CN102229319B - Electromechanical compound transmission device of tracked vehicle - Google Patents
Electromechanical compound transmission device of tracked vehicle Download PDFInfo
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- CN102229319B CN102229319B CN201110104428.7A CN201110104428A CN102229319B CN 102229319 B CN102229319 B CN 102229319B CN 201110104428 A CN201110104428 A CN 201110104428A CN 102229319 B CN102229319 B CN 102229319B
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Abstract
The invention relates to an electromechanical compound transmission device of a tracked vehicle and belongs to the field of arrangement or installation of automobile transmission devices. The transmission device is composed of two motors, a planetary gear shift mechanism and a power coupling mechanism; when the tracked vehicle runs straight, the transmission device provided by the invention controls the two motors to be at the same speed; and when the tracked vehicle changes the direction, one part of overturning circulation power at the inner side is recycled as electric power and transmitted to the motor at the outer side by taking the motor at the inner side as a power generator, one part of the overturning circulation power is output to an outside tracked belt through a power coupling mechanism in a mechanical mode, and the power driving requirement of the motor at the outer side is reduced. Through the transmission device provided by the invention, the high requirements for the motors by a double-side motor individual driving type are reduced, the system power waste for the horizontal-axis zero speed difference electromechanical compound driving type is avoided, the overturning system with double-flow transmission for the traditional tracked belt is saved, thus the system efficiency is utilized fully, the device has the advantages of flexible arrangement, small general size and the like, and the device is extremely suitable for high-power tracked vehicles.
Description
Technical field
The layout or the installing area that the invention belongs to vehicle transmission gear, specifically relate to a kind of electromechanical compound transmission device of tracked vehicle.
Background technology
Continuously tracked vehicle electric actuator research both at home and abroad mainly concentrates on two-side motor individual drive pattern and the band transverse axis zero electromechanical combined driving pattern of differential speed type.
If Fig. 1 is two-side motor individual drive pattern, two-side motor individual drive type structure is fairly simple, and two drive motor adopt independent control.During straight-line travelling, by main driven by motor left and right sides driving wheel, realize, and it is synchronized to control two motors; During steering procedure, the speed discrepancy producing by control left and right sides traction electric machine is realized, inside while turning to due to continuously tracked vehicle, crawler belt can produce regenerating power, in order to make full use of the feedback energy of system, outside traction electric machine must possess very large power, therefore, this driving pattern is very high to the requirement of motor, has increased the difficulty of motor development.
If Fig. 2 is the electromechanical combined driving pattern of band transverse axis homodyne speed, the electromechanical combined driving pattern of band transverse axis homodyne speed, during straight-line travelling, drives speed change row, driving wheel to realize by straight motor; During steering procedure, utilize conflux planet row and zero axle, circulating of power problem when having solved mechanically continuously tracked vehicle and turning to, but weak point while being straight steer motor can not utilize, there is system power waste, cause overall dimension larger.
Consider above-mentioned two kinds of merits and faultss that drive pattern, continuously tracked vehicle Mechanical & Electrical Transmission in recent years drives the research of pattern progressively to turn to the feature of integrated above-mentioned two kinds of patterns.As the E-X-Drive of Britain BAE company invention drives pattern, as shown in Figure 3, by two straight drive motor, formed, between two drive motor, there is a controllable differential device, diff is driven by two small-sized steer motor.From this pattern of groundwork closer to the electromechanical combined driving pattern of band transverse axis homodyne speed.
From making full use of the angle of system power, consider, the electromechanical combined transmission of continuously tracked vehicle that the two-side motor individual drive pattern shown in Fig. 1 of take is fundamental mode has more advantage.Save transverse axis part, there is no steer motor, can simplify system, reduced the longitudinal space size of device.But, two-side motor individual drive pattern because of continuously tracked vehicle turn to the problem of circulating power cause to motor require too high.
Summary of the invention
The object of the invention is to provide a kind of electromechanical compound transmission device of tracked vehicle, the present invention turns to circulating power problem to cause requiring too high and making full use of two angles of system power motor from continuously tracked vehicle, provide a kind of novel bilateral to drive the electromechanical compound transmission device of tracked vehicle that has turning function concurrently, solve two-side motor individual drive pattern traction electric machine is required to high shortcoming, can be good at realizing continuously tracked vehicle climbing, normally travel, the function that zero turn radius and large radius turn to, improved the compactedness of entire arrangement, effectively reduce driving device overall dimension.
For achieving the above object, the technical scheme that the present invention takes is as follows:
A kind of electromechanical compound transmission device of tracked vehicle, described driving device comprises power unit and power control unit, described power unit comprises driving engine, electrical generator and closed-centre system, described electrical generator is connected by cable with described power control unit with closed-centre system, and its improvements are: described driving device comprises power coupling mechanism, left motor and deceleration row and right motor and the row of slowing down; Described left motor and the row of slowing down are controlled by left side frequency-variable controller and are connected with described power coupling mechanism by left side speed-changing mechanism, and described right motor and the row of slowing down are controlled by right side frequency-variable controller and are connected with described power coupling mechanism by right side speed-changing mechanism.
Power control unit is connected by cable with described right side frequency-variable controller with described left side frequency-variable controller.
The gear ring that its pinion carrier of gear ring and another that in the middle of described power coupling mechanism, compound planetary row's pinion carrier is connected to the outside planet row of left side transmission with its pinion carrier is respectively connected to the outside planet row of right side transmission is connected; On the left of being connected to, the sun wheel of the outside planet row of transmission and left side speed-changing mechanism mechanical connection and while are connected with a joggle with the middle compound planetary row's of described power coupling mechanism satellite gear; Be connected to the sun wheel of outside planet row of right side transmission and right side speed-changing mechanism mechanical connection and simultaneously with described power coupling mechanism in the middle of compound planetary row's satellite gear be connected with a joggle; Middle compound planetary mining is arranged by inside and outside engagement duplex, or external toothing double star row.
Wherein, described left side speed-changing mechanism comprises left side power-transfer clutch, left side planet row and left side drg; Described right side speed-changing mechanism comprises right side clutch, right side planet row and right side drg.
Wherein, between described driving engine and described electrical generator, be connected gearbox.
The another optimal technical scheme that the present invention is based on another kind of mode of operation provides is:
A kind of electromechanical compound transmission device of tracked vehicle, described driving device comprises power unit and power control unit, described power unit comprises driving engine, electrical generator and closed-centre system, described electrical generator is connected by cable with described power control unit with closed-centre system, it is characterized in that: described driving device comprises power coupling mechanism, left motor and deceleration row and right motor and the row of slowing down; Described left motor and the row of slowing down are controlled by left side frequency-variable controller and are connected with described power coupling mechanism by left side speed-changing mechanism, and described right motor and the row of slowing down are controlled by right side frequency-variable controller and are connected with described power coupling mechanism by right side speed-changing mechanism;
Described power control unit is connected by cable with described right side frequency-variable controller with described left side frequency-variable controller;
The sun wheel that its pinion carrier of sun wheel and another that in the middle of described power coupling mechanism, compound planetary row's pinion carrier is connected to the outside planet row of left side transmission with its pinion carrier is respectively connected to the outside planet row of right side transmission is connected; On the left of being connected to, the gear ring of the outside planet row of transmission and left side speed-changing mechanism mechanical connection and while are connected with a joggle with the middle compound planetary row's of described power coupling mechanism satellite gear; Be connected to the gear ring of outside planet row of right side transmission and right side speed-changing mechanism mechanical connection and simultaneously with described power coupling mechanism in the middle of compound planetary row's satellite gear be connected with a joggle; Middle compound planetary mining is arranged by inside and outside engagement duplex, or external toothing double star row.
Wherein, described left side speed-changing mechanism comprises left side power-transfer clutch, left side planet row and left side drg; Described right side speed-changing mechanism comprises right side clutch, right side planet row and right side drg.
Wherein, between described driving engine and described electrical generator, be connected gearbox.
Owing to having adopted technique scheme, compared with prior art, the beneficial effect that the present invention brings comprises:
1, to motor driving power, require relatively low
Driving device of the present invention makes continuously tracked vehicle turn to circulating power to have the outside crawler belt mechanically transmitting greatly by power coupling mechanism, inner side turns to a circulating power part to do electrical generator by inner side motor to reclaim and to pass to outside motor with electric power, a part mechanically outputs to outside crawler belt by power coupling mechanism, greatly reduce the requirement to motor driving power, reduced outside motor development difficulty;
2, flexible arrangement, overall dimension are little
Driving device has saved the transverse axis part with the electromechanical combined driving pattern of transverse axis homodyne speed, there is no steer motor, can simplify system, reduces the longitudinal space size of device;
3, system power is fully used
Driving device has saved the steering swivel system of traditional continuously tracked vehicle double fluid transmission, there is no system power waste during continuously tracked vehicle straight, and system power is fully used.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further described.
Fig. 1 is two-side motor individual drive pattern;
Fig. 2 is the electromechanical combined driving pattern of band transverse axis homodyne speed;
The E-X-Drive of Tu3Shi Britain BAE company invention drives pattern;
Fig. 4 is electromechanical compound transmission device of tracked vehicle system schematic;
Fig. 5 is electromechanical compound transmission device of tracked vehicle pattern (one);
Fig. 6 is continuously tracked vehicle Mechanical & Electrical Transmission set composite pattern (two);
Fig. 7 is continuously tracked vehicle Mechanical & Electrical Transmission set composite pattern (three);
Fig. 8 is continuously tracked vehicle Mechanical & Electrical Transmission set composite pattern (four);
Reference numeral:
The transmission of 1-right side, 2-right side planet row, 3-right side clutch, 4-right motor and the row of slowing down, 5-power coupling mechanism, 6-left motor and the row of slowing down, 7-left side power-transfer clutch, 8-left side planet row, 9-left side transmission, 10-left side drg, 11-left side frequency-variable controller, 12-power control unit, 13-electrical generator, 14-gearbox, 15-driving engine, 16-closed-centre system, 17-right side frequency-variable controller, 18-right side drg.
The specific embodiment
Below in conjunction with example, the present invention will be described in detail.
The present invention is devoted to provide a kind of novel electromechanical compound gearing that is suitable for continuously tracked vehicle, particularly high-power medium and heavy continuously tracked vehicle.Described driving device is mainly comprised of two drive motor, speed-changing mechanism and a power coupling mechanism 5.Drive motor can embed a speed reduction gearing according to actual conditions in application.Speed-changing mechanism can be designed as two grades or many grades of planet speed change mechanisms, and in most cases, two gears can meet the demands.Power coupling mechanism has four kinds of patterns, as shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8.Drive system, except being motor can be also other type of drive such as pump motor, being utilized four kinds of power coupling mechanisms of the present invention to form continuously tracked vehicle bilateral and is driven the double compound gearing turning to.
During continuously tracked vehicle straight-line travelling, principle is the same with two-side motor individual drive pattern, controls two drive motor synchronized.While turning to, by corresponding control algorithm, control the rotating speed of two drive motor, by the speed discrepancy of two motors, realize the target that turns to of expection, inner side turn to a circulating power part to do electrical generator by inner side motor to reclaim and to pass to outside motor with electric power, a part mechanically outputs to outside crawler belt by power coupling mechanism 5, has reduced the driving power requirement of outside motor.
The simplest planetary mechanism is comprised of sun wheel t, gear ring q, pinion carrier j and satellite gear x.Basic planetary mechanism kind comprises seven kinds: single star (interior external toothing) planet row, interior external toothing duplex row, external toothing duplex row, interior engagement duplex row, interior external toothing double star planet row, external toothing double star planet row and interior engagement double star planet row.
As shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8 four kinds of the present invention have that bilateral drives concurrently and the structural shape of the electromechanical compound transmission device of tracked vehicle of turning function in, Fig. 5 is identical with Fig. 6 mode of operation, and the structure that the compound planetary mining in the middle of its difference is is used is different.External toothing duplex row in the transmission structures pattern of Fig. 5 adopts, the transmission structures pattern of Fig. 6 adopts external toothing double star row.Fig. 7 is identical with Fig. 8 mode of operation, and the structure that the compound planetary mining in the middle of its difference is is used is different.External toothing duplex row in the transmission structures pattern of Fig. 7 adopts, the transmission structures pattern of Fig. 8 adopts external toothing double star row.
The structural shape of Fig. 5, Fig. 6 and Fig. 7, Fig. 8 structural shape groundwork are identical, but mode of operation is slightly different.Difference be in the structural shape of Fig. 5, Fig. 6 in the middle of compound planetary row's pinion carrier be connected with the gear ring of outermost planet row, power of motor is input to the sun wheel of outermost planet row after planet speed change mechanism; And compound planetary row's pinion carrier is connected sun wheel in the middle of in the structural shape of Fig. 7, Fig. 8 with outermost planet row, power of motor is input to the gear ring of outermost planet row after planet speed change mechanism.
In four kinds of structural shapes of electromechanical compound transmission device of tracked vehicle of the present invention, all do not relate to power unit.For carry out the introduction of system in specific embodiment, the electromechanical compound transmission device of tracked vehicle pattern () shown in Fig. 5 of take is mixed power unit and is formed a complete system and carry out embodiment analysis as example.
Power unit is comprised of driving engine 15, electrical generator 13 and closed-centre system 16.Power unit to power control unit 12, then is assigned to two motor frequency conversion controllers 11 and 17 by power control unit 12 by transmission of power, is closed-centre system 16 chargings if desired.Right motor and the row 4 of slowing down are connected with power coupling mechanism 5 by two grades of speed-changing mechanisms (2,3,18 form), and left motor and the row 6 of slowing down are connected with power coupling mechanism 5 by two grades of speed-changing mechanisms (7,8,10 form).The rotating speed of controlling left motor 6 and right motor 4 by left side frequency-variable controller 11 and right frequency-variable controller 17 can realize vehicle climbing, normally travel, zero turn radius and large radius turn to.
Embodiment 1: climbing
Drg 10,18 closures, power-transfer clutch 3 and 7 disconnects, and left and right sides speed-changing mechanism is all in one grade of state; Power is converted into electric energy by driving engine 15 through electrical generator 13 and passes to power control unit 12 again, by left side frequency-variable controller 11 and right frequency-variable controller 17, control left motor 6 and the synchronized in the same way rotation of right motor 4 right side frequency-variable controllers (11,17) control left and right sides motor (4,6), drive vehicle climbing.
Embodiment 2: normally travel
Drg 10,18 disconnects, power-transfer clutch 3 and 7 closures, and left and right sides speed-changing mechanism is all in second gear state; Power is converted into electric energy by driving engine 15 through electrical generator 13 and passes to power control unit 12 again, by left and right sides frequency-variable controller (11,17), controls the synchronized in the same way rotation of left and right sides motor (4,6), drives normal vehicle operation.
Embodiment 3: zero turn radius
Drg 10,18 closures, power-transfer clutch 3 and 7 disconnects, and left and right sides speed-changing mechanism is all in one grade of state; Power is converted into electric energy by driving engine 15 through electrical generator 13 and passes to power control unit 12 again, by left side frequency-variable controller 11 and right frequency-variable controller 17, controls left motor 6 and the reverse synchronized rotation of right motor 4, realizes the zero turn radius of vehicle.
Embodiment 4: large radius turns to
First making left and right sides speed-changing mechanism is all drg 10,18 closures in identical range state, power-transfer clutch 3 and 7 disconnects, left and right sides speed-changing mechanism all disconnects in one grade of state or drg 10,18, power-transfer clutch 3 and 7 closures, and left and right sides speed-changing mechanism is all in second gear state.During right-hand rotation, left side output speed need turn speed higher than right side, now by left side frequency-variable controller 11, controls left motor 6 speedups, now by right side frequency-variable controller 17, controls right motor 4 with mutually synchronized poor deceleration; During left-hand rotation, right side output speed need turn speed higher than left side, now by right side frequency-variable controller 17, controls right motor 4 speedups, now by left side frequency-variable controller 11, controls left motor 6 with mutually synchronized poor deceleration.
According to specific exemplary embodiment, invention has been described herein.It will be apparent under not departing from the scope of the present invention, carrying out to one skilled in the art suitable replacement or revise.Exemplary embodiment is only illustrative, rather than the restriction to scope of the present invention, and scope of the present invention is defined by appended claim.
Claims (6)
1. an electromechanical compound transmission device of tracked vehicle, described driving device comprises power unit and power control unit (12), described power unit comprises driving engine (15), electrical generator (13) and closed-centre system (16), described electrical generator (13) is connected by cable with described power control unit (12) with closed-centre system (16), it is characterized in that: described driving device comprises power coupling mechanism (5), left motor and slows down row (6) and right motor and the row (4) of slowing down; Described left motor and the row (6) of slowing down are controlled by left side frequency-variable controller (11) and are connected with described power coupling mechanism (5) by left side speed-changing mechanism, and described right motor and the row (4) of slowing down are controlled by right side frequency-variable controller (17) and are connected with described power coupling mechanism (5) by right side speed-changing mechanism;
Described power control unit (12) is connected by cable with described right side frequency-variable controller (17) with described left side frequency-variable controller (11);
The gear ring that its pinion carrier of gear ring and another that compound planetary row's pinion carrier is connected to the outside planet row of left side transmission (9) with its pinion carrier respectively in the middle of described power coupling mechanism (5) is connected to the outside planet row of right side transmission (1) is connected; On the left of being connected to, the sun wheel of the outside planet row of transmission (9) and left side speed-changing mechanism mechanical connection and while are connected with a joggle with the middle compound planetary row's of described power coupling mechanism (5) satellite gear; Be connected to the sun wheel of outside planet row of right side transmission (1) and right side speed-changing mechanism mechanical connection and simultaneously with described power coupling mechanism (5) in the middle of compound planetary row's satellite gear be connected with a joggle; Middle compound planetary mining is arranged by inside and outside engagement duplex, or external toothing double star row.
2. a kind of electromechanical compound transmission device of tracked vehicle as claimed in claim 1, is characterized in that described left side speed-changing mechanism comprises left side power-transfer clutch (7), left side planet row (8) and left side drg (10); Described right side speed-changing mechanism comprises right side clutch (3), right side planet row (2) and right side drg (18).
3. a kind of electromechanical compound transmission device of tracked vehicle as claimed in claim 1, is characterized in that being connected gearbox (14) between described driving engine (15) and described electrical generator (13).
4. an electromechanical compound transmission device of tracked vehicle, described driving device comprises power unit and power control unit (12), described power unit comprises driving engine (15), electrical generator (13) and closed-centre system (16), described electrical generator (13) is connected by cable with described power control unit (12) with closed-centre system (16), it is characterized in that: described driving device comprises power coupling mechanism (5), left motor and slows down row (6) and right motor and the row (4) of slowing down; Described left motor and the row (6) of slowing down are controlled by left side frequency-variable controller (11) and are connected with described power coupling mechanism (5) by left side speed-changing mechanism, and described right motor and the row (4) of slowing down are controlled by right side frequency-variable controller (17) and are connected with described power coupling mechanism (5) by right side speed-changing mechanism;
Described power control unit (12) is connected by cable with described right side frequency-variable controller (17) with described left side frequency-variable controller (11);
The sun wheel that its pinion carrier of sun wheel and another that compound planetary row's pinion carrier is connected to the outside planet row of left side transmission (9) with its pinion carrier respectively in the middle of described power coupling mechanism (5) is connected to the outside planet row of right side transmission (1) is connected; On the left of being connected to, the gear ring of the outside planet row of transmission (9) and left side speed-changing mechanism mechanical connection and while are connected with a joggle with the middle compound planetary row's of described power coupling mechanism (5) satellite gear; Be connected to the gear ring of outside planet row of right side transmission (1) and right side speed-changing mechanism mechanical connection and simultaneously with described power coupling mechanism (5) in the middle of compound planetary row's satellite gear be connected with a joggle; Middle compound planetary mining is arranged by inside and outside engagement duplex, or external toothing double star row.
5. driving device as claimed in claim 4, is characterized in that described left side speed-changing mechanism comprises left side power-transfer clutch (7), left side planet row (8) and left side drg (10); Described right side speed-changing mechanism comprises right side clutch (3), right side planet row (2) and right side drg (18).
6. driving device as claimed in claim 4; It is characterized in that being connected gearbox (14) between described driving engine (15) and described electrical generator (13).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110104428.7A CN102229319B (en) | 2011-04-26 | 2011-04-26 | Electromechanical compound transmission device of tracked vehicle |
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| CN201110104428.7A CN102229319B (en) | 2011-04-26 | 2011-04-26 | Electromechanical compound transmission device of tracked vehicle |
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| CN102229319A CN102229319A (en) | 2011-11-02 |
| CN102229319B true CN102229319B (en) | 2014-03-12 |
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| CN201110104428.7A Active CN102229319B (en) | 2011-04-26 | 2011-04-26 | Electromechanical compound transmission device of tracked vehicle |
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| CN102431437B (en) * | 2011-11-10 | 2014-04-16 | 上海中科深江电动车辆有限公司 | Hybrid power electric transmission device of crawler |
| CN102849106B (en) * | 2012-04-19 | 2014-10-29 | 北京理工大学 | Bilateral motor-drive tracked vehicle steering system |
| CN102616277B (en) * | 2012-04-25 | 2013-07-31 | 北京理工大学 | Double-motor coupled driving tracked vehicle steering system |
| 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 |
| CN103448539B (en) * | 2013-09-17 | 2016-02-03 | 上海中科深江电动车辆有限公司 | There is the electric actuator of the axle difies such as cylinder external meshing tooth |
| CN103538468B (en) * | 2013-09-22 | 2016-03-23 | 上海中科深江电动车辆有限公司 | There is the continuously tracked vehicle electric actuator of double side gearbox |
| CN103625278B (en) * | 2013-12-12 | 2016-03-23 | 上海中科深江电动车辆有限公司 | The Modular electrical driving device of continuously tracked vehicle |
| CN103802653B (en) * | 2014-01-26 | 2015-07-29 | 北京理工大学 | A kind of continuously tracked vehicle independent steering formula electromechanical compound gearing |
| CN103802652B (en) * | 2014-01-26 | 2015-07-08 | 北京理工大学 | Double-star-planet-gear three-mode electromechanical composite transmission device |
| CN104085298B (en) * | 2014-06-23 | 2017-01-04 | 北京理工大学 | Positive differential speed type electromechanical compound gearing |
| CN104175857B (en) * | 2014-08-08 | 2016-05-25 | 北京理工大学 | Endless-track vehicle double-motor power coupling mixed power plant |
| CN106915245B (en) * | 2015-12-25 | 2020-08-07 | 比亚迪股份有限公司 | Power driving system and vehicle with same |
| CN105922856B (en) * | 2016-04-13 | 2018-02-09 | 清华大学 | A kind of endless-track vehicle and its transmission system based on Gear Planet Transmission |
| CN108916327B (en) * | 2018-07-24 | 2020-11-10 | 北京理工大学 | Independent driving system integrating double-side driving motor and two-gear automatic gearbox |
| CN109703619B (en) * | 2019-02-15 | 2023-05-26 | 汤久望 | Combined double-flow transmission mechanism |
| CN110126917B (en) * | 2019-05-31 | 2023-07-07 | 汤久望 | Coaxial homodyne electric transmission device for tracked vehicle |
| CN112747919B (en) * | 2020-12-28 | 2022-07-26 | 中国北方车辆研究所 | Test tool for coaxial double-input double-output mechanism |
| CN113147343B (en) * | 2021-03-23 | 2022-07-08 | 北京理工大学 | Three-mode electromechanical compound transmission device for tracked vehicle |
| CN114194291B (en) * | 2021-12-02 | 2023-03-17 | 中国煤炭科工集团太原研究院有限公司 | Control method and device for crawler-type mining equipment of coal mine |
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