 12 coaxial connections of torque clutch, finishing bevel gear cuter 3 and sun gear 5 coaxial rotation that is connected, finishing bevel gear cuter 2 forms 90 ° of dead axle engaged transmission with finishing bevel gear cuter 3, cylindrical wheel 9 and finishing bevel gear cuter 2 coaxial rotation that is connected, form right half actuating device 9-2-3-4-5-6-7-12-8, with the identical left side of the right side half actuating device half actuating device 9
1-2
1-3
1-4
1-5
1-6
1-7
1-12
1-8
1Guaranteeing cylindrical wheel 9 and 9
1Correct engagement transmission condition lower edge working direction is symmetrically arranged on the vehicle frame 13, tie- rod 4,4
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, finishing bevel gear cuter 11 forms 90 ° of dead axle engaged transmission with finishing bevel gear cuter 1, it is n that active force drives finishing bevel gear cuter 11 rotating speeds
1, auxilliary power driven cylindrical wheel 9 rotating speeds are n
2, constitute double power driven walking mechanism of the present invention (as Fig. 1); Finishing bevel gear cuter 1,3,3
1, sun gear 5,5
1, inner gear 7,7
1, wheel 8,8
1And tie- rod 4,4
1Has the same theory rotation axis, differential gear train 4-5-6-7 and 4
1-5
1-6
1-7
1In each gear satisfy correct engagement transmission condition and continuous transmission condition, bevel-gear pair 11-1,2-3,2
1-3
1And spur gear pair 9-9
1In each gear satisfy correct engagement transmission condition and continuous transmission condition, two wheels 8 and 8
1Rotating speed equates, n
8=n
81=n
1* (1+z
5/ z
7) * z
11/ z
1+ n
2* z
2* z
5/ z
3/ z
7, n
1, n
2Forward and two wheels 8 and 8
1Turn to as shown in Figure 1; Work as n
1＞0, n
2=0 o'clock n
8=n
81=n
1* (1+z
5/ z
7) * z
11/ z
1Active force drives the traveling gear normal vehicle operation, works as n
1=0, n
2When＞0 active force lost efficacy, n
8=n
81=n
2* z
2* z
5/ z
3/ z
7Auxilliary power-driven walking mechanism vehicle also can travel, and works as n
1＞0, n
2＞0 o'clock n
8=n
81=n
1* (1+z
5/ z
7) * z
11/ z
1+ n
2* z
2* z
5/ z
3/ z
7Main and auxiliary power drives the traveling gear high vehicle speeds simultaneously, works as n
1＞0, n
2Auxilliary power reverse in＜0 o'clock drives the traveling gear car retardation and travels, and works as n
2=-[n
1* (1+z
5/ z
7) * z
11/ z
1]/(z
2* z
5/ z
3/ z
7) time n
8=n
81=0 double power driven walking mechanism is to car brakeing; Traveling gear is by changing long enclosed torque clutch 12 during Vehicular turn
1Or 12 contact condition and being aided with is realized the mechanical braking of left and right wheel, throw off the long enclosed torque clutch 12 in the right during right-hand corner and be aided with to right wheel 8 mechanical brakings the long enclosed torque clutch 12 in disengagement left side during turnon left according to condition of road surface and turning condition
1And be aided with left wheel 8 according to condition of road surface and turning condition
1Mechanical braking, long enclosed torque clutch 12 and 12
1Vehicle straight-line travelling when closed simultaneously.Double power driven walking mechanism is to drive tie- rod 4 and 4 by active force by bevel-gear pair 11-1
1, auxilliary power is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1 Drive sun gear 5 and 5 respectively
1, by differential gear train by inner gear 7
1, 7 drive the various motoring conditions that left and right wheel is realized vehicle respectively.
In the above-mentioned double power driven walking mechanism, can change the propulsive effort configuration mode, sun gear 5,5
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, tie- rod 4,4
1Respectively with finishing bevel gear cuter 3,3
1The coaxial rotation that is connected, other construction parameter, combination condition are constant; Active force drives sun gear 5 and 5 by bevel-gear pair 11-1
1, auxilliary power is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1Drive tie- rod 4 and 4 respectively
1, by differential gear train by inner gear 7
1, 7 drive left and right wheel respectively, two wheels 8 and 8
1Rotating speed is: n
8=n
81=n
1* z
11* z
5/ z
1/ z
7+ n
2* (1+z
5/ z
7) * z
2/ z
3, n
1, n
2Forward and two wheel steerings as shown in Figure 2, double power driven walking mechanism equally can powered vehicle be realized above various motoring conditions.
In the above-mentioned double power driven walking mechanism, can change the outputting power configuration mode, tie- rod 4,4
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, inner gear 7,7
1Respectively with finishing bevel gear cuter 3,3
1The coaxial rotation that is connected, sun gear 5,5
1By long enclosed torque clutch 12,12
1Respectively with wheel 8,8
1Coaxial connection, other construction parameter, combination condition are constant; Active force drives tie- rod 4 and 4 by bevel-gear pair 11-1
1, auxilliary power is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1Drive inner gear 7 and 7 respectively
1, by differential gear train by sun gear 5
1, 5 drive left and right wheel respectively, two wheels 8 and 8
1Rotating speed is: n
8=n
81=n
1* (1+z
7/ z
5) * z
11/ z
1+ n
2* z
2* z
7/ z
3/ z
5, n
1, n
2Forward and two wheel steerings as shown in Figure 3, double power driven walking mechanism equally can powered vehicle be realized above various motoring conditions.
In the above-mentioned double power driven walking mechanism, can change the outputting power configuration mode, sun gear 5,5
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, inner gear 7,7
1Respectively with finishing bevel gear cuter 3,3
1The coaxial rotation that is connected, tie- rod 4,4
1By long enclosed torque clutch 12,12
1Respectively with wheel 8,8
1Coaxial connection, other construction parameter, combination condition are constant; Active force drives sun gear 5 and 5 by bevel-gear pair 11-1
1, auxilliary power is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1Drive inner gear 7 and 7 respectively
1, by differential gear train by tie- rod 4
1, 4 drive left and right wheel respectively, two wheels 8 and 8
1Rotating speed is: n
8=n
81=(n
1* z
11* z
5/ z
1+ n
2* z
2* z
7/ z
3)/(z
5+ z
7), n
1, n
2Forward and two wheel steerings as shown in Figure 4, double power driven walking mechanism equally can powered vehicle be realized above various motoring conditions.
In the above-mentioned double power driven walking mechanism, along the circumferential direction uniform k between sun gear 5 and inner gear 7 (k=2,3,4,5,6 ...) individual planetary wheel 6 is on tie-rod 4, the size of k and each module of gear is directly proportional with the double power driven walking mechanism driving power.
In the above-mentioned double power driven walking mechanism, support front-wheel formation back-wheel drive running gear (as Fig. 5) two arranged side by side of vehicle frame 13 upper edge working direction, can support trailing wheel formation f-w-d running gear two arranged side by side of vehicle frame 13 upper edge working direction, also can form the four wheel drive running gear at vehicle frame 13 upper edge working direction two groups of double power driven walking mechanisms arranged side by side.
Main and auxiliary two propulsive efforts of double power driven walking mechanism of the present invention can be distinguished the individual drive vehicle ', or common powered vehicle fast running, expanded adaptation and the adaptability to changes of running gear to ground environment, can be by selecting design parameters or changing collocation form so that satisfy different operating situation, varying environment condition needs.
Description of drawings
Fig. 1 is the schematic diagram of mechanism of double power driven walking mechanism;
Fig. 2 is the schematic diagram of mechanism of the double power driven walking mechanism of propulsive effort configuration mode for a change;
Fig. 3 is the schematic diagram of mechanism of the double power driven walking mechanism of sun gear output;
Fig. 4 is the schematic diagram of mechanism of the double power driven walking mechanism of tie-rod output;
Fig. 5 forms the vehicle to run system schematic for double power driven walking mechanism.
Specific embodiments
With reference to the accompanying drawings embodiments of the invention are described below.
Double power driven walking mechanism shown in Figure 1, comprising differential gear train 4-5-6-7 is made up of tie-rod 4, sun gear 5, planetary wheel 6 and inner gear 7, inner gear 7 and wheel 8 are by long enclosed 12 coaxial connections of torque clutch, finishing bevel gear cuter 3 and sun gear 5 coaxial rotation that is connected, finishing bevel gear cuter 2 forms 90 ° of dead axle engaged transmission with finishing bevel gear cuter 3, cylindrical wheel 9 and finishing bevel gear cuter 2 coaxial rotation that is connected, form right half actuating device 9-2-3-4-5-6-7-12-8, with its structure, geometric parameter be connected the identical left side of array configuration half actuating device 9
1-2
1-3
1-4
1-5
1-6
1-7
1-12
1-8
1Guaranteeing cylindrical wheel 9 and 9
1Correct engagement transmission condition lower edge working direction is symmetrically arranged on the vehicle frame 13, tie- rod 4,4
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, finishing bevel gear cuter 11 forms 90 ° of dead axle engaged transmission with finishing bevel gear cuter 1; Finishing bevel gear cuter 1,3,3
1, sun gear 5,5
1, inner gear 7,7
1, wheel 8,8
1And tie- rod 4,4
1Has the same theory rotation axis, differential gear train 4-5-6-7 and 4
1-5
1-6
1-7
1In each module of gear m, angle of obliquity α equate, satisfy number of teeth condition z
7=z
5+ 2*z
6With continuous transmission condition, bevel-gear pair 11-1,2-3,2
1-3
1In each module of gear m, angle of obliquity α equate respectively, satisfy 90 ° of dead axle engaged transmission conditions, spur gear pair 9-9
1In each module of gear m, angle of obliquity α equate, satisfy continuous transmission condition; It is n that the driving engine active force drives finishing bevel gear cuter 11 rotating speeds
1, auxilliary power driven cylindrical wheel 9 rotating speeds of electrical motor are n
2, two wheels 8 and 8
1Rotating speed is: n
8=n
81=n
1* (1+z
5/ z
7) * z
11/ z
1+ n
2* z
2* z
5/ z
3/ z
7, n
1, n
2Forward and two wheels 8 and 8
1Turn to as shown in Figure 1; Work as n
1＞0, n
2=0 o'clock n
8=n
81=n
1* (1+z
5/ z
7) * z
11/ z
1Active force drives the traveling gear normal vehicle operation, works as n
1=0, n
2When＞0 active force lost efficacy, n
8=n
81=n
2* z
2* z
5/ z
3/ z
7Auxilliary power-driven walking mechanism low vehicle speeds is worked as n
1＞0, n
2＞0 o'clock n
8=n
81=n
1* (1+z
5/ z
7) * z
11/ z
1+ n
2* z
2* z
5/ z
3/ z
7Main and auxiliary power drives the traveling gear high vehicle speeds simultaneously, works as n
1＞0, n
2Auxilliary power reverse in＜0 o'clock drives the traveling gear car retardation and travels, and works as n
2=-[n
1* (1+z
5/ z
7) * z
11/ z
1]/(z
2* z
5/ z
3/ z
7) time n
8=n
81=0 double power driven walking mechanism is to car brakeing; Traveling gear is by changing long enclosed torque clutch 12 during Vehicular turn
1Or 12 contact condition and being aided with is realized the mechanical braking of left and right wheel, throw off the long enclosed torque clutch 12 in the right during right-hand corner and be aided with to right wheel 8 mechanical brakings the long enclosed torque clutch 12 in disengagement left side during turnon left according to condition of road surface and turning condition
1And be aided with left wheel 8 according to condition of road surface and turning condition
1Mechanical braking, long enclosed torque clutch 12 and 12
1Vehicle straight-line travelling when closed simultaneously.Double power driven walking mechanism is to drive tie- rod 4 and 4 by generator main power by bevel-gear pair 11-1
1, the auxilliary power of electrical motor is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1 Drive sun gear 5 and 5 respectively
1, by differential gear train by inner gear 7
1, 7 drive the various motoring conditions that left and right wheel is realized vehicle respectively.Present embodiment, in the normal vehicle operation driving engine output active force time by electrical generator to batteries charging, independent of the electrical motor power supply by battery pack when assisting dynamically working, main and auxiliary power travels by double power driven walking mechanism combination, distribution powered vehicle.
Double power driven walking mechanism shown in Figure 2 changes the propulsive effort configuration mode, sun gear 5,5
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, tie- rod 4,4
1Respectively with finishing bevel gear cuter 3,3
1The coaxial rotation that is connected, other construction parameter, combination condition are constant; The driving engine active force drives sun gear 5 and 5 by bevel-gear pair 11-1
1, the auxilliary power of electrical motor is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1Drive tie- rod 4 and 4 respectively
1, by differential gear train by inner gear 7
1, 7 drive left and right wheel, n respectively
1, n
2Forward as shown in Figure 2, two wheels 8 and 8
1Turn to constantly, rotating speed is: n
8=n
81=n
1* z
11* z
5/ z
1/ z
7+ n
2* (1+z
5/ z
7) * z
2/ z
3, double power driven walking mechanism can powered vehicle be realized above various motoring conditions equally.Present embodiment, driving engine output active force in the normal vehicle operation, solar panels are to batteries charging, and independent of the electrical motor power supply by battery pack when assisting dynamically working, main and auxiliary power makes up, distributes powered vehicle to travel by double power driven walking mechanism.
Double power driven walking mechanism shown in Figure 3, changing the outputting power configuration mode is sun gear output, tie- rod 4,4
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, inner gear 7,7
1Respectively with finishing bevel gear cuter 3,3
1The coaxial rotation that is connected, sun gear 5,5
1By long enclosed torque clutch 12,12
1Respectively with wheel 8,8
1Coaxial connection, other construction parameter, combination condition are constant; The driving engine active force drives tie- rod 4 and 4 by bevel-gear pair 11-1
1, the auxilliary power of HM Hydraulic Motor is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1Drive inner gear 7 and 7 respectively
1, by differential gear train by sun gear 5
1, 5 drive left and right wheel, n respectively
1, n
2Forward as shown in Figure 3, two wheels 8 and 8
1Turn to constantly, rotating speed is: n
8=n
81=n
1* (1+z
7/ z
5) * z
11/ z
1+ n
2* z
2* z
7/ z
3/ z
5, double power driven walking mechanism can powered vehicle be realized above various motoring conditions equally.Present embodiment, provide stored energy by hydraulic oil pump to the energy storage group when driving engine is exported active force in the normal vehicle operation, by energy storage group individual drive HM Hydraulic Motor, main and auxiliary power travels by double power driven walking mechanism combination, distribution powered vehicle when assisting dynamically working.
Double power driven walking mechanism shown in Figure 4, changing the outputting power configuration mode is tie-rod output, sun gear 5,5
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, inner gear 7,7
1Respectively with finishing bevel gear cuter 3,3
1The coaxial rotation that is connected, tie- rod 4,4
1By long enclosed torque clutch 12,12
1Respectively with wheel 8,8
1Coaxial connection, other construction parameter, combination condition are constant; Main HM Hydraulic Motor output active force drives sun gear 5 and 5 by bevel-gear pair 11-1
1, the auxilliary power of auxilliary HM Hydraulic Motor output is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1Drive inner gear 7 and 7 respectively
1, by differential gear train by tie- rod 4
1, 4 drive left and right wheel, n respectively
1, n
2Forward as shown in Figure 4, two wheels 8 and 8
1Turn to constantly, rotating speed is: n
8=n
81=(n
1* z
11* z
5/ z
1+ n
2* z
2* z
7/ z
3)/(z
5+ z
7), double power driven walking mechanism can powered vehicle be realized above various motoring conditions equally.Present embodiment, engine drive hydraulic oil pump in the normal vehicle operation, by main HM Hydraulic Motor output active force, provide stored energy by hydraulic oil pump to the energy storage group simultaneously, by the auxilliary HM Hydraulic Motor of energy storage group individual drive, main and auxiliary power travels by double power driven walking mechanism combination, distribution powered vehicle when assisting dynamically working.
Double power driven walking mechanism shown in Figure 5 is formed the vehicle to run system, supports front-wheel formation back-wheel drive running gear two arranged side by side of vehicle frame 13 upper edge working direction.Can select above any one group of propulsive effort array configuration or power configuration mode for use, realize the various motoring conditions of vehicle.
Claims (5)
1, double power driven walking mechanism comprises: differential gear train is made up of tie-rod 4, sun gear 5, planetary wheel 6 and inner gear 7, inner gear 7 and wheel 8 are by long enclosed 12 coaxial connections of torque clutch, finishing bevel gear cuter 3 and sun gear 5 coaxial rotation that is connected, finishing bevel gear cuter 2 forms 90 ° of dead axle engaged transmission with finishing bevel gear cuter 3, cylindrical wheel 9 and finishing bevel gear cuter 2 coaxial rotation that is connected, form right half actuating device 9-2-3-4-5-6-7-12-8, with the identical left side of the right side half actuating device half actuating device 9
1-2
1-3
1-4
1-5
1-6
1-7
1-12
1-8
1Guaranteeing cylindrical wheel 9 and 9
1Correct engagement transmission condition lower edge working direction is symmetrically arranged on the vehicle frame 13, tie-rod 4,4
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, finishing bevel gear cuter 11 forms 90 ° of dead axle engaged transmission with finishing bevel gear cuter 1, active force drives tie-rod 4 and 4 by bevel-gear pair 11-1
1, auxilliary power is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1Drive sun gear 5 and 5 respectively
1, by differential gear train by inner gear 7
1, 7 drive left and right wheel respectively.
2, double power driven walking mechanism according to claim 1 is characterized in that, changes the propulsive effort configuration mode, sun gear 5,5
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, tie-rod 4,4
1Respectively with finishing bevel gear cuter 3,3
1The coaxial rotation that is connected, active force drives sun gear 5 and 5 by bevel-gear pair 11-1
1, auxilliary power is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1Drive tie-rod 4 and 4 respectively
1, by differential gear train by inner gear 7
1, 7 drive left and right wheel respectively.
3, double power driven walking mechanism according to claim 1 is characterized in that, changes the outputting power configuration mode, tie-rod 4,4
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, inner gear 7,7
1Respectively with finishing bevel gear cuter 3,3
1The coaxial rotation that is connected, sun gear 5,5
1By long enclosed torque clutch 12,12
1Respectively with wheel 8,8
1Coaxial connection, active force drives tie-rod 4 and 4 by bevel-gear pair 11-1
1, auxilliary power is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1Drive inner gear 7 and 7 respectively
1, by differential gear train by sun gear 5
1, 5 drive left and right wheel respectively.
4, double power driven walking mechanism according to claim 1 is characterized in that, changes the outputting power configuration mode, sun gear 5,5
1With finishing bevel gear cuter 1 by main shaft 10 coaxial rotation that is connected, inner gear 7,7
1Respectively with finishing bevel gear cuter 3,3
1The coaxial rotation that is connected, tie-rod 4,4
1By long enclosed torque clutch 12,12
1Respectively with wheel 8,8
1Coaxial connection, active force drives sun gear 5 and 5 by bevel-gear pair 11-1
1, auxilliary power is by spur gear pair 9-9
1And bevel-gear pair 2-3,2
1-3
1Drive inner gear 7 and 7 respectively
1, by differential gear train by tie-rod 4
1, 4 drive left and right wheel respectively.
5, according to claim 1,2,3,4 described double power driven walking mechanisms, it is characterized in that, along the circumferential direction uniform k between sun gear 5 and inner gear 7 (k=2,3,4,5 ...) individual planetary wheel 6 is on tie-rod 4.
Priority Applications (1)
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|---|---|---|---|
| CN2008101011972A CN101234598B (en) | 2008-02-29 | 2008-02-29 | Double power driven walking mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101011972A CN101234598B (en) | 2008-02-29 | 2008-02-29 | Double power driven walking mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN101234598A true CN101234598A (en) | 2008-08-06 |
| CN101234598B CN101234598B (en) | 2010-04-14 |
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| CN2008101011972A Expired - Fee Related CN101234598B (en) | 2008-02-29 | 2008-02-29 | Double power driven walking mechanism |
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| CN102133858A (en) * | 2011-03-03 | 2011-07-27 | 中国农业大学 | Dual-power driven traveling mechanism |
| CN101654061B (en) * | 2009-09-08 | 2012-06-27 | 中国农业大学 | Dual power driven walking mechanism |
| CN102537261A (en) * | 2012-01-05 | 2012-07-04 | 北京二七轨道交通装备有限责任公司 | Double-power output gearbox and vehicle traction power system |
| CN101716884B (en) * | 2009-12-02 | 2012-07-11 | 哈尔滨工程大学 | Mobile robot suitable for complicated ground |
| CN102588547A (en) * | 2011-01-07 | 2012-07-18 | 杨泰和 | Dual power driving system with epicycle gear sets transmitted in series |
| CN103912653A (en) * | 2014-04-18 | 2014-07-09 | 杨洋 | Speed reducing device of torsion sensing differential planet gear system |
| CN104214120A (en) * | 2014-09-16 | 2014-12-17 | 昆山超强光电设备有限公司 | Rotary swing type fan |
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| JP3649312B2 (en) * | 1997-09-13 | 2005-05-18 | 本田技研工業株式会社 | Driving force transmission device for hybrid vehicle |
| CN1565882A (en) * | 2003-06-20 | 2005-01-19 | 邵培森 | Double differential type planetary stepless automatic variable speed gear for vehicle |
| CN1618643A (en) * | 2003-11-21 | 2005-05-25 | 北京理工大学 | New type driving system of mixed power automobile |
| EP1777092B1 (en) * | 2005-10-21 | 2008-04-30 | Joseph Vögele AG | Wheel drive unit |
| CN1986268B (en) * | 2005-12-20 | 2011-01-12 | 比亚迪股份有限公司 | Mixed power automobile driving system |
-
2008
- 2008-02-29 CN CN2008101011972A patent/CN101234598B/en not_active Expired - Fee Related
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| CN101654061B (en) * | 2009-09-08 | 2012-06-27 | 中国农业大学 | Dual power driven walking mechanism |
| CN101716884B (en) * | 2009-12-02 | 2012-07-11 | 哈尔滨工程大学 | Mobile robot suitable for complicated ground |
| CN102588547A (en) * | 2011-01-07 | 2012-07-18 | 杨泰和 | Dual power driving system with epicycle gear sets transmitted in series |
| CN102588547B (en) * | 2011-01-07 | 2016-03-16 | 杨泰和 | The dual power drive system of tool tandem drive turnover wheels |
| CN102133858A (en) * | 2011-03-03 | 2011-07-27 | 中国农业大学 | Dual-power driven traveling mechanism |
| CN102133858B (en) * | 2011-03-03 | 2013-07-31 | 中国农业大学 | Dual-power driven traveling mechanism |
| CN102537261A (en) * | 2012-01-05 | 2012-07-04 | 北京二七轨道交通装备有限责任公司 | Double-power output gearbox and vehicle traction power system |
| CN102537261B (en) * | 2012-01-05 | 2014-06-18 | 北京二七轨道交通装备有限责任公司 | Double-power output gearbox and vehicle traction power system |
| CN103912653A (en) * | 2014-04-18 | 2014-07-09 | 杨洋 | Speed reducing device of torsion sensing differential planet gear system |
| CN104214120A (en) * | 2014-09-16 | 2014-12-17 | 昆山超强光电设备有限公司 | Rotary swing type fan |
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|---|---|
| CN101234598B (en) | 2010-04-14 |
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