CN101234598B - Dual power drive traveling mechanism - Google Patents

Abstract

The invention discloses a dual power drive traveling mechanism, which belongs to a vehicle traveling system. The technical solution includes a differential gear train 4-5-6-7, the internal gear 7 and the wheel 8 are coaxially connected through a long closed torque clutch 12, the bevel gear 3 and the central gear 5 are solidly connected and coaxially rotated, the bevel gears 2, 3 Mesh transmission, the cylindrical gear 9 and the bevel gear 2 are fixedly connected and coaxially rotated to form the right half drive device 9-2-3-4-5-6-7-12-8, and the left half drive device 91-21 identical to it -31-41-51-61-71-121-81 are symmetrically arranged on the vehicle frame 13 under the condition that the cylindrical gears 9 and 91 are correctly meshed and driven, and the tie rods 4, 41 and the bevel gear 1 are fixed and coaxially rotated by the main shaft 10 , The bevel gear 11,1 meshing transmission, the main power drives the bevel gear 11, the auxiliary power drives the cylindrical gear 9, the main and auxiliary power drive the left and right wheels through the differential gear train to realize the vehicle running.

Description

Dual power drive traveling mechanism

technical field

The invention relates to a dual power drive traveling mechanism, belonging to a vehicle traveling system. This dual-power driven traveling mechanism is equipped with two relatively independent driving forces, the main and the auxiliary. Normally, the vehicle is driven by the main power. When the main power fails, the vehicle is driven by the auxiliary power. When the main and auxiliary power are driven simultaneously, The vehicle is moving fast. The dual-power driven traveling mechanism is suitable for the traveling drive system of vehicles in the field, emergency and with a high safety factor.

technical background

Dual-power vehicles can not only meet the requirements of energy saving and environmental protection, but also have high flexibility, applicability and strain handling ability in practical applications, which has become a focus of vehicle research and development.

At present, the dual-power drive walking system can be divided into three categories: series, parallel, and hybrid dual-power drive walking systems. The structure of the driving traveling mechanism in the series dual power driving walking system is simple, but the energy utilization rate is low, and it is especially suitable for the working conditions of low-speed operation in urban areas. Under complex working conditions, parallel or hybrid dual-power drive travel systems are widely used. The invention patent with application number 98119232.7 belongs to the parallel dual-power drive travel system. The coaxial input of the engine and the motor in the drive travel mechanism is to a differential wheel. and drives the wheels via the rear axle. The drive system of Toyota's Prius belongs to the hybrid dual-power drive travel system. In the drive travel mechanism, the engine directly drives the tie rod, and the electric motor directly drives the internal gear. The two powers are combined through a differential gear train and then directly drive the wheels through the rear axle. . These two dual-power drive traveling mechanisms are characterized by many working modes, which can meet the requirements of different working conditions, high energy conversion efficiency, and compact structure. However, the dual power is combined with a differential gear train and the rear axle drives the wheels. The structure and control device of the whole driving and traveling system are complicated and the cost is high.

Contents of the invention

The purpose of the present invention is to provide a dual-power driven traveling mechanism, which uses a mechanical transmission structure to combine two relatively independent driving forces in the same driven traveling mechanism. The wheel train drives the left and right wheels to drive the vehicle. The main and auxiliary driving forces can work independently or at the same time. When the main power drives the traveling mechanism, the vehicle runs normally. When the main power fails and the auxiliary power drives the traveling mechanism, the vehicle can also drive. The main and auxiliary power drive the traveling mechanism at the same time. , the vehicle travels fast.

The technical solution adopted in order to achieve the object of the present invention includes: the differential gear train is made up of tie rod 4, central gear 5, planetary gear 6 and internal gear 7, internal gear 7 and wheel 8 are coaxial through long closed torque clutch 12 Connection, the bevel gear 3 and the central gear 5 are fixedly connected and coaxially rotated, the bevel gear 2 and the bevel gear 3 form a 90° fixed-axis meshing transmission, and the cylindrical gear 9 and the bevel gear 2 are fixedly connected and rotated coaxially to form a right half driving device 9- 2-3-4-5-6-7-12-8, left half drive identical to right half drive 9 ₁ -2 _{1 -3} 1 -4 _{1 -5 1} -6 ₁ -7 ₁ -12 _1-81 are symmetrically arranged on the vehicle frame 13 along the forward _direction under the condition of ensuring that the cylindrical gears ₉ and ₉₁ are correctly meshed and driven. Form 90° fixed-axis meshing transmission with bevel gear 1, the rotating speed of bevel gear 11 driven by the main power is _n1 , and the rotating speed of cylindrical gear 9 driven by auxiliary power is _n2 , constituting the double power driven traveling mechanism of the present invention (as shown in Figure 1); bevel gear 1, 3, _{3 1} , central gear 5, 5 ₁ , internal gear 7, 7 ₁ , wheel 8, 8 ₁ and tie rod 4, 4 ₁ have the same theoretical axis of rotation, differential gear train 4-5-6-7 And the gears in 4 ₁ -5 ₁ -6 ₁ -7 ₁ meet the correct meshing transmission conditions and continuous transmission conditions, bevel gear pairs 11-1, 2-3, _{2 1} -3 ₁ and spur gear pairs 9-9 ₁ Each gear satisfies the condition of correct meshing transmission and continuous transmission, the two wheels 8 and 8 ₁ rotate at the same speed, 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 ₂ forward direction and two wheels 8 and 8 ₁ steering are shown in Figure 1; when n ₁ >0, n ₂ =0, n ₈ =n ₈₁ =n ₁ *(1+z ₅ /z ₇ )*z ₁₁ /z ₁ The main power drives the traveling mechanism and the vehicle runs normally. When n ₁ =0, n ₂ >0 and the main power fails, n ₈ =n ₈₁ =n ₂ * z ₂ *z ₅ /z ₃ /z ₇ Auxiliary power driven running gear vehicles can also run, when n ₁ >0, n ₂ >0, 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 The main and auxiliary power _drive the traveling mechanism at the same time. Mechanism vehicle decelerates, and n ₈ =n when n ₂ =-[n ₁ *(1+z ₅ /z ₇ )*z ₁₁ /z ₁ ]/(z ₂ *z ₅ /z ₃ /z ₇ ) ₈₁ ＝0 The dual power drives the traveling mechanism to brake the vehicle; when the vehicle turns, the traveling mechanism passes Change the contact state of the long-closed torque clutch 12 ₁ or 12 and realize it with the mechanical braking of the left and right wheels. Wheel 8 is mechanically braked. When turning left, disengage the left long-closed torque clutch 12 ₁ and supplement the left wheel 8 ₁ with mechanical braking according to road conditions and turning conditions. When the long-closed torque clutch 12 and 12 ₁ are closed at the same time, the vehicle Drive straight. The dual power drive traveling mechanism is driven by the main power through the bevel gear pair 11-1 to drive the tie rods 4 and 4 ₁ , and the auxiliary power is respectively driven through the spur gear pair 9-9 ₁ and the bevel gear pair 2-3, 2 ₁ -3 ₁ to drive the center The gears 5 and 5 ₁ drive the left and right wheels respectively by the internal gears 7 ₁ and 7 through the differential gear train to realize various driving states of the vehicle.

In the above-mentioned dual-power drive traveling mechanism, the driving force configuration mode can be changed. The central gear 5, 5 ₁ and the bevel gear 1 are fixed to rotate coaxially by the main shaft 10, and the tie rods 4, 4 ₁ are fixed to the bevel gear 3, 3 ₁ respectively. Together with the shaft rotation, other structural parameters and combination conditions remain unchanged; the main power drives the central gear 5 and 5 ₁ through the bevel gear pair 11-1, and the auxiliary power passes through the spur gear pair 9-9 ₁ and the bevel gear pair 2-3, 2 ₁ -3 ₁ respectively drive the tie rods 4 and 4 ₁ , drive the left and right wheels respectively by the internal gears 7 ₁ and 7 through the differential gear train, and the speed of the two wheels 8 and 8 ₁ 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 ₂ forward direction and two-wheel steering are shown in Figure 2, dual power Driving the traveling mechanism can also drive the vehicle to realize the above various driving states.

In the above-mentioned dual power drive traveling mechanism, the output power configuration mode can be changed. The tie rods 4, 4 ₁ and the bevel gear 1 are fixed to rotate coaxially by the main shaft 10, and the internal gears 7, 7 ₁ are fixed to the bevel gears 3, 3 ₁ respectively. Rotating together with the shaft, the central gear 5, 5 ₁ is coaxially connected with the wheels 8, _{8 1} respectively through the long closed torque clutch 12, 12 1, and other structural parameters and combination conditions remain unchanged; the main power is passed through the bevel gear pair 11-1 Drive the tie rods 4 and 4 ₁ , the auxiliary power drives the internal gears 7 and 7 1 through the spur gear pair 9-9 ₁ and the bevel gear pair 2-3 _{, 2 1} -3 ₁ respectively, and the central gear 5 ₁ through the differential gear train , 5 respectively drive the left and right wheels, the two wheels 8 and 8 ₁ 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 , n ₁ , n ₂ forward and two-wheel steering are shown in Figure 3, and the dual-power drive traveling mechanism can also drive the vehicle to achieve the above various driving states.

In the above-mentioned dual-power drive traveling mechanism, the output power configuration mode can be changed. The central gear 5, 5 ₁ and the bevel gear 1 are connected to the main shaft 10 to rotate coaxially, and the internal gears 7, 7 ₁ are fixed to the bevel gear 3, 3 ₁ respectively. Rotating together with the shaft, the tie rods 4, 41 are respectively coaxially connected with the wheels 8, 8 ₁ through the long closed torque clutches 12, _{12 1} , and other structural parameters and combination conditions remain unchanged; the main power is driven by the bevel gear pair 11-1 The central gear 5 and 5 ₁ , the auxiliary power drives the internal gear 7 and 7 ₁ respectively through the spur gear pair 9-9 ₁ and the bevel gear pair 2-3, 2 ₁ -3 ₁ , and the tie rod 4 ₁ , 4 respectively drive the left and right wheels, the two wheels 8 and 8 ₁ rotational 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 ₂ forward and two-wheel steering are shown in Figure 4, and the dual-power drive traveling mechanism can also drive the vehicle to achieve the above various driving states.

In the above-mentioned dual power drive traveling mechanism, k (k=2, 3, 4, 5, 6, ...) planetary gears 6 are evenly distributed on the tie rod 4 along the circumferential direction between the sun gear 5 and the internal gear 7, The size of k and the modulus of each gear is directly proportional to the driving power of the dual-power drive traveling mechanism.

In the above-mentioned dual power drive traveling mechanism, two supporting front wheels are arranged side by side along the forward direction on the vehicle frame 13 to form a rear wheel drive walking system (as shown in Figure 5 ), and two supporting rear wheels can be arranged side by side along the advancing direction on the vehicle frame 13 to form The front-wheel drive walking system can also arrange two groups of dual-power drive walking mechanisms side by side along the forward direction on the vehicle frame 13 to form a four-wheel drive walking system.

The main and auxiliary driving forces of the dual-power driven traveling mechanism of the present invention can independently drive the vehicle to run, or jointly drive the vehicle to run quickly, which expands the adaptability and adaptability of the walking system to the ground environment, and can be selected by selecting design parameters or changing the configuration form. In order to meet the needs of different working conditions and different environmental conditions.

Description of drawings

Fig. 1 is the schematic diagram of the mechanism of the dual power drive traveling mechanism;

Fig. 2 is a schematic diagram of the mechanism of the dual-power drive traveling mechanism that changes the driving force configuration mode;

Fig. 3 is the schematic diagram of the mechanism of the dual power drive traveling mechanism output by the central gear;

Fig. 4 is the schematic diagram of the mechanism of the double power driven traveling mechanism output by the tie rod;

Fig. 5 is a schematic diagram of a vehicle traveling system composed of dual power driven traveling mechanisms.

specific implementation plan

Embodiments of the present invention will be described below according to the accompanying drawings.

The dual-power driven traveling mechanism shown in Figure 1 includes a differential gear train 4-5-6-7 consisting of a tie rod 4, a central gear 5, a planetary gear 6 and an internal gear 7, and the internal gear 7 and the wheel 8 pass through Type torque clutch 12 is coaxially connected, the bevel gear 3 and the central gear 5 are fixedly connected and coaxially rotated, the bevel gear 2 and the bevel gear 3 form a 90° fixed-axis meshing transmission, and the cylindrical gear 9 and the bevel gear 2 are fixedly connected and rotated coaxially to form Right half driving device 9-2-3-4-5-6-7-12-8, left half driving device 9 ₁ -2 ₁ -3 ₁ -4 ₁ - which is exactly the same in structure, geometric parameters and connection combination form 5 ₁ -6 ₁ -7 ₁ -12 ₁ -8 ₁ are symmetrically arranged on the vehicle frame 13 along the forward direction under the condition of ensuring the correct meshing transmission of the cylindrical gear 9 and 9 ₁ , and the tie rods 4, 4 ₁ and the bevel gear 1 are connected by the main shaft 10 is fixed and coaxially rotated, bevel gear 11 and bevel gear 1 form a 90° fixed-axis meshing transmission; bevel gear 1, 3, _{3 1} , central gear 5, 5 ₁ , internal gear 7, 7 ₁ , wheel 8, 8 ₁ And the tie rods 4, 4 ₁ have the same theoretical axis of rotation, the modulus m and pressure angle α of each gear in the differential gear train 4-5-6-7 and 4 ₁ -5 ₁ -6 ₁ -7 ₁ are equal, and the number of teeth is satisfied. The condition z ₇ =z ₅ +2*z ₆ and the continuous transmission condition, the modulus m and pressure angle α of each gear in the bevel gear pair 11-1, 2-3, _{2 1} -3 ₁ are equal respectively, satisfying the 90° fixed axis The meshing transmission condition, the modulus m and the pressure angle α of each gear in the spur gear pair 9-9 ₁ are equal, satisfying the continuous transmission condition; the bevel gear 11 is driven by the main power of the engine at a speed of n ₁ , and the speed of the cylindrical gear 9 driven by the auxiliary power of the motor is n _2. The rotational speed of the two wheels 8 and ₈₁ 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 ₂ forward direction and two wheels 8 and 8 ₁ turn as shown in Figure 1; when n ₁ >0, n ₂ =0, n ₈ =n ₈₁ =n ₁ *(1+z ₅ /z ₇ )*z ₁₁ /z ₁ The main power drives the running gear vehicle to run normally, when n ₁ =0, n ₂ >0 when the main power fails, n ₈ =n ₈₁ =n ₂ *z ₂ *z ₅ /z ₃ /z ₇ Auxiliary power drives the running mechanism vehicle at low speed, when n ₁ >0, n ₂ >0, 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 The main and auxiliary forces simultaneously drive the running mechanism vehicle to run at high speed, when n ₁ >0, n ₂ <0, the auxiliary force reversely drives the running mechanism vehicle to decelerate, and when n ₂ =- [n ₁ *(1+z ₅ /z ₇ )*z ₁₁ /z ₁ ]/(z ₂ *z ₅ /z ₃ /z ₇ ) when n ₈ =n ₈₁ =0, the dual-power drive running gear brakes the vehicle; when the vehicle turns, the running gear changes the contact state of the long-closed torque clutch 12 ₁ or 12 and supplements the left, The mechanical braking of the right wheel is realized. When turning right, disengage the right long closed torque clutch 12 and supplement the right wheel 8 with mechanical braking according to road conditions and turning conditions. When turning left, disengage the left long closed torque clutch 12 ₁ And according to road conditions and turning conditions supplemented with left wheel 8 ₁ mechanical brakes, long closed torque clutch 12 and 12 ₁ when closed simultaneously vehicle travels straight. The dual power drive traveling mechanism is driven by the main power of the generator through the bevel gear pair 11-1 to drive the tie rods 4 and 4 ₁ , and the auxiliary power of the motor is through the spur gear pair 9-9 ₁ and the bevel gear pair 2-3, 2 ₁ -3 ₁ The central gears 5 and 5 ₁ are respectively driven, and the inner gears 7 ₁ and 7 respectively drive the left and right wheels through the differential gear train to realize various driving states of the vehicle. In this embodiment, when the vehicle is running normally, the engine outputs the main power while charging the battery pack through the generator. When the auxiliary power is working, the battery pack supplies power to the motor independently. .

The dual-power driven traveling mechanism shown in Figure 2 changes the driving force configuration mode, the central gear 5, 5 ₁ and the bevel gear 1 are fixedly connected by the main shaft 10 to rotate coaxially, and the tie rods 4, 4 ₁ are respectively connected to the bevel gear 3, 3 ₁ The fixed connection rotates on the same axis, and other structural parameters and combination conditions remain unchanged; the main power of the engine drives the central gear 5 and 5 ₁ through the bevel gear pair 11-1, and the auxiliary power of the motor passes through the spur gear pair 9-9 ₁ and the bevel gear pair 2- 3. _{2 1} -3 ₁ drive the tie rods 4 and 4 ₁ respectively, and drive the left and right wheels respectively by the internal gears 7 ₁ and 7 through the differential gear train. The positive directions of n ₁ and n ₂ are shown in Figure 2. The two wheels The steering of 8 and 8 ₁ remains unchanged, and the rotational 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 , dual power drive traveling mechanism can also drive the vehicle to achieve the above various driving states. In this embodiment, the engine outputs main power when the vehicle is running normally, the solar panel charges the battery pack, and the battery pack independently supplies power to the motor when the auxiliary power is working.

The dual power drive traveling mechanism shown in Figure 3 changes the output power configuration mode to be the output of the central gear, the tie rods 4, 4 ₁ and the bevel gear 1 are fixedly connected by the main shaft 10 to rotate coaxially, and the internal gears 7, 7 ₁ are respectively connected to the bevel gear 3, 3 ₁ are fixedly connected and coaxially rotated, and the central gear 5, 5 ₁ is respectively coaxially connected with the wheels 8, _{8 1} through the long-closed torque clutch 12, 12 1, and other structural parameters and combination conditions remain unchanged; the active power of the engine passes through The bevel gear pair 11-1 drives the tie rods 4 and 4 ₁ , the auxiliary power of the hydraulic motor drives the internal gears 7 and 7 ₁ through the spur gear pair 9-9 ₁ and the bevel gear pairs 2-3, _{2 1} -3 ₁ respectively, and through the differential The drive train is driven by the central gears 5 ₁ and 5 to drive the left and right wheels respectively. The forward direction of n ₁ and n ₂ is shown in Figure 3. The steering of the two wheels 8 and 8 ₁ remains unchanged, and the rotational 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 , the dual power drive traveling mechanism can also drive the vehicle to achieve the above various driving states. In this embodiment, when the vehicle is running normally, the engine outputs the main power, and at the same time, the hydraulic oil pump provides stored energy to the accumulator group. When the auxiliary power is working, the accumulator group drives the hydraulic motor independently, and the main and auxiliary power drive the traveling mechanism through dual power. Combining and distributing to drive the vehicle.

The dual power drive traveling mechanism shown in Fig. 4 changes the output power configuration mode to tie rod output, the central gear 5, 5 ₁ and the bevel gear 1 are fixedly connected by the main shaft 10 to rotate coaxially, and the internal gear 7, 7 ₁ is respectively connected with the bevel gear 3, 3 ₁ are fixedly connected and coaxially rotated, the tie rods 4, 4 ₁ are respectively coaxially connected with the wheels 8, 8 ₁ through the long closed torque clutch 12, _{12 1} , and other structural parameters and combination conditions remain unchanged; the output of the main hydraulic motor The main power drives the central gear 5 and 5 ₁ through the bevel gear pair 11-1, and the auxiliary hydraulic motor outputs auxiliary power through the spur gear pair 9-9 ₁ and the bevel gear pairs 2-3, _{2 1} -3 ₁ to respectively drive the internal gear 7 and 7 ₁ , the left and right wheels are respectively driven by the tie rods 4 ₁ and 4 through the differential gear train, the forward directions of n ₁ and n ₂ are shown in Figure 4, the steering of the two wheels 8 and 81 remains unchanged, and the 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 ), the dual power drive traveling mechanism can also drive the vehicle to achieve the above driving status. In this embodiment, the engine drives the hydraulic oil pump when the vehicle is running normally, and the main hydraulic motor outputs the main power. At the same time, the hydraulic oil pump provides stored energy to the accumulator group. , The auxiliary power is combined and distributed through the dual power drive traveling mechanism to drive the vehicle.

The dual-power driven traveling mechanism shown in Fig. 5 forms the vehicle traveling system, and two supporting front wheels are arranged side by side along the forward direction on the vehicle frame 13 to form the rear wheel driving traveling system. Any one of the above-mentioned driving force combinations or power configurations can be selected to realize various driving states of the vehicle.

Claims (5)

1. Dual power drive traveling mechanism, including: the differential gear train is composed of a right tie rod (4), a right central gear (5), a right planetary gear (6) and a right inner gear (7). It is characterized in that the right inner gear The gear (7) and the right wheel (8) are connected coaxially through the right long closed torque clutch (12), the second right bevel gear (3) is fixedly connected with the right central gear (5) and rotates coaxially, and the first right bevel gear (2) form a 90° fixed-axis meshing transmission with the second right bevel gear (3), and the right cylindrical gear (9) is fixedly connected with the first right bevel gear (2) to rotate coaxially, forming a right half driving device composed of the right cylindrical gear (9)-right first bevel gear (2)-right second bevel gear (3)-right tie rod (4)-right central gear (5)-right planetary gear (6)-right internal gear (7)- The right long closed torque clutch (12)-right wheel (8) is formed, and the left half-drive device identical with the right half-drive device is made up of left spur gear (9 ₁ )-left first bevel gear (2 ₁ )-left second Second bevel gear (3 ₁ )-left tie rod (4 ₁ )-left central gear (5 ₁ )-left planetary gear (6 ₁ )-left internal gear (7 ₁ )-left long closed torque clutch (12 ₁ ) - The left wheel (8 ₁ ) is composed of the right cylindrical gear (9) and the left cylindrical gear (9 ₁ ), which are symmetrically arranged on the vehicle frame (13) along the forward direction under the condition of ensuring that the right cylindrical gear (9) and the left cylindrical gear (9 1 ) are correctly meshed for transmission, and the right tie rod (4), The left tie rod (4 ₁ ) and the bevel gear of the main shaft (1) are fixedly connected to the main shaft (10) to rotate coaxially, the middle bevel gear (11) and the bevel gear of the main shaft (1) form a 90° fixed-axis meshing transmission, and the main force passes through the bevel The gear pair is composed of the middle bevel gear (11)-the main shaft bevel gear (1), which drives the right tie rod (4) and the left tie rod (4 ₁ ), and the auxiliary power passes through the spur gear pair from the right cylindrical gear (9) to the left cylindrical gear Composed of gears (9 ₁ ), and the bevel gear pair consists of the first right bevel gear (2)-the second right bevel gear (3), the first left bevel gear (2 ₁ )-the second left bevel gear (3 ₁ ) , drive the right central gear (5) and the left central gear (5 ₁ ) respectively, and drive the left and right wheels respectively by the left internal gear (7 ₁ ) and the right internal gear (7) through the differential gear train. 2. The dual-power driven traveling mechanism according to claim 1, characterized in that, changing the driving force configuration, the right central gear (5), the left central gear (5 ₁ ) and the main shaft bevel gear (1) are controlled by the main shaft (10 ) is fixedly connected to rotate coaxially, the right tie rod (4) and the left tie rod (4 ₁ ) are respectively fixedly connected to the second right bevel gear (3) and the second left bevel gear (3 ₁ ) to rotate coaxially, and the main force passes through The bevel gear pair is composed of the middle bevel gear (11)-the main shaft bevel gear (1), drives the right center gear (5) and the left center gear (5 ₁ ), and the auxiliary power passes through the spur gear pair from the right cylindrical gear (9)-left Cylindrical gear (9 ₁ ), and the bevel gear pair consists of the first right bevel gear (2)-the second right bevel gear (3), the first left bevel gear (2 ₁ )-the second left bevel gear (3 ₁ ) It consists of driving the right tie rod (4) and the left tie rod (4 ₁ ) respectively, and the left and right wheels are respectively driven by the left internal gear (7 ₁ ) and the right internal gear (7) through the differential gear train. 3. The dual-power driven traveling mechanism according to claim 1, characterized in that, changing the configuration of the output power, the right tie rod (4), the left tie rod (4 ₁ ) and the main shaft bevel gear (1) are connected by the main shaft (10 ) are fixedly connected and coaxially rotated, the right internal gear (7), the left internal gear (7 ₁ ) are respectively fixedly connected with the second right bevel gear (3), and the left second bevel gear (3 ₁ ) to rotate coaxially, and the right central gear (5), the left central gear (5 ₁ ) is connected coaxially with the right wheel (8) and the left wheel (8 _{1 ) respectively through the right long closed torque clutch (12) and the left long closed torque clutch (12 1 )} , The active power is composed of the middle bevel gear (11)-main shaft bevel gear (1) through the bevel gear pair, driving the right tie rod (4) and the left tie rod (4 ₁ ), and the auxiliary power is composed of the right cylindrical gear (9 )-left cylindrical gear (9 ₁ ), and the bevel gear pair consists of right first bevel gear (2)-right second bevel gear (3), left first bevel gear (2 ₁ )-left second bevel gear ( 3 ₁ ), driving the right internal gear (7) and the left internal gear (7 ₁ ) respectively, and driving the left and right wheels respectively by the left central gear (5 ₁ ) and the right central gear (5) through the differential gear train. 4. The dual-power driven traveling mechanism according to claim 1, characterized in that, changing the output power configuration mode, the right central gear (5), the left central gear (5 ₁ ) and the main shaft bevel gear (1) are controlled by the main shaft (10 ) is fixedly connected with the coaxial rotation, and the right internal gear (7), the left internal gear (7 ₁ ) are respectively fixedly connected with the second right bevel gear (3), and the left second bevel gear (31) to rotate coaxially, and the right tie rod ( 4), the left tie rod (4 ₁ ) is coaxially connected with the right wheel (8) and the left wheel (8 _{1 ) respectively through the right long closed torque clutch (12) and the left long closed torque clutch (12 1 )} , the main The power is composed of the middle bevel gear (11)-main shaft bevel gear (1) through the bevel gear pair, driving the right center gear (5) and the left center gear (5 ₁ ), and the auxiliary power is composed of the right cylindrical gear (9) through the spur gear pair -The left cylindrical gear (9 ₁ ) is composed, and the bevel gear pair is composed of the first right bevel gear (2)-the second right bevel gear (3), the first left bevel gear (2 ₁ )-the second left bevel gear (3 ₁ ), driving the right internal gear (7) and the left internal gear (7 ₁ ) respectively, and driving the left and right wheels respectively by the left tie rod (4 ₁ ) and the right tie rod (4) through the differential gear train. 5. According to the dual-power drive traveling mechanism described in any one of claims 1-4, it is characterized in that k right planetary gears are uniformly distributed along the circumferential direction between the right sun gear (5) and the right internal gear (7) (6) On the right tie rod (4), wherein k≥2.

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