CN102785570A - Walking-machine-oriented multi-gear or numerous-gear hydraulic-mechanical composite variable-speed transmission system - Google Patents
Walking-machine-oriented multi-gear or numerous-gear hydraulic-mechanical composite variable-speed transmission system Download PDFInfo
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- CN102785570A CN102785570A CN2012102825847A CN201210282584A CN102785570A CN 102785570 A CN102785570 A CN 102785570A CN 2012102825847 A CN2012102825847 A CN 2012102825847A CN 201210282584 A CN201210282584 A CN 201210282584A CN 102785570 A CN102785570 A CN 102785570A
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Abstract
The invention relates to a walking-machine-oriented multi-gear or numerous-gear hydraulic-mechanical composite variable-speed transmission system, which consists of a variable-displacement hydraulic pump, a variable-displacement hydraulic motor, a mechanical gearbox and a drive axle, wherein the hydraulic pump and the hydraulic motor are connected through a hydraulic pipeline to form a closed hydraulic system loop. An engine drives the hydraulic pump through a coupling; and after two times of energy conversion of the closed hydraulic system loop, the hydraulic motor is coupled with a mechanical gearbox and power is transmitted to the mechanical gearbox through the hydraulic motor and then is transmitted to a drive wheel (or a drive sprocket) through the drive axle to enable a machine to realize a walking function. The hydraulic motor is coupled with the mechanical gearbox to form a composite transmission. Equivalently, two transmissions are connected in series, so a different-speed-ratio multi-gear or numerous-gear forward or reverse speed change function can be realized. In combination with displacement variation of the variable-displacement hydraulic pump, each gear can realize a continuously variable transmission function. The walking-machine-oriented multi-gear or numerous-gear hydraulic-mechanical composite variable-speed transmission system has the advantages that the structure is relatively simple, the interchangeability with the traditional mechanical transmission or hydraulic mechanical transmission vehicle parts is high, the upgrading and the updating of the traditional machine are facilitated, the electrical control operation is facilitated and the automation is realized.
Description
Technical field
The present invention relates to a kind of towards many gears of walking machine or the compound variable ratio drive system of many gears hydraulic-machinery extremely.
Background technology
In recent years; Walking machine is when the market demand strengthens greatly; Be faced with more that operating environment is more harsh, the more challenge that brought such as complicacy of working condition, that its range of speed to driving system requires is wider, driving torque requires bigger, more reliable performance, cost is more reasonable.
For the trailed model walking machine that has the several work operating mode such as road grader, loader etc.; Large traction is arranged when requiring its low speed; And the ability of running at high speed is arranged when little load or zero load; Actuating device should have very big speed and torque conversion scope, to satisfy load and the requirement of moving velocity scope under the various different operating modes.Desire guarantees that this type walking machine has good dynamic property and economy, satisfies various job requirements, must enlarge the variation range of transmitting ratio and increase the gear number of driving system.Obviously, the gear number of driving system is many more, and walking machine might be selected suitable speed ratio for use more in operational process, makes driving engine be in most economical mode of operation, to improve the fuel economy of walking machine.
In the mechanical drive form; Usually use many in the change speed gear box that gear is formed different transmitting ratios; And pass through steering unit conversion transmitting ratio (i.e. gearshift) on demand, thus the speed change in realizing in a big way, to satisfy the needs of walking machine different work operating mode.Along with the gear number increases, corresponding the increasing of change speed gear box middle gear logarithm, structure is also complicated thereupon.The gear number too much can make gearbox designs greatly complicated, and steering unit is also too loaded down with trivial details simultaneously, thereby makes change speed gear box operation inconvenience, if do not take self shifter to handle, in use also is difficult to realize correct gear.
In order to realize falling back and going of machinery, then need change the rotation direction of output shaft of gear-box.For this reason, needing increases reverse gearwheel in change speed gear box, between change speed gear box input shaft and output shaft, increase pair of engaged gears, to realize the change of output shaft rotation direction, realizes that walking machine falls back.In order to satisfy the working condition requirement of non-road surface operating mode and continuous working, some walking machine needs the more gear operation of retreating, and makes it have better transaction capabilities and higher work production rate.A plurality of gears of retreating make gearbox designs more complicated, choosing shelves difficulty, and manufacturing cost increases, and maintenance is extremely inconvenient.
Since nearly 10 years, along with Hydraulic Elements become better and approaching perfection day by day, the introducing of Computer Control Technology in addition, hydraulic transmission technology increases sharply in walking application mechanically.Closed Hydraulic driving system of forming by Variable plunger pump and quantitative (or variable) piston motor and the various power hydraulic systems that form as the base model variation; In wheeled and crawler type traveling machine, obtained using comparatively widely; Some walking machine has basically all adopted hydraulic transmission mode like bituminous pavement paving machine, roller etc.
When HM Hydraulic Motor adopted the form of constant displacement hydraulic motor, the output parameter of HM Hydraulic Motor (moment of torsion and rotating speed) setting range was very limited, and the variation range of moment of torsion is regulated between rated pressure and maximum pressure usually, and just 2 times with interior scope; The variation range of speed in theory normally from zero to the motor maximum speed of revolution that maximum flow determined that can export by Hydraulic Pump; But Hydraulic Pump is at the half of discharge capacity less than max.cap.; Efficient can descend more; Therefore, the speed adjustment scope of motor is regulated between an a certain maxim and its half value usually.This shows that the scope that the output parameter of HM Hydraulic Motor is regulated is very limited.
When adopting the Closed Hydraulic type of belt drive of volume adjustable hydraulic pump and variable hydraulic motor composition, the discharge capacity of HM Hydraulic Motor is variable, makes the width of output speed variable range of variable hydraulic motor obtain bigger expansion.But be limited to the structure of HM Hydraulic Motor, the maximum speed of revolution of bearing, the restrictions such as formation of lubricating condition; The minimum injection rate of variable hydraulic motor be adjustable to usually max.cap. 1/3 ~ 1/4 between, promptly the speed adjustment scope of motor can be heightened to 3 ~ 4 times from the cooresponding rotating speed of max.cap..Regulate same constant displacement hydraulic motor downwards.The motor rotary speed that 3 ~ 4 times speed setting scope and volume adjustable hydraulic pump are realized is regulated down to zero scope, makes this hydrostatic drive form go for the less relatively walking machine of many velocity variations scopes, like aforesaid roller, paver etc.But for many other walking machines; Like road grader, loader etc.; Actuating device requires that very big speed and torque conversion scope are arranged, and to satisfy load and the requirement of moving velocity scope under the various different operating modes, the speed setting scope of this hydrostatic drive form still is difficult to meet the demands.Therefore, these walking machines up to the present, its type of belt drive remains with mechanical drive or hydromechanical drive and takes as the leading factor.
What similar tractive property requirement is arranged with walking machine is heavy duty truck (typically referring to load carrying ability at the heavily card more than 15 tons); Heavily block the working condition requirement that vehicle should ask bigger tractive force to climb with satisfied heavy duty, requiring again has under the good situation of bigger speed setting scope, particularly idle condition, pavement state; Requirement has higher travelling speed; Satisfy and transport efficient, requirements of saving energy,, need to increase the gear of change speed gear box for handling the requirement again of shifting gears has less speed ratio differential.Therefore, in the driving system of heavily blocking vehicle, use 8-9 forward gear, 1-2 to retreat the multi-speed gear box of shelves usually, use the utmost point multi-speed gear box of 12 grades, 16 grades even 18 grades sometimes, fully to satisfy the performance requriements that heavily blocks vehicle.
The change speed gear box that heavily blocks vehicle has extremely many gears, and velocity ratio has also reached higher value, these change speed gear box technology can grafting applications in some with heavily block the identical or chassis of vehicle operating mode and promptly use walking machine heavily to block the engineering that vehicle is the basis.But a large amount of wheeled or crawler type traveling machines are arranged still; Adopt these change speed gear box technology still can not finely satisfy the tractive property requirement; This mainly be because: first; Some walking machines not only require bigger speed ratio, and require that lower speed is arranged, bigger tractive force to be to satisfy its job requirements; The second, in order to satisfy the working condition requirement of non-road surface operating mode and continuous working, some walking machines need more retreats gear to obtain better transaction capabilities and higher work production rate; The 3rd; Walking machine with driving engine and the driving engine that heavily blocks vehicle at power rating, be applied to non-highway operating mode, load fluctuation and very big gap arranged aspect such as violent operating mode; The coupling of change speed gear box and driving engine and change speed gear box are restricted with the application on the walking machine in engineering; Particularly the very violent cubic metre of earth and stone machinery of load fluctuation is higher to parts requirement fatigue life of change speed gear box; The 4th, the change speed gear box major part of heavily blocking the vehicle use all adopts manual shift, adopts self-shifting change speed gear box also just to begin.
Summary of the invention
The object of the present invention is to provide a kind of towards many gears of walking machine or the compound variable ratio drive system of many gears hydraulic-machinery extremely, to solve problems such as above-mentioned mechanical drive multi-speed gear box complex structure, cost height and hydrostatic drive speed adjustable range be narrower.
Among the present invention, just like giving a definition: when the TR number more than or equal to 4 grades and during less than 8 grades, be referred to as multi-speed gear box; When TR number during, be referred to as utmost point multi-speed gear box more than or equal to 8 grades.
The present invention propose towards many gears of walking machine or the compound variable ratio drive system of many gears hydraulic-machinery extremely; Form by driving engine 1, coupler, volume adjustable hydraulic pump 3, variable hydraulic motor 4, mechanical gear box 7 and drive axle; Wherein: driving engine 1 is through the input end of first coupler, 2 link variable Hydraulic Pumps 3; Volume adjustable hydraulic pump 3 and variable hydraulic motor 4 are linked to be closed hydraulic loop through hydraulic tubing, and the mouth of variable hydraulic motor 4 connects the input shaft 6 of mechanical gear boxes 7 through second coupler 5; The output shaft 8 of mechanical gear box 7 is connected with drive axle through the 3rd coupler 9 again.Said drive axle is wheeled drive axle 10 or track propulsion bridge 12; Said mechanical gear box 7 adopts 2 grades of change speed gear boxs or 3 grades of change speed gear boxs; Said 2 grades of change speed gear boxs or 3 grades of change speed gear boxs adopt fixed axle gearbox or planetary transmission; Said variable hydraulic motor 42 grades of change speed gear boxs of coupling or 3 grades of change speed gear boxs constitute composite transmission 14; Several different displacement value are set in the said variable hydraulic motor 4; Promptly be equal to mechanical gear box several different gears are set; Make up with 2 grades of change speed gear boxs or 3 grades of change speed gear boxs of series coupled with it again, make composite transmission 14 become many gears or many gears change-speed box extremely.Driving engine 1 drives volume adjustable hydraulic pump 3 through first coupler 2; Behind twice transformation of energy of closed type hydraulic system circuit; By variable hydraulic motor 4 coupling series connection mechanical gear boxes 7; Power is passed to mechanical gear box 7 through HM Hydraulic Motor 4, through drive axle power is passed to drive wheel 11 or drive sprocket 13 again, makes the Realization by Machine walking function.
Among the present invention, said variable hydraulic motor 4 adopts clino-axis type axial plunger variable hydraulic motor or inclined disc type axial plunger variable hydraulic motor.
Among the present invention, said volume adjustable hydraulic pump 3 adopts inclined disc type axial plunger variable Hydraulic Pump.
Among the present invention, can be provided with auxiliary gear box according to actual conditions between said driving engine 1 and the volume adjustable hydraulic pump 3, in order to the input speed of regulator solution press pump.
Among the present invention, said coupler is according to the actual conditions needs, and is replaceable for the connection element of similar coupler function is arranged, like splined etc.
Among the present invention, Hydraulic Pump adopts volume adjustable hydraulic pump; HM Hydraulic Motor adopts variable hydraulic motor.Volume adjustable hydraulic pump and variable hydraulic motor connect into closed type hydraulic system circuit through hydraulic tubing.Because hydraulic tubing has flexible characteristic, the location arrangements of volume adjustable hydraulic pump and variable hydraulic motor has bigger alerting ability.Driving engine and the integrated of volume adjustable hydraulic pump are connected, and can be used as a single unit system, and driving engine can be arranged in the front portion or the rear portion of machine according to the structural requirement of walking machine with horizontal or vertical mode of putting.
Among the present invention, drive axle is wheeled drive axle or track propulsion bridge.In wheeled drive axle; Power by mechanical gear box output at first passes to main gear; After this realizes rev down, increases moment of torsion and change the transmission of power direction; Give left and right sides semiaxis through diff with power distribution, pass to drive wheel, the drive machines walking after turning round after wheel reduction gear slows down to increase once more; In the track propulsion bridge, at first realize rev down, pass to and arranged on left and right sides respectively after increasing moment of torsion and changing the transmission of power direction through main gear by the power of mechanical gear box output; Make the left and right driving sprocket wheel possibly obtain different driving torques and rotating speed through left and right steering clutch; Through whole transmission slow down once more increase turn round the back power pass to drive sprocket; Pass through the sprocket and the crawler belt engagement of drive sprocket at last; Power is passed to crawler belt by drive sprocket, the drive machines walking.
Provided by the invention towards walking machine realize many gears or extremely many gears (advance and fall back and all can realize many grades) based on hydrostatic drive and mechanical drive (having simple speed changing function) type of drive for the compound speed change of driving system core; Say from version; Have and heavily block the mode that the vehicle change speed gear box adopts major and minor case combination (series connection), promptly adopt variable hydraulic motor and mechanical gear box to make up the mode of (series connection); Say to have the form that hydrostatic drive and mechanical drive are carried out compound transmission from type of belt drive.When change speed gear box adopts on the structure the simplest 2 grades of speed changing structures; The inner structure of change speed gear box and external form will be very succinct; Structure after variable hydraulic motor makes up with it is also with succinct, compact, even can use the plug-in type motor, and the part of HM Hydraulic Motor is inserted in the change speed gear box.
Composite transmission
(1) the composite transmission gear is realized
Among the present invention, the composite transmission 14 that 2 grades of (or 3 grades) mechanical gear boxes of variable hydraulic motor 4 couplings 7 constitute is equivalent to 2 change-speed boxs and carries out coupled in series.In the composite transmission 14, (as previously mentioned, the max.cap. of variable hydraulic motor 4 is selected several different displacement value than comparing greatly between 1-1/3 ~ 1/4 with minimum injection rate in the selection of variable hydraulic motor 4 through different displacements; Its meaning is equal to mechanical gear box fully several different gears is set), i.e. the selection of gear, same again 2 grades of (or 3 grades) mechanical gear boxes 7 of series coupled with it make up, and can realize 2; 4,6,8,10; Many grades of the different speed ratios of 12 grades of grades (can be more in theory) until countless or extremely many grades of speed changing functions (when adopting 3 grades of mechanical gear boxes, can realize 3,6; Many gears or extremely many gears such as 9,12,15 grades).When the variable hydraulic motor discharge capacity was set to high and low 2 grades, the composite transmission of 2 grades of change speed gear boxs of combination can be realized 2 * 2=4 gear at most; When the discharge capacity of variable hydraulic motor was set to high, medium and low 3 grades, the composite transmission of 2 grades of change speed gear boxs of combination can be realized 3 * 2=6 gear at most.
Need to prove that the setting of each gear of composite transmission is based on that following two conditions propose among the present invention:
When (1) each gear of composite transmission being set; The operation pressure of supposing the closed fhdraulic system that Hydraulic Pump and HM Hydraulic Motor are formed under each gear standard duty equates (being defined as the nominal working pressure of each gear), and the approximate mechanical efficiency of thinking HM Hydraulic Motor and Volumetric efficiency are not stressed and belong to different displacements position effects (even or thinking influential also very little).At this moment, the output torque of HM Hydraulic Motor be directly proportional with the discharge capacity of HM Hydraulic Motor (or being approximated to direct ratio).
When (2) each gear of composite transmission being set, suppose that the hydraulic pressure capacity of pump immobilizes under each gear standard duty (the hydraulic pressure capacity of pump is in the max.cap. state usually, can give full play to the hydraulic pressure pump performance like this).At this moment, the discharge capacity of the output speed of HM Hydraulic Motor and HM Hydraulic Motor be inversely proportional to (or being approximated to inverse ratio).
The combination and the implementation of the compound speed changing function of composite transmission are following:
Suppose that composite transmission need realize 8 gears (being respectively I shelves, II shelves, III shelves, IV shelves, V shelves, VI shelves, VII shelves and VIII shelves); Through 4 displacement position of variable hydraulic motor are set, and make up 2 grades of mechanical gear boxes (be respectively
shelves with
shelves) and realize.Wherein, Defining variable HM Hydraulic Motor max.cap.
; Minimum injection rate
(minimum injection rate of the motor maximum speed of revolution that motor allows during by the structure of motor and corresponding minimum injection rate determines), discharge capacity is
(discharge capacity of
is greater than the discharge capacity of
) in two of centres.
(1) when mechanical gear box
shelves clutch engagement; During
shelves disengaging of clutch; Mechanical gear box is in
shelves joggleword state; When HM Hydraulic Motor is in displacement; I.e.
, both combinations can realize composite transmission I shelves;
(2) mechanical gear box is in
shelves joggleword state; When the HM Hydraulic Motor discharge capacity was
, both combinations can realize composite transmission II shelves;
(3) mechanical gear box is in
shelves joggleword state; When the HM Hydraulic Motor discharge capacity was
, both combinations can realize composite transmission III shelves;
(4) mechanical gear box is in
shelves joggleword state; When HM Hydraulic Motor is in the minimum injection rate position; I.e.
, both combinations can realize composite transmission IV shelves;
(5) when mechanical gear box
shelves disengaging of clutch; During
shelves clutch engagement; Mechanical gear box is in
shelves joggleword state; When HM Hydraulic Motor is in displacement; I.e.
, both combinations can realize composite transmission V shelves;
(6) mechanical gear box is in
shelves joggleword state; When the HM Hydraulic Motor displacement position was
, both combinations can realize composite transmission VI shelves;
(7) mechanical gear box is in
shelves joggleword state; When the HM Hydraulic Motor displacement position was
, both combinations can realize composite transmission VII shelves;
(8) mechanical gear box is in
shelves joggleword state; When HM Hydraulic Motor is in the minimum injection rate position; I.e.
, both combinations can realize composite transmission VIII shelves.
As each discharge capacity of HM Hydraulic Motor
,
,
and
during according to the geometric ratio principles of selected, the transmitting ratio of walking machine I shelves, II shelves, III shelves and IV shelves is also according to the geometric ratio policy setting in theory.In like manner, the transmitting ratio of walking machine V shelves, VI shelves, VII shelves and VIII shelves is also according to the geometric ratio policy setting.But each grade transmitting ratio of walking machine I shelves to the VIII shelves of in this way confirming just not necessarily can meet the principle of transmitting ratio geometric ratio on the whole.
If want fully the policy setting according to change speed gear box transmitting ratio geometric ratio, then to need to press between walking machine I shelves to the VIII shelves transmitting ratio geometric ratio principle on whole gears according to the ratio of mechanical transmission
shelves transmitting ratio between the shelves with
and the ratio between HM Hydraulic Motor max.cap.
and the minimum injection rate
definite for the selected HM Hydraulic Motor discharge capacity of walking machine V shelves to VIII shelves.
The gear of the composite transmission of other the various gear numbers that by that analogy, can confirm to combine and the gear of the composite transmission of the various gear numbers that combine by 3 grades of mechanical gear boxes and different motor displacements by 2 grades of mechanical gear boxes and different motor displacements.
(2) composite transmission neutral gear function
When each gear shift sleeve in the mechanical gear box all was in released state with the gearshift drg, mechanical gear box was in neutral state, and composite transmission also is in neutral state, and promptly the neutral state of mechanical gear box also is the neutral state of compound change speed gear box device.
(3) composite transmission reverse gear function
What suppose aforesaid composite transmission gear realization is the advancement function (being defined as the working direction of vehicle) of walking machine.The reverse gear function of composite transmission realizes through the counter-rotating of variable hydraulic motor output shaft.Suppose when composite transmission is realized advancement function that the fluid that Hydraulic Pump is supplied with HM Hydraulic Motor flows into from motor A mouth, motor B mouth flows out; Supply with the fluid of HM Hydraulic Motor and flow into from motor B mouth as long as realize Hydraulic Pump, motor A mouth flows out, and hydraulic motor output shaft can be realized counter-rotating, thereby realizes the reverse gear function of composite transmission, realizes falling back of walking machine.This shows that the realization of composite transmission reverse gear function does not rely in the mechanical gear box increases a pair of reverse gearwheel, but the change through the hydraulic motor output shaft rotation direction comes directly realization.
When the gear setting of the displacement position setting of HM Hydraulic Motor and mechanical gear box and aforementioned advancement function are in full accord; Can realize the reverse gear function of the walking machine of same gear number, and the output performance parameter (moment of torsion and rotating speed) of composite transmission is identical when advancing with walking machine under each reverse gear gear.
When gear number when requiring reverse gear and output performance parameter (moment of torsion and rotating speed) and advancement function were inconsistent, the displacement value that motor can be set separately got final product.Concrete reverse gear gear can be according to the need of work of machine and operator's settings such as manipulation custom.
Need to prove: for realizing the reverse gear function, it structurally is symmetrical fully (HM Hydraulic Motor is designed to so usually) that the HM Hydraulic Motor among the present invention requires; Mechanical gear box requires to realize the function of forward and backward.
Stepless change under each gear, braking function and reverse gear function
(1) stepless change under each gear
The output performance parameter of composite transmission is that Hydraulic Pump is in (normally under the max.cap.) under a certain fixed displacement displacement value and selection mechanical gear box gear through changing HM Hydraulic Motor under aforementioned each gear; Both make up and realize, are equivalent to the function of the mechanical gear box of (utmost point) many gears.
But the hydraulic pressure capacity of pump is variable among the present invention, through the continuous adjusting of the variable swash plate of Hydraulic Pump being realized the continuous adjusting of capacity of pump.In the Closed Hydraulic driving system that volume adjustable hydraulic pump and variable hydraulic motor are formed; Under corresponding each selected motor displacement; The discharge capacity of volume adjustable hydraulic pump all can be changed to half the until zero delivery from maximum; Promptly when realizing different mechanical gears, realize that the output speed of HM Hydraulic Motor is regulated between zero rotating speed from the maximum speed of revolution under this gear continuously, promptly the moving velocity of walking machinery is from regulate between the maxim under a certain gear to the null value continuously; Be referred to as the stepless change under each gear, this is very favorable to the regular overload (during mechanical drive) that the performance engine power reduces driving engine simultaneously again to greatest extent.
(2) braking function
When the hydraulic pressure capacity of pump is zero, Hydraulic Pump idle running, the delivery rate of Hydraulic Pump is zero (Hydraulic Pump still can rotate under the drive of driving engine), and then the input flow rate of HM Hydraulic Motor is zero, and HM Hydraulic Motor does not rotate.At this moment; When if mechanical gear box hangs over
shelves or
grade (or
shelves), the function that can realize braking composite transmission.
When the hydraulic pressure capacity of pump is zero, when mechanical gear box was neutral gear, composite transmission still was a neutral state.
Need to prove: this braking function is not represented and can be cancelled mechanical brake device.
(3) reverse gear function
Above stated specification, falling back of walking machine realizes through the hydraulic motor output shaft counter-rotating.In the closed type hydraulic system circuit of being made up of volume adjustable hydraulic pump and variable hydraulic motor, Hydraulic Pump outlet fluid direction changes with the variation of pump swash plate direction, thus realize hydraulic motor output shaft just/counter steer switches.What the discharge capacity of supposing volume adjustable hydraulic pump realized when (
) changes between zero delivery in the positive discharge capacity of maximum is that hydraulic motor output shaft just changes that (pump A mouth is fuel-displaced; The oil return of B mouth), this moment, walking machine advanced.When the swashplate angle of Hydraulic Pump changes round about; The hydraulic pressure capacity of pump changes (pump A mouth oil return between zero delivery to maximum negative discharge capacity (
); The B mouth is fuel-displaced); The counter-rotating of realization hydraulic motor output shaft, this moment, walking machine was realized falling back.
Among the present invention, the operation pressure in the Closed Hydraulic driving system that volume adjustable hydraulic pump and variable hydraulic motor are formed depends on external loading.When hydraulic system pressure raise, the moment of torsion of HM Hydraulic Motor output increased, and the driving torque on the drive wheel (or drive sprocket) also increases thereupon, makes machinery have rigidity characteristics preferably.Like this, through the variation of closed fhdraulic system operation pressure, can further enlarge the variation range of walking machine driving torque; The tractive force limit that can bring into play in the time of might making the walking machine higher gear (corresponding to the maximum working pressure (MWP) of hydraulic efficiency pressure system) surpasses adjacent rated drawbar pull than low-grade location (corresponding to the nominal working pressure of hydraulic efficiency pressure system).
The power hydraulic system that constitutes with volume adjustable hydraulic pump and variable hydraulic motor provided by the invention is basis, is that the compound variable ratio drive system of hydraulic-machinery of core has following beneficial effect with variable hydraulic motor coupling machinery change speed gear box formation composite transmission:
The composite transmission structure is succinct relatively; Kept drive axle, strong with traditional mechanical drive or hydromechanical drive vehicle part interchangeability, be convenient to the upgrading of traditional mechanical.
Owing to increased by 2 grades or 3 grades of mechanical gear boxes, can realize the speed adjustable range bigger than all-hydraulic transmission; 2 grades or 3 grades of gearbox designs are simple, low cost of manufacture.
Variable hydraulic motor coupling machinery change speed gear box constitutes composite transmission, can realize that many gears or extremely many gears to adapt to the various complex working condition of walking machine, help improving the engine power degree of utilization, saving fuel consumption.
The closed fhdraulic system that volume adjustable hydraulic pump and variable hydraulic motor are formed; Stepless variation through hydraulic pump discharge realizes the stepless change under each gear of walking machine; Can effectively overcome the shortcoming that pure mechanical drive can not realize infinite speed variation, load adaptivity difference; Be more conducive to protect driving engine,, further reduce consumption of fuel in order to avoid driving engine often is in the overload operating mode;
Change controllable capacity pump swash plate direction and can realize steady switching-over easily, can obtain many grades or utmost point multispeed powershift shelves gear, satisfy the working condition requirement of the various complicacies of walking machine.
Description of drawings
Fig. 1 is running on wheels mechanical-hydraulic-mechanical compound variable ratio drive system schematic diagram.
Fig. 2 is the compound variable ratio drive system schematic diagram of crawler type traveling machine hydraulic-machinery.
Fig. 3 is the composite transmission schematic diagram that HM Hydraulic Motor coupling machinery change speed gear box constitutes.
Fig. 4 (a) is 2 grades of fixed axle gearbox structure principle charts.
Fig. 4 (b) is 3 grades of fixed axle gearbox structure principle charts.
Fig. 4 (c) is 2 grades of planetary transmission structure principle charts.
Fig. 4 (d) is 3 grades of planetary transmission structure principle charts.
Fig. 5 is a clino-axis type axial plunger variable hydraulic motor constructional drawing.
Fig. 6 is inclined disc type axial plunger variable hydraulic pump structure figure.
Label among the figure: 1 is driving engine; 2,5,9 be respectively first coupler, second coupler and the 3rd coupler; 3 is volume adjustable hydraulic pump; 4 is variable hydraulic motor; 6 is the input shaft of mechanical gear box; 7 is mechanical gear box; 8 is the output shaft of mechanical gear box; 10 is wheeled drive axle; 11 is drive wheel; 12 is the track propulsion bridge; 13 is drive sprocket; 14 is composite transmission; 15,16,17,18,19 be respectively the first fixed axle gearbox shift clutch, the second fixed axle gearbox shift clutch, the 3rd fixed axle gearbox shift clutch, the 4th fixed axle gearbox shift clutch and the 5th fixed axle gearbox shift clutch; 20,22,23 be respectively the first planetary transmission shift clutch, the second planetary transmission shift clutch and the third line star formula gearbox shifting power-transfer clutch; 21,24,25 be respectively first planetary transmission gearshift drg, second planetary transmission gearshift drg and the third line star formula gearbox shifting drg; 26 is the variable piston; 27 is the max.cap. stop screw; 28 is thrust plate; 29 is motor cylinder; 30 are the band rod-plunger; 31 is the core bearing pin; 32 is motor spindle; 33 is the minimum injection rate stop screw; 34 is stroking mechanism; 35 is apportioning valve; 36 is the pump main shaft; 37 is swash plate; 38 is feedback rod; 39 is pump cylinder block; 40 is plunger; 41 is slippage pump; 42 is the variable oil cylinder.
The specific embodiment
Below in conjunction with accompanying drawing to further explain of the present invention.
Embodiment 1:
Drive path
Fig. 1 is running on wheels mechanical-hydraulic-mechanical compound variable ratio drive system schematic diagram.Driving engine 1 is connected with the input end of volume adjustable hydraulic pump 3 through first coupler 2.Volume adjustable hydraulic pump 3 and variable hydraulic motor 4 are linked to be closed type hydraulic system circuit through hydraulic tubing.The mouth of variable hydraulic motor 4 connects with the input shaft 6 of mechanical gear box 7 through second coupler 5.The output shaft 8 of mechanical gear box 7 connects with wheeled drive axle 10 through the 3rd coupler 9 again.The power of driving engine 1 passes through main gear, diff, semiaxis, the wheel reduction gear in volume adjustable hydraulic pump 3, variable hydraulic motor 4, mechanical gear box 7, the wheeled drive axle 10 successively, passes to drive wheel 11 at last, and drive machines realizes walking function.
Fig. 2 is the compound variable ratio drive system schematic diagram of crawler type traveling machine hydraulic-machinery.The drive path of driving engine 1 to mechanical gear box 7 is identical with aforementioned running on wheels mechanical-hydraulic-mechanical compound variable ratio drive system (Fig. 1).The output shaft 8 of mechanical gear box 7 connects with track propulsion bridge 12 through the 3rd coupler 9.The power of driving engine 1 passes through main gear, steering clutch, the whole transmission in volume adjustable hydraulic pump 3, variable hydraulic motor 4, mechanical gear box 7, the track propulsion bridge 12 successively; Pass to drive sprocket 13; The sprocket of drive sprocket 13 is meshed with crawler belt; Power is passed to crawler belt by drive sprocket 13, the drive machines advance and retreat.
Compound speed change transmission principle
Among Fig. 3,2 grades of mechanical gear boxes of HM Hydraulic Motor 4 couplings 7 constitute composite transmission 14, are equivalent to 2 change-speed boxs and carry out coupled in series.Through there being level to change the cylinder body (or swash plate) of variable hydraulic motor 4 and the angle of inclination between the main shaft; Between the max.cap. of HM Hydraulic Motor 4 and minimum injection rate, several different displacement value are set; In series connected with it mechanical gear box 7 combinations together; Can realize many grades of different speed ratios or many grades of speed changing functions extremely, be equivalent to the different gears of change speed gear box in the pure mechanical drive.
Provide top-gear moving velocity and deep low gear moving velocity by the walking machine general design.Set the concrete gear number of walking machine according to the need of work of machine and operator's manipulation custom etc.Usually confirm each grade of walking machine speed according to transmitting ratio geometric ratio principle, each grade of walking machine speed is distributed by geometric progression.The product of mechanical gear box 7 each grade transmitting ratios and HM Hydraulic Motor 4 each grade discharge capacity ratios has reflected the size of composite transmission 14 corresponding gear transmitting ratios.Through each grade transmitting ratio of variable hydraulic motor 4 some displacement position and change speed gear box 7 rationally is set, both reasonable combination to be obtaining suitable composite transmission 14 transmitting ratios, thereby make each gear of walking machine reach desired work moving velocity.
In the Closed Hydraulic driving system of volume adjustable hydraulic pump 3 and variable hydraulic motor 4 compositions; Under corresponding each selected motor displacement; Through changing the angle of inclination of volume adjustable hydraulic pump 3 swash plates; Make the discharge capacity of Hydraulic Pump 3 between max.cap. to zero delivery, realize stepless variation, so just can realize the stepless change under each mechanical gear.
Through changing the swash plate direction of tilt of volume adjustable hydraulic pump 3, can change the flow direction of hydraulic oil in the closed hydraulic loop, realize the change that HM Hydraulic Motor 4 turns to, thereby realize the reverse gear function of walking machine.After the swash plate direction of tilt of Hydraulic Pump 3 changes; When walking machine is realized the reverse gear function; When the gear setting of the displacement position setting of HM Hydraulic Motor 4 and mechanical gear box and walking machine advancement function are in full accord; Can realize the reverse gear function of the walking machine of same gear number, and the output performance parameter (moment of torsion and rotating speed) of composite transmission is identical when advancing with walking machine under each reverse gear gear; When gear number when requiring reverse gear and output performance parameter (moment of torsion and rotating speed) and advancement function were inconsistent, the displacement value that motor 4 can be set separately got final product.Concrete reverse gear gear can be according to the need of work of machine and operator's settings such as manipulation custom.
When each gear shift sleeve in the mechanical gear box 7 all was in released state with the gearshift drg, composite transmission 14 was in neutral state, and promptly the neutral state of mechanical gear box 7 also is the neutral state of compound change speed gear box device 14.
When the discharge capacity of Hydraulic Pump 3 is zero, Hydraulic Pump 3 idle running, the delivery rate of Hydraulic Pump 3 is zero (Hydraulic Pump 3 still can rotate under the drive of driving engine 1), and then the input flow rate of HM Hydraulic Motor 4 is zero, and HM Hydraulic Motor 4 does not rotate.At this moment; When if mechanical gear box 7 hangs over
shelves or
grade (or
shelves), the function that can realize braking composite transmission 14.
When the discharge capacity of Hydraulic Pump 3 is zero, when mechanical gear box 7 was neutral gear, composite transmission 14 still was a neutral state.
Need to prove:
Driving engine 1 is direct coupled through first coupler 2 with volume adjustable hydraulic pump 3 among Fig. 1 and Fig. 2.If necessary, also can between driving engine 1 and volume adjustable hydraulic pump 3, increase auxiliary gear box, in order to the input speed of regulator solution press pump.
The composite transmission braking function of realizing when the discharge capacity of volume adjustable hydraulic pump 3 is zero is not represented and can be cancelled mechanical brake device.
The gear control of composite transmission realizes
Real work needs according to machine; The gear number of the mechanical gear box 7 among the present invention can be arranged to 2 grades or 3 grades; The version of change speed gear box 7 can adopt fixed shaft type type of belt drive or planetary type of belt drive, and is as shown in Figure 4: Fig. 4 (a) is 2 grades of fixed axle gearbox structure principle charts; Fig. 4 (b) is 3 grades of fixed axle gearbox structure principle charts; Fig. 4 (c) is 2 grades of planetary transmission structure principle charts; Fig. 4 (d) is 3 grades of planetary transmission structure principle charts.
Among Fig. 4 (a); The first fixed axle gearbox shift clutch 15 engages; When the second fixed axle gearbox shift clutch 16 separates, 2 grades of fixed axle gearbox is in
shelves joggleword states; The first fixed axle gearbox shift clutch 15 separates; When the second fixed axle gearbox shift clutch 16 engages, 2 grades of fixed axle gearbox is in
shelves joggleword states.
Among Fig. 4 (b); The 3rd fixed axle gearbox shift clutch 17 engages; When the 4th fixed axle gearbox shift clutch 18 separates with the 5th fixed axle gearbox shift clutch 19,3 grades of fixed axle gearbox is in
shelves joggleword states; The 3rd fixed axle gearbox shift clutch 17 separates with the 5th fixed axle gearbox shift clutch 19; When the 4th fixed axle gearbox shift clutch 18 engages, 3 grades of fixed axle gearbox is in
shelves joggleword states; The 3rd fixed axle gearbox shift clutch 17 separates with the 4th fixed axle gearbox shift clutch 18; When the 5th fixed axle gearbox shift clutch 19 engages, 3 grades of fixed axle gearbox is in
shelves joggleword states.
Among Fig. 4 (c); The first planetary transmission shift clutch 20 separates; When first planetary transmission gearshift drg 21 engages, 2 grades of planetary transmission is in
shelves joggleword states; The first planetary transmission shift clutch 20 engages; When first planetary transmission gearshift drg 21 separates, 2 grades of planetary transmission is in
shelves joggleword states.
Among Fig. 4 (d); The second planetary transmission shift clutch 22 separates; The third line star formula gearbox shifting power-transfer clutch 23 engages; Second planetary transmission gearshift drg 24 separates; When the third line star formula gearbox shifting drg 25 engages, 3 grades of planetary transmission is in
shelves joggleword states; The second planetary transmission shift clutch 22 separates; The third line star formula gearbox shifting power-transfer clutch 23 engages; Second planetary transmission gearshift drg 24 engages; When the third line star formula gearbox shifting drg 25 separates, 3 grades of planetary transmission is in
shelves joggleword states; The second planetary transmission shift clutch 22 all engages with the third line star formula gearbox shifting power-transfer clutch 23; When second planetary transmission gearshift drg 24 all separates with the third line star formula gearbox shifting drg 25,3 grades of planetary transmission is in
grade joggleword states.
Fig. 5 is a clino-axis type axial plunger variable hydraulic motor constructional drawing.Has certain inclination angle between the cylinder body 29 of clino-axis type axial plunger variable hydraulic motor and the main shaft 32, through changing the change of angular dimension realization HM Hydraulic Motor 4 discharge capacities between cylinder body 29 and the main shaft 32.Said motor is made up of variable piston 26, max.cap. stop screw 27, thrust plate 28, motor cylinder 29, band rod-plunger 30, core bearing pin 31, motor spindle 32, minimum injection rate stop screw 33, stroking mechanism 34 and apportioning valve 35 etc.
Need to prove that according to actual conditions, HM Hydraulic Motor 4 also can adopt inclined disc type axial plunger variable hydraulic motor.
HM Hydraulic Motor 4 adopts electric ratio control mode, carries out the discharge capacity control of motor 4 through the control current that changes proportion electro-magnet.Control current moves through the spool of proportion electro-magnet control ratio valve 35; Change the opening of apportioning valve 35, thereby move to change the change of angular dimension realization motor 4 discharge capacities between motor cylinder 29 and the HM Hydraulic Motor main shaft 32 through fluid effect control variable piston 26.Can corresponding control realize different motor displacements through setting the different magnitudes of current.
The joint of the frictional engagement element of mechanical gear box 7 is realized with separating through given electromagnetic valve current and this switching function of cut-out electromagnetic valve current: during power shifting; Given electromagnetic valve current; Connection flows to the pressure oil of the frictional engagement element (power-transfer clutch or drg) of corresponding gear; Realize the joint of frictional engagement element, thereby the power of realizing this gear engages; Cut off electromagnetic valve current, cut off the pressure oil of the frictional engagement element (power-transfer clutch or drg) that flows to corresponding gear, realize the separation of frictional engagement element, thereby the power of realizing this gear is thrown off.
Control the control current of given variable hydraulic motor 4 and the switching current of mechanical gear box 7 corresponding gears, can realize the control of composite transmission 14 gears.
Hydraulic pump discharge control
Fig. 6 is inclined disc type axial plunger variable hydraulic pump structure figure.Said Hydraulic Pump is made up of pump main shaft 36, swash plate 37, feedback rod 38, pump cylinder block 39, plunger 40, slippage pump 41 and variable oil cylinder 42 etc.The displacement variation of inclined disc type axial plunger variable Hydraulic Pump is to realize through the inclination angle that changes swash plate 37.Continuously change the size and Orientation at swash plate 37 inclination angles, can realize the stepless variation of Hydraulic Pump 3 discharge capacities in positive discharge capacity of maximum and maximum anti-discharge capacity scope.
Volume adjustable hydraulic pump 3 can adopt electric ratio control mode, carries out the continuous adjusting of the discharge capacity of Hydraulic Pump 3 through the control current that continuously changes proportion electro-magnet.Control current is through the opening of proportion electro-magnet control ratio valve, realizes the change of Hydraulic Pump 3 discharge capacities thereby move to change swash plate 37 inclination angles through fluid effect control variable oil cylinder 42.
Volume adjustable hydraulic pump 3 also can adopt manual control mode.Through manual stroking mechanism, continuously change the inclination angle size and Orientation of swash plate, thereby regulate pump capacity continuously, effect is identical with electric ratio control mode.
Claims (5)
1. one kind towards many gears of walking machine or the compound variable ratio drive system of many gears hydraulic-machinery extremely; It is characterized in that forming by driving engine (1), coupler, volume adjustable hydraulic pump (3), variable hydraulic motor (4), mechanical gear box (7) and drive axle; Wherein: driving engine (1) is through the input end of first coupler (2) link variable Hydraulic Pump (3); Volume adjustable hydraulic pump (3) and variable hydraulic motor (4) are linked to be closed hydraulic loop through hydraulic tubing, and the mouth of variable hydraulic motor (4) connects the input shaft (6) of mechanical gear box (7) through second coupler (5); The output shaft (8) of mechanical gear box (7) is connected with drive axle through the 3rd coupler (9) again; Said drive axle is wheeled drive axle (10) or track propulsion bridge (12); Said mechanical gear box (7) adopts 2 grades of change speed gear boxs or 3 grades of change speed gear boxs; Said 2 grades of change speed gear boxs or 3 grades of change speed gear boxs adopt fixed axle gearbox or planetary transmission; Said variable hydraulic motor (4) 2 grades of change speed gear boxs of coupling or 3 grades of change speed gear boxs constitute composite transmission (14); Several different displacement value are set in the said variable hydraulic motor (4); Promptly be equal to mechanical gear box several different gears are set; Make up with 2 grades of change speed gear boxs or 3 grades of change speed gear boxs of series coupled with it again, make composite transmission (14) become many gears or many gears change-speed box extremely; Driving engine (1) drives volume adjustable hydraulic pump (3) through first coupler (2); Behind twice transformation of energy of closed type hydraulic system circuit; By variable hydraulic motor (4) coupling series connection mechanical gear box (7); Power is passed to mechanical gear box (7) through HM Hydraulic Motor (4), through drive axle power is passed to drive wheel (11) or drive sprocket (13) again, makes the Realization by Machine walking function.
2. according to claim 1 towards many gears of walking machine or the compound variable ratio drive system of many gears hydraulic-machinery extremely, it is characterized in that said variable hydraulic motor (4) adopts clino-axis type axial plunger variable hydraulic motor or inclined disc type axial plunger variable hydraulic motor.
3. according to claim 1 towards many gears of walking machine or the compound variable ratio drive system of many gears hydraulic-machinery extremely, it is characterized in that said volume adjustable hydraulic pump (3) adopts inclined disc type axial plunger variable Hydraulic Pump.
4. according to claim 1 towards many gears of walking machine or the compound variable ratio drive system of many gears hydraulic-machinery extremely, it is characterized in that being provided with auxiliary gear box between said driving engine (1) and the volume adjustable hydraulic pump (3), in order to the input speed of regulator solution press pump.
5. according to claim 1 towards many gears of walking machine or the compound variable ratio drive system of many gears hydraulic-machinery extremely, it is characterized in that said first coupler (2), second coupler (5) and the 3rd coupler (9) replace with connection element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102825847A CN102785570A (en) | 2012-08-10 | 2012-08-10 | Walking-machine-oriented multi-gear or numerous-gear hydraulic-mechanical composite variable-speed transmission system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012102825847A CN102785570A (en) | 2012-08-10 | 2012-08-10 | Walking-machine-oriented multi-gear or numerous-gear hydraulic-mechanical composite variable-speed transmission system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102785570A true CN102785570A (en) | 2012-11-21 |
Family
ID=47151223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012102825847A Pending CN102785570A (en) | 2012-08-10 | 2012-08-10 | Walking-machine-oriented multi-gear or numerous-gear hydraulic-mechanical composite variable-speed transmission system |
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| CN104421424A (en) * | 2013-08-23 | 2015-03-18 | 丹佛斯动力系统有限责任两合公司 | Method for engagement and disengagement |
| CN106114207A (en) * | 2016-07-04 | 2016-11-16 | 覃志明 | A kind of Mechanical Driven of entirely new kind be main hydraulic-driven be auxiliary four-wheel drive running gear |
| CN106949221A (en) * | 2016-01-07 | 2017-07-14 | 熵零技术逻辑工程院集团股份有限公司 | A kind of transmission mechanism |
| CN106965854A (en) * | 2017-03-29 | 2017-07-21 | 星光农机股份有限公司 | Transmission control device |
| CN106976481A (en) * | 2017-03-29 | 2017-07-25 | 星光农机股份有限公司 | Turn to drive mechanism |
| CN107102589A (en) * | 2017-05-27 | 2017-08-29 | 徐工集团工程机械股份有限公司 | A kind of multi-functional gear selector based on construction technology |
| CN107131277A (en) * | 2017-06-06 | 2017-09-05 | 浙江大学 | Machine liquid composite transmission based on Stress control |
| CN108422857A (en) * | 2018-04-20 | 2018-08-21 | 苏州大方特种车股份有限公司 | Rail engineering automobile fluid pressure drive device |
| CN109311377A (en) * | 2016-06-14 | 2019-02-05 | 珀金斯发动机有限公司 | Kinetic energy recovery system |
| CN110001390A (en) * | 2019-04-24 | 2019-07-12 | 山东临工工程机械有限公司 | A kind of transmission system and control method |
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| CN110375053A (en) * | 2019-08-19 | 2019-10-25 | 三一汽车制造有限公司 | Land leveller |
| CN110985629A (en) * | 2019-12-26 | 2020-04-10 | 广西柳工机械股份有限公司 | Hydrostatic drive transmission system, speed change control method and loader |
| CN111271436A (en) * | 2020-02-26 | 2020-06-12 | 柳工柳州传动件有限公司 | Transmission, transmission system and loader |
| CN113189999A (en) * | 2021-04-30 | 2021-07-30 | 徐工集团工程机械股份有限公司道路机械分公司 | Road roller, speed control method and system thereof, controller and storage medium |
| CN113879097A (en) * | 2021-09-15 | 2022-01-04 | 浙江大学 | Multi-mode electro-hydraulic hybrid power system |
| WO2023160129A1 (en) * | 2022-02-22 | 2023-08-31 | 浙江康利铖机电有限公司 | Zero-steering hydraulic drive axle |
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| CN104421424A (en) * | 2013-08-23 | 2015-03-18 | 丹佛斯动力系统有限责任两合公司 | Method for engagement and disengagement |
| CN104421424B (en) * | 2013-08-23 | 2018-11-13 | 丹佛斯动力系统有限责任两合公司 | Method and control device for engaged/disengaged |
| CN106949221A (en) * | 2016-01-07 | 2017-07-14 | 熵零技术逻辑工程院集团股份有限公司 | A kind of transmission mechanism |
| US11364796B2 (en) | 2016-06-14 | 2022-06-21 | Perkins Engines Company Limited | Kinetic energy recovery system |
| CN109311377A (en) * | 2016-06-14 | 2019-02-05 | 珀金斯发动机有限公司 | Kinetic energy recovery system |
| CN106114207A (en) * | 2016-07-04 | 2016-11-16 | 覃志明 | A kind of Mechanical Driven of entirely new kind be main hydraulic-driven be auxiliary four-wheel drive running gear |
| CN106965854A (en) * | 2017-03-29 | 2017-07-21 | 星光农机股份有限公司 | Transmission control device |
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| CN107102589B (en) * | 2017-05-27 | 2019-06-11 | 徐工集团工程机械股份有限公司 | A kind of multi-functional gear selector based on construction technology |
| CN107102589A (en) * | 2017-05-27 | 2017-08-29 | 徐工集团工程机械股份有限公司 | A kind of multi-functional gear selector based on construction technology |
| CN107131277B (en) * | 2017-06-06 | 2023-12-26 | 浙江大学 | Machine-liquid compound transmission system based on pressure control |
| CN107131277A (en) * | 2017-06-06 | 2017-09-05 | 浙江大学 | Machine liquid composite transmission based on Stress control |
| CN108422857B (en) * | 2018-04-20 | 2023-11-17 | 苏州大方特种车股份有限公司 | Hydraulic driving device of track engineering vehicle |
| CN108422857A (en) * | 2018-04-20 | 2018-08-21 | 苏州大方特种车股份有限公司 | Rail engineering automobile fluid pressure drive device |
| CN110001390A (en) * | 2019-04-24 | 2019-07-12 | 山东临工工程机械有限公司 | A kind of transmission system and control method |
| CN110001390B (en) * | 2019-04-24 | 2024-02-02 | 山东临工工程机械有限公司 | Transmission system and control method |
| CN110027636A (en) * | 2019-05-17 | 2019-07-19 | 中煤科工集团重庆研究院有限公司 | One kind is based on oil-engine driven complete automatically controlled tracked mobile platform |
| CN110027636B (en) * | 2019-05-17 | 2024-02-06 | 中煤科工集团重庆研究院有限公司 | Full automatically controlled track moving platform based on internal-combustion engine drive |
| CN110375053A (en) * | 2019-08-19 | 2019-10-25 | 三一汽车制造有限公司 | Land leveller |
| CN110985629A (en) * | 2019-12-26 | 2020-04-10 | 广西柳工机械股份有限公司 | Hydrostatic drive transmission system, speed change control method and loader |
| CN110985629B (en) * | 2019-12-26 | 2023-02-17 | 广西柳工机械股份有限公司 | Hydrostatic drive transmission system, speed change control method and loader |
| CN111271436A (en) * | 2020-02-26 | 2020-06-12 | 柳工柳州传动件有限公司 | Transmission, transmission system and loader |
| CN113189999A (en) * | 2021-04-30 | 2021-07-30 | 徐工集团工程机械股份有限公司道路机械分公司 | Road roller, speed control method and system thereof, controller and storage medium |
| CN113189999B (en) * | 2021-04-30 | 2024-04-16 | 徐工集团工程机械股份有限公司道路机械分公司 | Road roller and speed control method and system thereof, controller and storage medium |
| CN113879097A (en) * | 2021-09-15 | 2022-01-04 | 浙江大学 | Multi-mode electro-hydraulic hybrid power system |
| WO2023160129A1 (en) * | 2022-02-22 | 2023-08-31 | 浙江康利铖机电有限公司 | Zero-steering hydraulic drive axle |
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Application publication date: 20121121 |