CN102358166B - Electric transmission device - Google Patents
Electric transmission device Download PDFInfo
- Publication number
- CN102358166B CN102358166B CN201110272209XA CN201110272209A CN102358166B CN 102358166 B CN102358166 B CN 102358166B CN 201110272209X A CN201110272209X A CN 201110272209XA CN 201110272209 A CN201110272209 A CN 201110272209A CN 102358166 B CN102358166 B CN 102358166B
- Authority
- CN
- China
- Prior art keywords
- turn
- straight
- speed
- planetary
- gear ring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Retarders (AREA)
- Structure Of Transmissions (AREA)
Abstract
The invention provides an electric transmission device, which comprises a driving motor (1), a non-stop speed-change mechanism (2), a compound braking mechanism (3), a steering motor (4), a steering speed-change mechanism (5), a non-stop differential planet row (7), a steering differential planet row (8), a right side transmission (9), a left side transmission (10), a speed-change main shaft (12) and a transverse shaft (13), wherein the driving motor (1) comprises a hollow driving motor rotor shaft (1a); the steering motor (2) comprises a hollow steering motor rotor shaft (4a); and the speed-change main shaft (12) is a hollow shaft. The steering motor and the driving motor are arranged coaxially, an equiaxial differential is replaced by an ordinary planet row, bilaterally symmetrical output is realized by matching side transmission of different transmission ratios on both sides, and a zero shaft, a corresponding fixed shaft transmission gear and a support structure are eliminated, so that the box body structure is simplified, and the electric transmission device has a compact structure, light weight and low cost and is convenient to arrange.
Description
Technical field
The present invention relates to a kind of electric actuator, relate in particular to a kind of electric actuator of compact conformation.
Background technology
The electric actuator of wheeled or tracklaying vehicle, should provide the technical scheme of the optimum weight, volume and the cost that combine with the vehicle high maneuverability.Especially, electric actuator should have high power density, and its volume compact, take up room as far as possible little, so that carry out vehicle general layout.
For example, the electric actuator of the disclosed three kinds of continuously tracked vehicles of US Patent No. 6953408B2, US2007/0012505A1 and US7326141B2, it comprises drive motor and the parking brake that is arranged symmetrically in the car body both sides, and by one or two, laterally or vertically is arranged in the controllable differential steering hardware that the outer steer motor of cylinder profile that two drive motor form, transmission gear, two planet rows etc. form.Obviously, horizontal or vertical steer motor of putting has increased the volume of electric actuator.
In addition, US Patent No. 2006/0283641A1 discloses another kind of electric actuator, it comprises the drive motor that is arranged symmetrically in the car body both sides, but cancelled independently steer motor, adopted transverse axis and transmission gear that the conflux sun wheel of planet row of one side drive rotor axis of electric and opposite side is connected.Obviously, the diameter of drive motor is subject to the restriction of two transverse axis, and the length of transverse axis equals the length sum of two drive motor, has increased the volume of this electric actuator.
Therefore, also exist the possibility that further reduces the electric actuator volume.
Summary of the invention
The objective of the invention is provides a kind of electric actuator of compact conformation in order to overcome above-mentioned shortcoming of the prior art.
Electric actuator of the present invention, it comprises: drive motor, it is used for driving Vehicle Driving Cycle, comprises the drive motor rotor shaft of hollow; The straight speed-changing mechanism, it is used for the conversion of drive motor torque characteristics; Composite braking mechanism, it is used for the longitudinal direction of car braking; Steer motor, it is used for driving Vehicular turn, comprises the steer motor rotor shaft of hollow; Turn to speed-changing mechanism, it is used for the conversion of steer motor torque characteristics; Straight differential planetary row, it is used for straight and turns to confluxing and differential of two-way power stream; Turn to differential planetary row, it is used for straight and turns to confluxing and differential of two-way power stream; Right side transmission and left side transmission, it has different transmitting ratios, is used for the rotating speed of coupling right side driving wheel and left side driving wheel; Main shaft, it is a quill shaft, is used for the transmission of power between straight speed-changing mechanism and straight differential planetary row; And transverse axis, it is used for straight differential planetary row and turns to transmission of power between differential planetary row and left side transmission.
According to the structure of this electric actuator, the above-mentioned parts that form electric actuator are arranged coaxial and being arranged as successively from left to right: left side transmission, composite braking mechanism, straight speed-changing mechanism, drive motor, steer motor, turn to speed-changing mechanism, straight differential planetary row, turn to differential planetary row and right side transmission.
According to the structure of this electric actuator, main shaft configures and is arranged to through drive motor rotor shaft and steer motor rotor shaft, and transverse axis configures and is arranged to through main shaft.
structure according to this electric actuator, the drive motor mouth is connected with straight speed-changing mechanism input end, straight speed-changing mechanism mouth is connected with composite braking mechanism, and by main shaft, with straight differential planetary rows of planetary frame, be connected, the steer motor mouth is connected with turning to the speed-changing mechanism input end, turn to the speed-changing mechanism mouth to be connected with turning to differential planetary toothrow circle, straight differential planetary toothrow circle is connected with turning to differential planetary rows of planetary frame, turn to differential planetary rows of planetary frame to be connected with right side transmission input end, transmission mouth in right side is connected with the right side driving wheel, the straight differential planetary is arranged sun wheel and is turned to differential planetary row sun wheel to be connected by transverse axis with left side transmission input end, transmission mouth in left side is connected with the left side driving wheel.
According to the structure of this electric actuator, the straight differential planetary is arranged characteristic parameter kt, is turned to differential planetary row characteristic parameter ks, right side transmission transmitting ratio icr and left side transmission transmitting ratio icl to meet the following conditions: kt=icl/icr and ks=icl/icr-1.
structure according to this electric actuator, the straight speed-changing mechanism, it comprises straight variable speed planetary row, the first gear ring drg and the first gear ring power-transfer clutch, the package of straight variable speed planetary contains straight variable speed planetary row sun wheel, straight variable speed planetary seniority among brothers and sisters star-wheel, straight variable speed planetary rows of planetary frame and straight variable speed planetary toothrow circle, straight variable speed planetary row sun wheel is connected with the drive motor rotor shaft, straight variable speed planetary rows of planetary frame is connected with composite braking mechanism, the first gear ring drg is used for braking straight variable speed planetary toothrow circle, the first gear ring power-transfer clutch is used for connecting straight variable speed planetary rows of planetary frame and straight variable speed planetary toothrow circle.
According to the structure of this electric actuator, when the first gear ring drg engages, the first gear ring disengaging of clutch, the straight speed-changing mechanism is realized low-grade, and its transmitting ratio is 1+ktt, and wherein ktt is straight variable speed planetary row characteristic parameter; When the first gear ring drg separates, when the first gear ring power-transfer clutch engaged, the straight speed-changing mechanism was realized high-grade, and its transmitting ratio is+1; When the first gear ring drg separated simultaneously with the first gear ring power-transfer clutch, the straight speed-changing mechanism was realized neutral gear; And when the first gear ring drg and the first gear ring power-transfer clutch engaged simultaneously, the straight speed-changing mechanism was realized the parking lock shelves.
According to the structure of this electric actuator, composite braking mechanism comprises that be connected with main shaft, in parallel hydrodynamic retarder and parking brake.
According to the structure of this electric actuator, when car brakeing, drive motor is operated in the feedback power generation mode, and regenerative brake torque is provided, and hydrodynamic retarder provides the hydraulic brake torque, and parking brake provides the mechanical braking torque, the braking main shaft; And when vehicle original position zero turn radius, parking brake engages, with the main shaft locking.
According to the structure of this electric actuator, steer motor has lockdown mode, electric model and feedback power generation mode.
According to the structure of this electric actuator, when the vehicle straight, steer motor is operated in lockdown mode, will turn to the locking of differential planetary toothrow circle; When Vehicular turn, steer motor is operated in electric model, drives and turns to differential planetary toothrow circle to rotate; And when Vehicular turn was braked, steer motor was operated in the feedback power generation mode, and regenerative brake torque is provided, skid steer differential planetary toothrow circle.
structure according to this electric actuator, turn to speed-changing mechanism, it comprises and turns to variable speed planetary row, the second gear ring drg and the second gear ring power-transfer clutch, turn to the variable speed planetary package to contain and turn to variable speed planetary row sun wheel, turn to variable speed planetary seniority among brothers and sisters star-wheel, turn to variable speed planetary rows of planetary frame and turn to variable speed planetary toothrow circle, turn to variable speed planetary row sun wheel to be connected with the steer motor rotor shaft, turn to variable speed planetary rows of planetary frame to be connected with turning to differential planetary toothrow circle, the second gear ring drg is used for skid steer variable speed planetary toothrow circle, the second gear ring power-transfer clutch is used for connection and turns to variable speed planetary rows of planetary frame and turn to variable speed planetary toothrow circle.
According to the structure of this electric actuator, when the second gear ring drg engages, the second gear ring disengaging of clutch, turn to speed-changing mechanism to realize low-grade, and its transmitting ratio is 1+kst, and wherein kst is for turning to variable speed planetary row characteristic parameter; When the second gear ring drg separates, when the second gear ring power-transfer clutch engages, turn to speed-changing mechanism to realize high-grade, its transmitting ratio is+1; When the second gear ring drg separates simultaneously with the second gear ring power-transfer clutch, turn to speed-changing mechanism to realize neutral gear; When the second gear ring drg and the second gear ring power-transfer clutch engage simultaneously, turn to speed-changing mechanism to realize the steering lock stop; And the degree of engagement of controlling the second gear ring power-transfer clutch that is in released state when low-grade, or control the degree of engagement of the second gear ring drg that is in released state when high-grade, turn to speed-changing mechanism can realize the braking in a turn shelves.
, according to the structure of this electric actuator, when the large radius of vehicle turns to, turn to the speed-changing mechanism shift to a higher gear; When vehicle minor radius or original position zero turn radius, turn to the speed-changing mechanism shift to a lower speed; When Vehicular turn is braked, turn to speed-changing mechanism to hang the braking in a turn shelves; And when steer motor can not provide enough locking torque, turn to speed-changing mechanism to hang the steering lock stop.
Due to steer motor and drive motor coaxial arrangement, and the axle diff such as adopt that common planet row replaces, and in the side transmission of both sides coupling different drive ratios, realize symmetrical output, cancelled zero axle and corresponding anchor shaft transmission gear and supporting structure, simplified body structure, make electric actuator compact conformation, lightweight, cost is low and be convenient to arrange.
Description of drawings
Fig. 1 is the system chart of a specific embodiment of the present invention.
In figure: 1,1a is respectively drive motor and drive motor rotor shaft; 2,20,21,22,23,24,25,26 is respectively straight speed-changing mechanism, straight variable speed planetary row, straight variable speed planetary row sun wheel, straight variable speed planetary seniority among brothers and sisters star-wheel, straight variable speed planetary rows of planetary frame, straight variable speed planetary toothrow circle, the first gear ring drg and the first gear ring power-transfer clutch; 3,31,32 is respectively composite braking mechanism, hydrodynamic retarder and parking brake; 4,4a is respectively steer motor and steer motor rotor shaft; 5,50,51,52,53,54,55,56 be respectively turn to speed-changing mechanism, turn to variable speed planetary row, turn to variable speed planetary row sun wheel, turn to variable speed planetary seniority among brothers and sisters star-wheel, turn to variable speed planetary rows of planetary frame, turn to variable speed planetary toothrow circle, the second gear ring drg and the second gear ring power-transfer clutch; The 7th, straight differential planetary row; The 8th, turn to differential planetary row; 9,10 is respectively right side transmission and left side transmission; The 12nd, main shaft; The 13rd, transverse axis; 19,18 is respectively right side driving wheel and left side driving wheel; The 100th, the side deck.
The specific embodiment
, in order more clearly to understand technology contents of the present invention, especially exemplified by following examples, describe in detail.Should be understood that embodiment is only for explanation the present invention, rather than limitation of the present invention.
Fig. 1 is the system chart of the related electric actuator of the embodiment of the present invention.With reference to figure 1, described electric actuator comprises: drive motor 1, it is used for driving Vehicle Driving Cycle, comprises the drive motor rotor shaft 1a of hollow.Straight speed-changing mechanism 2, it is used for the torque characteristics conversion of drive motor 1.Composite braking mechanism 3, it is used for the longitudinal direction of car braking.
Straight differential planetary row 7, it is used for straight and turns to confluxing and differential of two-way power stream.Turn to differential planetary row 8, it is used for straight and turns to confluxing and differential of two-way power stream.Right side transmission 9 and left side transmission 10, it has different transmitting ratios, is used for the rotating speed of coupling right side driving wheel 19 and left side driving wheel 18.
Main shaft 12, it is a quill shaft, is used for the transmission of power between straight speed-changing mechanism 2 and straight differential planetary row 7.Transverse axis 13, it is used for straight differential planetary row 7 and turns to transmission of power between differential planetary row 8 and left side transmission 10.
The above-mentioned parts that form electric actuator from left to right configure successively and are arranged as: left side transmission 10, composite braking mechanism 3, straight speed-changing mechanism 2, drive motor 1, steer motor 4, turn to speed-changing mechanism 5, straight differential planetary row 7, turn to differential planetary row 8 and right side transmission 9.
Main shaft 12, its configuration and being arranged to through drive motor rotor shaft 1a and steer motor rotor shaft 4a.Transverse axis 13, its configuration and being arranged to through main shaft 12.
Annexation between the above-mentioned parts of formation electric actuator is as follows: the mouth of drive motor 1 is connected with the input end of straight speed-changing mechanism 2, the mouth of straight speed-changing mechanism 2 is connected with composite braking mechanism 3, and by main shaft 12, with straight differential planetary row 7 pinion carrier, is connected.
The mouth of steer motor 4 is connected with the input end that turns to speed-changing mechanism 5, turns to the mouth of speed-changing mechanism 5 to be connected with the gear ring that turns to differential planetary row 8.
Straight differential planetary row 7 gear ring is connected with the input end of right side transmission 9 with the pinion carrier that turns to differential planetary row 8, and the mouth of right side transmission 9 is connected with right side driving wheel 19.
Straight differential planetary row 7 sun wheel is connected by transverse axis 13 with the input end of left side transmission 10 with the sun wheel that is connected differential planetary row 8, and the mouth of left side transmission 10 is connected with left side driving wheel 18.
Cancel zero axle and corresponding anchor shaft transmission gear and supporting structure and can simplify the body structure of driving device, obtain the electric actuator of more compact structure, therefore, adopt the common planet row of characteristic parameter k ≠ 1 to replace that k=1's wait the axle diff.
But what adopt that common planet row obtains is the output effect of left-right asymmetry, the demand that can not meet the vehicle straight and turn to.Therefore, recently make the both sides output effect identical in the both sides different side transmission of coupling.
The requirement that during according to straight, the rotating speed of right side driving wheel 19 and left side driving wheel 18 and torque equate, can derive straight differential planetary row characteristic parameter kt, turn to differential planetary row characteristic parameter ks, right side transmission transmitting ratio icr and left side transmission transmitting ratio icl to meet the following conditions:
kt＝icl/icr ……（1）
ks＝icl/icr－1 ……（2）
Under the prerequisite that above condition is met, the right side driving wheel 19 under other operating mode is identical with the output effect of the axle difies such as employing with the output effect of left side driving wheel 18, and function admirable.
Straight speed-changing mechanism 2, it comprises straight variable speed planetary row's the 20, first gear ring drg 25 and the first gear ring power-transfer clutch 26.Straight variable speed planetary row 20, it comprises straight variable speed planetary row sun wheel 21, straight variable speed planetary seniority among brothers and sisters star-wheel 22, straight variable speed planetary rows of planetary frame 23 and straight variable speed planetary toothrow circle 24.
Straight variable speed planetary row sun wheel 21 is connected with drive motor rotor shaft 1a, and straight variable speed planetary rows of planetary frame 23 is connected with composite braking mechanism 3.
The first gear ring drg 25 is used for braking straight variable speed planetary toothrow circle 24, the first gear ring power-transfer clutchs 26 and is used for connecting straight variable speed planetary rows of planetary frame 23 and straight variable speed planetary toothrow circle 24.Preferably, employing multi-sheet wet-type power-transfer clutch or the drg that can carry out power shfit realized.
When the first gear ring drg 25 engages, the first gear ring power-transfer clutch 26 separates, and straight speed-changing mechanism 2 is realized low-grade, and its transmitting ratio is 1+ktt, and wherein ktt is straight variable speed planetary row 20 characteristic parameter.
When the first gear ring drg 25 separates, when the first gear ring power-transfer clutch 26 engaged, straight speed-changing mechanism 2 was realized high-grade, and its transmitting ratio is+1.
When the first gear ring drg 25 separated simultaneously with the first gear ring power-transfer clutch 26, straight speed-changing mechanism 2 was realized neutral gear.
When the first gear ring drg 25 and the first gear ring power-transfer clutch 26 engaged simultaneously, straight speed-changing mechanism 2 was realized the parking lock shelves.
Compare with driving engine, the torque characteristics of drive motor 1 is more superior, more than its rotating speed and torque range can reach the twice of driving engine at least.Therefore, with the hydromechanical transmission with four D Drives, compare, the gear number of straight speed-changing mechanism 2 can reduce half, adopts two gears can meet the requirement of straight speed change.
Composite braking mechanism 3, it comprises that be connected with main shaft 12, in parallel hydrodynamic retarder 31 and parking brake 32.During car brakeing, drive motor 1 is operated in the feedback power generation mode, and regenerative brake torque is provided, and hydrodynamic retarder 31 provides the hydraulic brake torque, and parking brake 32 provides the mechanical braking torque, braking main shaft 12.
When car brakeing, drive motor 1 is operated in the feedback power generation mode, reclaims vehicle energy and converts thereof into electrical power storage in the closed-centre system of battery, ultracapacitor, flywheel or other types, has improved Vehicle Economy.Brake when the speed of a motor vehicle is higher, in order to reduce the wearing and tearing of parking brake 32, and recuperated energy as much as possible, drive motor 1 provides larger regenerative brake power.
Participate in work when the regenerative brake torque that hydrodynamic retarder 31 provides at drive motor 1 is inadequate, square being directly proportional of the hydraulic brake Torque and speed that it provides,, in the lower long slope braking or while braking for a long time, can significantly reduce the wearing and tearing of parking brake 32.In addition, hydrodynamic retarder 31 also can be used for consuming unrenewable energy, cancels the larger dead resistance of volume is set.
The regenerative brake torque that provides due to drive motor 1 decays to zero lower than certain rotating speed the time, hydrodynamic retarder 31 provides when rotating speed is low hydraulic brake torque is also less, and is therefore, lower or when static in the speed of a motor vehicle, parking brake 32 engages gradually fully, and whole stopping brake torques are provided.
In addition, when vehicle original position zero turn radius, in order to obtain stable ρ=0 zero turn radius, main shaft 12 must locking.Parking brake 32 engages fully, with main shaft 12 lockings.
Independently be arranged on a side of electric actuator due to composite braking mechanism 3, can dispel the heat by means of side deck 100, therefore, its conduct heat and radiating condition better, in the time of also can avoiding the friction lining work of parking brake 32, the powder of generation is fallen in lubricating oil.
The lockdown mode of steer motor 4 refers to that its rotating speed is zero, but to motor, pass into electric current, produces driving torque and is applied to torque on the gear ring that turns to differential planetary row 8 to overcome the external world, holds it in quiescence.Turn to differential planetary row 8 gear ring by locking, the output speed of right side transmission 9 and left side transmission 10 equates, when both sides crawler belt external resistance does not wait, guarantees the stability of vehicle straight-line travelling.
The electric model of steer motor 4 is used for driving the gear ring forward or reverse that turns to differential planetary row 8, and the output speed of right side transmission 9 and left side transmission 10 does not wait, and right side driving wheel 19 and left side driving wheel 18 produce the poor rear drive vehicle of speed and turn to the left or to the right.
For the ease of arranging and installing, the width of electric actuator must be less than the width of the available nearly 2m in car body inside.In addition, owing to being arranged coaxial, steer motor 4 can not also needn't reach the power grade of drive motor 1.After coupling turns to speed-changing mechanism 5, can be with the power reduction of steer motor 4 below half of the power of drive motor 1.
Turn to speed-changing mechanism 5 to have and the similar structure of straight speed-changing mechanism 2 and connection mode, comprise and turn to variable speed planetary row's the 50, second gear ring drg 55 and the second gear ring power-transfer clutch 56.Turn to variable speed planetary row 50, it comprises and turns to variable speed planetary row sun wheel 51, turns to variable speed planetary seniority among brothers and sisters star-wheel 52, turns to variable speed planetary rows of planetary frame 53 and turn to variable speed planetary toothrow circle 54.
Turn to variable speed planetary row sun wheel 51 to be connected with steer motor rotor shaft 4a, turn to variable speed planetary rows of planetary frame 53 to be connected with the gear ring that turns to differential planetary row 8.
The second gear ring drg 55 is used for skid steer variable speed planetary toothrow circle 54, the second gear ring power-transfer clutchs 56 and turns to variable speed planetary rows of planetary frame 53 and turn to variable speed planetary toothrow circle 54 for connecting.Preferably, employing multi-sheet wet-type power-transfer clutch or the drg that can carry out power shfit realized.
When the second gear ring drg 55 engages, the second gear ring power-transfer clutch 56 separates, and turns to speed-changing mechanism 5 to realize low-grade, and its transmitting ratio is 1+kst, and wherein kst is the characteristic parameter that turns to variable speed planetary row 50.
When the second gear ring drg 55 separates, when the second gear ring power-transfer clutch 56 engages, turn to speed-changing mechanism 5 to realize high-grade, its transmitting ratio is+1.
When the large radius of vehicle turns to, turn to speed-changing mechanism 5 shift to a higher gears.When vehicle minor radius or original position zero turn radius, turn to speed-changing mechanism 5 shifts to a lower speed.
Turn to speed-changing mechanism 5 also can realize neutral gear and steering lock stop.When turning to speed-changing mechanism 5 to hang the steering lock stop, steer motor 4 needn't pass into current work under lockdown mode, therefore, can reduce the cal val of steer motor 4.
Control the degree of engagement of the second gear ring power-transfer clutch 56 that is in released state when low-grade, or control the degree of engagement of the second gear ring drg 55 that is in released state when high-grade, turn to speed-changing mechanism 5 to realize the braking in a turn shelves.
Due to the parking brake of having cancelled both sides, and 3 of composite braking mechanisms are used for the longitudinal direction of car braking, therefore, when braking in a turn, turn to speed-changing mechanism 5 to hang the braking in a turn shelves.Different from vertical braking, the external resistance during Vehicular turn is larger, and deflection angle speed is not high, utilizes and turns to speed-changing mechanism 5 extension braking in a turn shelves to satisfy the demands.
In addition, when turning to speed-changing mechanism 5 to hang the braking in a turn shelves, steer motor 4 is operated in the feedback power generation mode, and regenerative brake torque can be provided, and with assisted diversion, brakes.
Wait extremely difficulty in the situation that hole falls into to roll away from, for example a side crawler belt is absorbed in muddy or while skidding, and relies on the size of the straight tractive force that the promotion of opposite side crawler belt can bring into play to depend on the locking torque that steer motor 4 can provide.The locking torque that provides when steer motor 4 can not when turning to differential planetary row 8 the complete locking of gear ring, turn to speed-changing mechanism 5 to hang the steering lock stops.
The electric actuator of the embodiment of the present invention, be not only applicable to driving wheel postposition or preposition continuously tracked vehicle, and be applicable to the high maneuverability wheeled car based on differential steering mechanism.
As mentioned above, the electric actuator of the embodiment of the present invention, due to steer motor and drive motor coaxial arrangement, and the axle diff such as adopt that common planet row replaces, and in the side transmission of both sides coupling different drive ratios, realize symmetrical output, cancelled zero axle and corresponding transmission gear and supporting structure, simplified body structure, made the electric actuator compact conformation, lightweight, cost is low and be convenient to layout.
The present invention is not limited to above-described embodiment, but cover the institute that carries out in the situation that does not break away from the spirit and scope of the present invention, changes and revises.These changes and modification should not be considered to break away from the spirit and scope of the present invention, and all should be included within the scope of the appended claims such as the modification that it will be apparent to those skilled in the art that.
Claims (9)
1. electric actuator, it comprises:
Drive motor, it is used for driving Vehicle Driving Cycle, comprises the drive motor rotor shaft of hollow;
The straight speed-changing mechanism, it is used for the conversion of drive motor torque characteristics;
Composite braking mechanism, it is used for the longitudinal direction of car braking;
Steer motor, it is used for driving Vehicular turn, comprises the steer motor rotor shaft of hollow;
Turn to speed-changing mechanism, it is used for the conversion of steer motor torque characteristics;
Straight differential planetary row, it is used for straight and turns to confluxing and differential of two-way power stream;
Turn to differential planetary row, it is used for straight and turns to confluxing and differential of two-way power stream;
Right side transmission and left side transmission, it has different transmitting ratios, is used for the rotating speed of coupling right side driving wheel and left side driving wheel;
Main shaft, it is a quill shaft, is used for the transmission of power between straight speed-changing mechanism and straight differential planetary row, main shaft configures and is arranged to through drive motor rotor shaft and steer motor rotor shaft; And
Transverse axis, it is used for straight differential planetary row and turns to transmission of power between differential planetary row and left side transmission, and transverse axis configures and is arranged to through main shaft;
The above-mentioned parts that form electric actuator are arranged coaxial and being arranged as successively from left to right: left side transmission, composite braking mechanism, straight speed-changing mechanism, drive motor, steer motor, turn to speed-changing mechanism, straight differential planetary row, turn to differential planetary row and right side transmission
It is characterized in that,
the drive motor mouth is connected with straight speed-changing mechanism input end, straight speed-changing mechanism mouth is connected with composite braking mechanism, and by main shaft, with straight differential planetary rows of planetary frame, be connected, the steer motor mouth is connected with turning to the speed-changing mechanism input end, turn to the speed-changing mechanism mouth to be connected with turning to differential planetary toothrow circle, straight differential planetary toothrow circle is connected with turning to differential planetary rows of planetary frame, turn to differential planetary rows of planetary frame to be connected with right side transmission input end, transmission mouth in right side is connected with the right side driving wheel, the straight differential planetary is arranged sun wheel and is turned to differential planetary row sun wheel to be connected by transverse axis with left side transmission input end, transmission mouth in left side is connected with the left side driving wheel,
The straight differential planetary is arranged characteristic parameter kt, is turned to differential planetary row characteristic parameter ks, right side transmission transmitting ratio icr and left side transmission transmitting ratio icl to meet the following conditions: kt=icl/icr and ks=icl/icr-1;
The straight speed-changing mechanism comprises straight variable speed planetary row, the first gear ring drg and the first gear ring power-transfer clutch;
Composite braking mechanism comprises that be connected with main shaft, in parallel hydrodynamic retarder and parking brake;
Turn to speed-changing mechanism, it comprises and turns to variable speed planetary row, the second gear ring drg and the second gear ring power-transfer clutch, turns to speed-changing mechanism to have low grade, top grade, neutral gear, steering lock stop and braking in a turn shelves.
2. electric actuator according to claim 1, is characterized in that,
The package of straight variable speed planetary contains straight variable speed planetary row sun wheel, straight variable speed planetary seniority among brothers and sisters star-wheel, straight variable speed planetary rows of planetary frame and straight variable speed planetary toothrow circle, straight variable speed planetary row sun wheel is connected with the drive motor rotor shaft, straight variable speed planetary rows of planetary frame is connected with composite braking mechanism, the first gear ring drg is used for braking straight variable speed planetary toothrow circle, and the first gear ring power-transfer clutch is used for connecting straight variable speed planetary rows of planetary frame and straight variable speed planetary toothrow circle.
3. electric actuator according to claim 2, is characterized in that,
When the first gear ring drg engages, the first gear ring disengaging of clutch, the straight speed-changing mechanism is realized low-grade, and its transmitting ratio is 1+ktt, and wherein ktt is straight variable speed planetary row characteristic parameter;
When the first gear ring drg separates, when the first gear ring power-transfer clutch engaged, the straight speed-changing mechanism was realized high-grade, and its transmitting ratio is+1;
When the first gear ring drg separated simultaneously with the first gear ring power-transfer clutch, the straight speed-changing mechanism was realized neutral gear; And
When the first gear ring drg and the first gear ring power-transfer clutch engaged simultaneously, the straight speed-changing mechanism was realized the parking lock shelves.
4. electric actuator according to claim 1, is characterized in that,
When car brakeing, drive motor is operated in the feedback power generation mode, and regenerative brake torque is provided, and hydrodynamic retarder provides the hydraulic brake torque, and parking brake provides the mechanical braking torque, the braking main shaft; And
When vehicle original position zero turn radius, parking brake engages, with the main shaft locking.
5. electric actuator according to claim 1, is characterized in that,
Steer motor has lockdown mode, electric model and feedback power generation mode.
6. electric actuator according to claim 5, is characterized in that,
When the vehicle straight, steer motor is operated in lockdown mode, will turn to the locking of differential planetary toothrow circle;
When Vehicular turn, steer motor is operated in electric model, drives and turns to differential planetary toothrow circle to rotate; And
When Vehicular turn was braked, steer motor was operated in the feedback power generation mode, and regenerative brake torque is provided, skid steer differential planetary toothrow circle.
7. electric actuator according to claim 1, is characterized in that,
Turn to the variable speed planetary package to contain and turn to variable speed planetary row sun wheel, turn to variable speed planetary seniority among brothers and sisters star-wheel, turn to variable speed planetary rows of planetary frame and turn to variable speed planetary toothrow circle, turn to variable speed planetary row sun wheel to be connected with the steer motor rotor shaft, turn to variable speed planetary rows of planetary frame to be connected with turning to differential planetary toothrow circle, the second gear ring drg is used for skid steer variable speed planetary toothrow circle, and the second gear ring power-transfer clutch is used for connection and turns to variable speed planetary rows of planetary frame and turn to variable speed planetary toothrow circle.
8. electric actuator according to claim 7, is characterized in that,
When the second gear ring drg engages, the second gear ring disengaging of clutch, turn to speed-changing mechanism to realize low-grade, and its transmitting ratio is 1+kst, and wherein kst is for turning to variable speed planetary row characteristic parameter;
When the second gear ring drg separates, when the second gear ring power-transfer clutch engages, turn to speed-changing mechanism to realize high-grade, its transmitting ratio is+1;
When the second gear ring drg separates simultaneously with the second gear ring power-transfer clutch, turn to speed-changing mechanism to realize neutral gear;
When the second gear ring drg and the second gear ring power-transfer clutch engage simultaneously, turn to speed-changing mechanism to realize the steering lock stop; And
Control the degree of engagement of the second gear ring power-transfer clutch that is in released state when low-grade, or control the degree of engagement of the second gear ring drg that is in released state when high-grade, turn to speed-changing mechanism can realize the braking in a turn shelves.
9. electric actuator according to claim 8, is characterized in that,
When the large radius of vehicle turns to, turn to the speed-changing mechanism shift to a higher gear;
When vehicle minor radius or original position zero turn radius, turn to the speed-changing mechanism shift to a lower speed;
When Vehicular turn is braked, turn to speed-changing mechanism to hang the braking in a turn shelves; And
When steer motor can not provide enough locking torque, turn to speed-changing mechanism to hang the steering lock stop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110272209XA CN102358166B (en) | 2011-09-14 | 2011-09-14 | Electric transmission device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110272209XA CN102358166B (en) | 2011-09-14 | 2011-09-14 | Electric transmission device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102358166A CN102358166A (en) | 2012-02-22 |
| CN102358166B true CN102358166B (en) | 2013-11-20 |
Family
ID=45583565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110272209XA Expired - Fee Related CN102358166B (en) | 2011-09-14 | 2011-09-14 | Electric transmission device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102358166B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143120B (en) * | 2016-08-30 | 2018-05-25 | 上海纳铁福传动系统有限公司 | The wheel motor drive device of electric vehicle and electric vehicle method of work |
| CN114987176A (en) * | 2022-07-22 | 2022-09-02 | 长安大学 | Double-power flow motor drive axle of double-track engineering vehicle |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4998591A (en) * | 1987-08-24 | 1991-03-12 | Renk Aktiengesellschaft | Electro-mechanical drive system for a full-track vehicle |
| WO1989003335A1 (en) * | 1987-10-09 | 1989-04-20 | Zahnradfabrik Friedrichshafen Ag | Superimposed steering gear for tracklaying vehicles |
| JPH03107651A (en) * | 1989-09-19 | 1991-05-08 | Komatsu Ltd | Steering epicyclic differential device |
| US6491599B1 (en) * | 2000-09-15 | 2002-12-10 | General Motors Corporation | Two-mode, compound-split, electro-mechanical, vehicular transmission particulary adapted for track-laying vehicles |
| GB0109338D0 (en) * | 2001-04-17 | 2001-05-30 | Secr Defence | Drive configuration for a skid steered vehicle |
| DE10246870B3 (en) * | 2002-10-08 | 2004-04-29 | Renk Aktiengesellschaft | Electro-hydrodynamic overlay steering |
| ATE409635T1 (en) * | 2003-12-04 | 2008-10-15 | Renk Ag | ELECTRIC STEERING AND DRIVE SYSTEM FOR A VEHICLE WITH WHEEL SIDE STEERING |
| US7309300B2 (en) * | 2005-11-23 | 2007-12-18 | Caterpillar Inc. | Electric drive system with plural motors |
| US7326141B2 (en) * | 2006-03-13 | 2008-02-05 | Bae Systems Information And Electronic Systems Integration Inc. | Compact fault tolerant variable cross-drive electromechanical transmission |
| CN101985279B (en) * | 2010-09-17 | 2013-01-02 | 中国北方车辆研究所 | Electromechanical coupling transmission device of crawler |
-
2011
- 2011-09-14 CN CN201110272209XA patent/CN102358166B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102358166A (en) | 2012-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102358165B (en) | Electric transmission device of heavy-duty caterpillar vehicle | |
| CN102431437B (en) | Hybrid power electric transmission device of crawler | |
| CN101486314B (en) | Torque distribution system for a vehicle | |
| CN103332108A (en) | Two-gear power transmission system for BEV integrated planetary gear train | |
| CN103587396A (en) | Power-driven automobile double-motor coupling drive system | |
| CN106915245A (en) | Power-driven system and the vehicle with the power-driven system | |
| CN106945495A (en) | Mining driving force adaptive multiple-shift automatic transmission bi-motor steering and driving axle | |
| CN102529714A (en) | Drive unit for an all-wheel drive of a motor vehicle | |
| CN207825938U (en) | A kind of driving mechanism and automobile | |
| CN102700611A (en) | Steering system with coupling of electric drive tracked vehicle steering motor and unilateral drive motor | |
| CN103079872A (en) | Drive device for electric vehicle | |
| CN103434389B (en) | There is endless-track vehicle electric actuator and the method for straight servomechanism | |
| CN102529713A (en) | Drive unit for all-wheel drive of motor vehicle | |
| CN104401215A (en) | Double-motor double-planet-row dynamic coupling driving structure | |
| JP2019515827A (en) | Single electric motor drive axle with multiple gear ratios | |
| CN103754111A (en) | Differential and change speed integrated double-gear rear driving assembly of electric vehicle | |
| CN107972461A (en) | A kind of pure electric automobile bi-motor coupler | |
| CN102529673B (en) | Hybrid power electrical transmission device of caterpillar vehicle | |
| CN106915240A (en) | Power-driven system and the vehicle with the power-driven system | |
| CN102700612B (en) | Double side motor coupling driving steering system of electric transmission caterpillar vehicle | |
| CN206664252U (en) | A kind of bi-motor coupling driving bridge with torque fixed direction allocation function | |
| CN102358167B (en) | Electric transmission device of caterpillar vehicle | |
| CN102358166B (en) | Electric transmission device | |
| CN109383256A (en) | Emergency is got rid of poverty wheel undercarriage and unmanned platform truck | |
| CN203543619U (en) | Double-motor coupling drive system of electric car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131120 Termination date: 20210914 |