CN101985279B - Electromechanical coupling transmission device of crawler - Google Patents
Electromechanical coupling transmission device of crawler Download PDFInfo
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- CN101985279B CN101985279B CN 201010284933 CN201010284933A CN101985279B CN 101985279 B CN101985279 B CN 101985279B CN 201010284933 CN201010284933 CN 201010284933 CN 201010284933 A CN201010284933 A CN 201010284933A CN 101985279 B CN101985279 B CN 101985279B
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Abstract
The invention relates to an electromechanical coupling transmission device of a crawler. The device comprises an engine, a power coupling and gear shifting mechanism, two motors, a power control unit and an energy storage system, wherein the two motors are connected with sun gears of two planet rows of the power coupling and gear shifting mechanism respectively, a gear ring of the two planet rows of the power coupling and gear shifting mechanism is shared, a clutch is arranged between the two sun gears and the shared gear ring, and the shared gear ring is provided with a brake and output through a planet carrier. The transmission device removes a steering gear set and a zero shaft of double-flow transmission of the crawler, and has flexible allocation, capability of making full use of space and compact structure. Because of the power coupling and gear shifting mechanism, the requirement for the motors is reduced, and the research and manufacture risks of the motors are reduced.
Description
[technical field]
The present invention relates to driving device, specifically, relate to electromechanical coupling transmission device.
[background technology]
At present, the continuously tracked vehicle electric actuator mainly is two-side motor structure and horizontal shaft type structure.Being the two-side motor structure such as Fig. 3, is the horizontal shaft type structure such as Fig. 4.
Two-side motor version is fairly simple, during straight-line travelling, realize by main driven by motor left and right sides driving wheel, and during steering procedure, the speed discrepancy that then produces by control left and right sides traction electric machine is realized, in order to satisfy power requirement when turning to, traction electric machine must possess very large power, therefore, this scheme is very high to the requirement of motor, has increased the difficulty of motor development; The horizontal shaft type structure is utilized main shaft, zero axle and the planet row that confluxes, circulating of power problem when having solved continuously tracked vehicle and turning to, thereby greatly reduce the power requirement to traction electric machine, but weak point is straight motor and steer motor and speed-changing mechanism to be arranged side by side, increase the axial dimension of system, be unfavorable for the layout of system in car load.
[summary of the invention]
The object of the invention is to, in view of the foregoing defects the prior art has, a kind of electromechanical coupling transmission device of crawler is provided, this device has been realized power coupling and speed change integrated function, combine the advantage of two-side motor structure and horizontal shaft type structure two schemes, solved the two-side motor structure to motor requirement height and the large defective of horizontal shaft type structure axial dimension; In addition, this device is ingenious utilize the planet row characteristic in conjunction with drg, power-transfer clutch realized continuously tracked vehicle climbing, normally travel, zero turn radius and large radius turning function, improve the alerting ability of entire arrangement, effectively reduced the overall dimension of driving system.
A kind of electromechanical coupling transmission device of crawler provided by the invention, comprise driving engine, electrical generator, power control unit, motor A, motor B, power coupling and speed-changing mechanism and drive wheel A and drive wheel B, its improvements are that described power coupling and speed-changing mechanism comprise planet row B, planet row A, power-transfer clutch C1, power-transfer clutch C2 and drg L; The gear ring of described planet row B and planet row A shares, and shares gear ring connecting brake L; Be respectively equipped with power-transfer clutch C1 and power-transfer clutch C2 between two sun wheels of described star row B and planet row A and the shared gear ring.
The provided by the invention first preferred electromechanical coupling transmission device of crawler, described power control unit is connected cable with motor A with motor B and is connected, the sun wheel shaft mechanical connection of the output shaft of motor A and motor B and power coupling and speed-changing mechanism two planet rows; The planet carrier shaft of power coupling and speed-changing mechanism two planet rows is respectively equipped with drg B, drg A, side speed reducer B, side speed reducer A, drive wheel B and drive wheel A as the both sides output shaft on it.
The provided by the invention second preferred electromechanical coupling transmission device of crawler, described driving device comprises gearbox, closed-centre system, side speed reducer B and side speed reducer A; The output shaft mechanical connection of the sun wheel shaft of described planet row B and motor B, the planet carrier shaft of planet row B which is provided with drg B, side speed reducer B, drive wheel B as output shaft; The output shaft mechanical connection of the sun wheel shaft of described planet row A and motor A, the planet carrier shaft of planet row A which is provided with drg A, side speed reducer A, drive wheel A as output shaft; Described motor B is connected with motor A and is connected by cable with power control unit; Described power control unit is connected cable with closed-centre system with electrical generator respectively and is connected, electrical generator and gearbox mechanical connection, and gearbox is connected with engine mechanical.
Electromechanical coupling transmission device of crawler provided by the invention, the number of driving engine, power coupling and speed-changing mechanism, power control unit and closed-centre system is 1, motor adopts two, on this basis, suitably increase planet row and corresponding operating element, just can realize steering power coupling and many gear speed-shifting mechanisms.
Closure and the disconnection of the output by controlling two motors and power-transfer clutch, drg, can realize continuously tracked vehicle climbing, normally travel, zero turn radius and large radius turn to.
(1) climbing: L is closed for the control drg, and power-transfer clutch C1 and C2 disconnect, motor A and B rotating in same direction, and n
1=n
2, then power coupling and speed-changing mechanism left and right sides output torque and rotating speed are as follows:
T
L＝(1+k
1)T
1＝(1+k
2)T
2＝T
R
By power coupling and speed-changing mechanism, moment of torsion increases, and rotating speed reduces, and has realized that the climbing of vehicle is travelled.
(2) normally travel: control drg L disconnects, and power-transfer clutch C1 and C2 are closed, motor A and B rotating in same direction, and n
1=n
2, power coupling and speed-changing mechanism left and right sides output torque and rotation speed relation are as follows:
T
L＝T
1＝T
2＝T
R
n
L＝n
1＝n
2＝n
R
Input, the output torque of power coupling and speed-changing mechanism, input, output speed equal and opposite in direction after pinion carrier output, drive normally travelling of vehicle.
(3) zero turn radius: L is closed for the control drg, and C1 and C2 disconnect, the reverse synchronized rotation of motor A and B, i.e. n
1=-n
2, power coupling and speed-changing mechanism left and right sides output torque and rotating speed are as follows:
T
L＝(1+k
1)T
1＝(1+k
2)T
2＝T
R
By power coupling and speed-changing mechanism, moment of torsion increases, and rotating speed reduces, and two synchronized counter-rotatings of motor have realized the zero turn radius of continuously tracked vehicle.
(4) large radius turns to: during right-hand rotation, left side drive wheel rotating speed need be higher than right side drive wheel rotating speed, controls drg L this moment and disconnects, and power-transfer clutch C1 disconnects, and power-transfer clutch C2 is closed, and moment of torsion, the rotating speed of power coupling and speed-changing mechanism are as follows:
T
L＝T
1+T
2+T
R
n
R＝n
2
Can be drawn by following formula, in order to satisfy the vehicle required n that turns right
L＞n
R, the output speed of control motor A, B satisfies n
1＞n
2Get final product.
During left-hand rotation, right side drive wheel rotating speed need be higher than left side drive wheel rotating speed, and this moment, drg L disconnected, and power-transfer clutch C1 is closed, and power-transfer clutch C2 disconnects, and the output speed of control motor A, B satisfies n
2＞n
1Get final product.
(5) failure mode: if one of them motor et out of order, then control clutch C1 and C2 are closed, and drg L disconnects, and travels by another motor-driven vehicle.
Suppose the right motor et out of order, power coupling and speed-changing mechanism left and right sides output torque and rotating speed are as follows:
T
L＝T
R＝T
1/2
n
L＝n
1＝n
R
Keeping in the constant situation of this groundwork, according to general design requirement, by suitably in power coupling and speed-changing mechanism, increasing the number of planet row and power-transfer clutch, drg, can increase the gear number, further reduce the requirement to motor, realize the Proper Match of motor and vehicle.
Compared with prior art, a kind of electromechanical coupling transmission device of crawler provided by the invention has the following advantages:
1, by the coupling of power and speed-changing mechanism, adopt the mode of machinery to solve circulating of power problem when continuously tracked vehicle turns to, greatly reduce requirement to motor than the two-side motor structure, reduced the development difficulty of motor; Than the horizontal shaft type structure decrease steering swivel systems such as steering gear group, zero axle, can be good at reducing the driving system overall dimension;
2, this mechanism has speed changing function, and the speed change gear can increase according to demand flexibly, is conducive to the Proper Match of motor and vehicle, realizes the continuously tracked vehicle requirement of travelling;
3, electromechanical coupling transmission device by reasonable control two motors rotating speed and power coupling and speed-changing mechanism in closure and the disconnection of power-transfer clutch, drg, carry out speed change, turn to control, realize continuously tracked vehicle climbing, normally travel, zero turn radius and large radius turn to;
4, power coupling transmission device flexible arrangement, size are little, require relatively low to motor;
5, because the invention of power coupling and speed-changing mechanism has reduced the requirement to motor, thereby reduced the development risk of motor, be applicable to continuously tracked vehicle;
6, removed steering gear group and zero axle of the transmission of continuously tracked vehicle double fluid, flexible arrangement can take full advantage of the space, compact conformation;
7, by a coupling and speed-changing mechanism, realized that power coupling and speed change are integrated, replaced speed-changing mechanism and steering hardware in the horizontal shaft type structure, structure is simple compact;
8, all realize straight with two motors and turn to that the power sum equals the power demand of horizontal shaft type structure straight motor, less than the total power demand of horizontal shaft type structure, horizontal shaft type has extra steer motor to be used for turning to.
[accompanying drawing and description of drawings]
Fig. 1 is: the annexation figure of a kind of electromechanical coupling transmission device provided by the invention;
Fig. 2 is: power coupling and the speed-changing mechanism schematic diagram of a kind of electromechanical coupling transmission device provided by the invention;
Fig. 3 is: prior art continuously tracked vehicle electric actuator--two-side motor structure;
Fig. 4 is: prior art continuously tracked vehicle electric actuator--be the horizontal shaft type structure;
Among the figure: 1, drive wheel B; 2, side speed reducer B; 3, drg B; 4, motor B; 5, planet row B; 6, planet row A; 7, motor A; 8, drg A; 9, side speed reducer A; 10, drive wheel A; 11, drg L; 12, power-transfer clutch C1; 13, power-transfer clutch C2; 14, driving engine; 15, gearbox; 16, electrical generator; 17, power control unit; 18, closed-centre system;
T
1, T
2Be respectively the output torque of motor A, B; n
1, n
2Be respectively the output speed of motor A, B; T
L, T
RBe respectively the horsepower output of power coupling and the speed-changing mechanism left and right sides; n
L, n
RBe respectively the output speed of power coupling and the speed-changing mechanism left and right sides; T
Q1, T
Q2Be respectively the horsepower output of both sides gear ring; n
Q1, n
Q2Be respectively the output speed of both sides gear ring; T
J1, T
J2Be respectively the horsepower output of both sides pinion carrier; n
J1, n
J2Be respectively the output speed of both sides pinion carrier; T
T1, T
T2Be respectively the horsepower output of both sides sun wheel; n
T1, n
T2Be respectively the output speed of both sides sun wheel; k
1, k
2Be the planet row characteristic parameter, and k
1=k
2
[specific embodiment]
Below in conjunction with drawings and the specific embodiments a kind of electromechanical coupling transmission device of crawler control method provided by the invention is further explained in more detail.
As shown in Figure 1: be the key of the novel electromechanical coupling transmission device of present embodiment in the dotted line frame---the basical traditional model of power coupling and speed-changing mechanism structure, suitably increase on this basis planet row and corresponding operating element, just can realize steering power coupling and many gear speed-shifting mechanisms, planet row is two rows in the present embodiment.
(1) climbing: drg L-11 is closed, drg B-3 and drg A-8 disconnect, power-transfer clutch C1-12 and power-transfer clutch C2-13 disconnect, the power that driving engine 14 sends passes to electrical generator 16 through gearbox 15 and is converted into electric power, and this electric power is distributed to two motors with the electric power that closed-centre system 18 provides through power control unit 17; Power control unit 17 control motor A-7 and the synchronized in the same way rotations of motor B-4, with the sun wheel of power stage to power coupling and speed-changing mechanism planet row B-5 and planet row A-6, chronotropic action through planet row B-5 and planet row A-6, pinion carrier output by planet row B-5 and planet row A-6, rotating speed reduces, moment of torsion increases, further slowed down to increase through drg B-3 and drg A-8 and side speed reducer B-2 and side speed reducer A-9 by pinion carrier again and turn round, export respectively power to drive wheel B-1 and drive wheel A-10, drive the continuously tracked vehicle climbing.
(2) normally travel: drg L-11 disconnects, drg B-3 and drg A-8 disconnect, power-transfer clutch C1-12 and power-transfer clutch C2-13 are closed, the power that driving engine 14 sends passes to electrical generator 16 through gearbox 15 and is converted into electric power, and this electric power is distributed to two motors and is in case of necessity closed-centre system 18 chargings through power control unit 17; Power control unit 17 control motor A-7 and the synchronized in the same way rotations of motor B-4, with the sun wheel of power stage to power coupling and speed-changing mechanism two planet row B-5 and planet row A-6, the whole revolution of planet row B-5 and planet row A-6, rotating speed and moment of torsion by pinion carrier output are constant, slowed down to increase through drg B-3 and drg A-8 and side speed reducer B-and side speed reducer A-9 by pinion carrier again and turn round, export respectively power to drive wheel B-1 and drive wheel A-10, drive continuously tracked vehicle and normally travel.
(3) zero turn radius: drg L-11 is closed, drg B-3 and drg A-8 disconnect, power-transfer clutch C1-12 and power-transfer clutch C2-13 disconnect, the power that driving engine 14 sends passes to electrical generator 16 through gearbox 15 and is converted into electric power, and this electric power is distributed to two motors with the electric power that closed-centre system 18 provides through power control unit 17; Power control unit 17 control motor A-7 and the reverse synchronized rotations of motor B-4, with the sun wheel of power stage to power coupling and speed-changing mechanism planet row B-5 and planet row A-6, through planet row B-5 and planet row A-6, rotary speed direction by pinion carrier output is opposite, rotating speed reduces, moment of torsion increases, further slowed down to increase through drg B-3 and drg A-8 and side speed reducer B-2 and side speed reducer A-9 by pinion carrier again and turn round, export respectively power to drive wheel B-1 and drive wheel A-10, realize the zero turn radius of continuously tracked vehicle.
(4) large radius turns to: during right-hand rotation, the rotating speed of drive wheel A-10 need be higher than the rotating speed of drive wheel B-1, at this moment, drg L-11 disconnects, and drg B-3 and drg A-8 disconnect, power-transfer clutch C1-12 disconnects, power-transfer clutch C2-13 is closed, raises by power control unit 17 control motor A-7 rotating speeds, keeps or reduce the rotating speed of motor B-4, then drive wheel A-10 rotating speed is higher than drive wheel B-1, realizes the right-hand rotation of continuously tracked vehicle; During left-hand rotation, drive wheel B-1 rotating speed need be higher than drive wheel A-10 rotating speed, then drg L-11 disconnection, power-transfer clutch C1-12 closure, power-transfer clutch C2-13 disconnects, raise by power control unit 17 control motor B-4 rotating speeds, keep or reduce the rotating speed of motor A-7, then drive wheel A-10 rotating speed is higher than drive wheel B-1, realizes the left-hand rotation of continuously tracked vehicle; When steering power was not enough, the power of closed-centre system can provide electric power for two motors through power control unit 17.
(5) failure mode: if a motor et out of order wherein, then closed power-transfer clutch C1-12 and power-transfer clutch C2-13, breakaway braking device L-11 travels by another motor-driven vehicle.
In conjunction with the coupling of the power of Fig. 2 electromechanical coupling transmission device and speed-changing mechanism schematic diagram, understand present embodiment driving device.
Should be noted that at last: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; although with reference to above-described embodiment the present invention is had been described in detail; those of ordinary skill in the field are to be understood that: technical personnel is read after the present specification still and can be made amendment or be equal to replacement the specific embodiment of the present invention, does not await the reply within the claim protection domain but these modifications or change all break away from the present patent application.
Claims (3)
1. electromechanical coupling transmission device of crawler, comprise driving engine (14), electrical generator (16), power control unit (17), motor A (7), motor B (4), power coupling and speed-changing mechanism and drive wheel A (10) and drive wheel B (1), it is characterized in that described power coupling and speed-changing mechanism comprise planet row B (5), planet row A (6), power-transfer clutch C1 (12), power-transfer clutch C2 (13) and drg L (11); The gear ring of described planet row B (5) and planet row A (6) shares, and shares gear ring connecting brake L (11); Be respectively equipped with power-transfer clutch C1 (12) and power-transfer clutch C2 (13) between two sun wheels of described planet row B (5) and planet row A (6) and the shared gear ring.
2. driving device according to claim 1, it is characterized in that described power control unit (17) is connected 4 with motor A (7) with motor B) be connected the sun wheel shaft mechanical connection of the output shaft of motor A (7) and motor B (4) and power coupling and speed-changing mechanism two planet rows (5,6) by cable; The planet carrier shaft of the planet row (5,6) of power coupling and speed-changing mechanism is respectively equipped with drg B (3), drg A (8), side speed reducer B (2), side speed reducer A (9), drive wheel B (1) and drive wheel A (10) as the both sides output shaft on it.
3. driving device according to claim 1 is characterized in that described driving device comprises gearbox (15), closed-centre system (18), side speed reducer B (2) and side speed reducer A (9); The output shaft mechanical connection of the sun wheel shaft of described planet row B (5) and motor B (4), the planet carrier shaft of planet row B (5) which is provided with drg B (3), side speed reducer B (2), drive wheel B (1) as output shaft; The output shaft mechanical connection of the sun wheel shaft of described planet row A (6) and motor A (7), the planet carrier shaft of planet row A (6) which is provided with drg A (8), side speed reducer A (9), drive wheel A (10) as output shaft; Described motor B (7) is connected 4 with motor A) be connected by cable with power control unit (17) simultaneously; Described power control unit (17) is connected 16 with closed-centre system (18) with electrical generator respectively) be connected by cable, electrical generator (16) and gearbox (15) mechanical connection, gearbox (15) and driving engine (14) mechanical connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010284933 CN101985279B (en) | 2010-09-17 | 2010-09-17 | Electromechanical coupling transmission device of crawler |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010284933 CN101985279B (en) | 2010-09-17 | 2010-09-17 | Electromechanical coupling transmission device of crawler |
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| CN101985279A CN101985279A (en) | 2011-03-16 |
| CN101985279B true CN101985279B (en) | 2013-01-02 |
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|---|---|---|---|
| CN 201010284933 Active CN101985279B (en) | 2010-09-17 | 2010-09-17 | Electromechanical coupling transmission device of crawler |
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| CN109263719B (en) * | 2018-10-10 | 2020-06-19 | 北京理工大学 | Device and method for driving tracked vehicle to steer |
| DE102021131083A1 (en) * | 2020-11-30 | 2022-06-02 | Steering Solutions Ip Holding Corporation | DIAGNOSIS OF AN INPUT POWER CONDITION FOR AN ELECTRIC POWER STEERING |
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