CN103434389A - Tracked vehicle electric driving device with straight driving power-assisted mechanism - Google Patents
Tracked vehicle electric driving device with straight driving power-assisted mechanism Download PDFInfo
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Abstract
The invention provides a tracked vehicle electric driving device with a straight driving power-assisted mechanism. The tracked vehicle electric driving device comprises a driving motor, a steering motor, a first reducing planet gear set, a second reducing planet gear set, a straight driving gear shift mechanism, a gear shift spindle, a neutral axis, a left neutral axis drive, a right neutral axis drive, a left confluence planet gear set, a right confluence planet gear set, a steering/driving motor, the straight driving power-assisted mechanism and a steering power-assisted mechanism, wherein the steering/driving motor is used for providing a second power source for driving a vehicle to steer and/or straight drive; the straight driving power-assisted mechanism is used for transferring power between the steering/driving motor and the gear shift spindle; the steering power-assisted mechanism is used for transferring power between the steering/driving motor and the neutral axis. The electric driving device provided by the invention is provided with the driving motor and the steering motor based on the characteristic of the actual use condition of a high-maneuverability tracked vehicle, and the steering/driving motor provides assisted power for the driving motor and the steering motor respectively through the straight driving power-assisted mechanism and the steering power-assisted mechanism and can provide low-speed driving power when the driving motor or the steering motor has a fault, so that the tracked vehicle electric driving device has relatively high vehicle steering performance and system fault-tolerant capability.
Description
Technical field
The present invention relates to vehicle electrical driving device technical field, particularly high maneuverability continuously tracked vehicle electric actuator technical field, specifically refer to a kind of continuously tracked vehicle electric actuator with straight servomechanism.
Background technology
Conventional high maneuverability continuously tracked vehicle had accumulated a large amount of statistics that are enough to characterize its applying working condition characteristics already, based on these data, proposed following viewpoint: the maximum road running speed of vehicle can reach 75km/h, and maximum speed on cross-country can reach 45km/h; The speed that the actual operating speed of vehicle far reach less than all evaluation tests with while showing, the actual monitoring data of using shows that its average ground speed only has 10～15km/h; Vehicle uses the engine operating condition statistics during rated life to show, in driving engine accumulative total work-hours, mean load be greater than 80% only account for 8%, vehicle requires speed only to account for 4% higher than 20km/h in the process of moving; As the key index of vehicle mobility, the fleet's average ground speed on the ravines and guillies criss-cross landform is generally 25～35km/h; Vehicle Speed reacts faster than the occupant, and it is N/R that moving velocity is greater than 45km/h, and when the high like this speed of a motor vehicle, on occupant or car, equipment component can't work well; In 48h fight day, engine load is not more than 50% account for nearly 42 hours, and load reaches time of 80% and 100% and respectively accounts for 3 hours; In the reserved travel of about 500km, idling, part load and full load operation account for respectively driving engine 35%, 25% and 20% of the line time that always turns round.
Above statistics and viewpoint show: while using due to reality, the vehicle average ground speed is not high, so the power that the vehicle straight consumes is not too large; Engine load is no more than 50% operating mode and has accounted for most time of ruies, and in the meantime, Vehicular turn has also consumed wherein Partial Power, is actually used in the power of vehicle straight still less; In 80% and 100% engine load, the power of Vehicular turn consumption has also accounted for larger ratio.Therefore can draw the following conclusions: during actual the use, the power of vehicle straight consumption is compared and is not dominant with the power of Vehicular turn consumption, if a plurality of propulsions source that can flexible configuration are arranged,, for low vehicle speed range in commonly used, should pay the utmost attention to the higher needed configuration of Vehicular turn performance of assurance.Turning efficiency contributes to reduce to occur to collide or goes out the accident such as road flexibly, guarantees vehicle safe driving, improves column's moving velocity.
Conventional high maneuverability continuously tracked vehicle is owing to only having propulsion source of driving engine, and Design of Transmission System can only preferentially guarantee vehicle straight performance, for turning efficiency, can only suitably take into account.This design philosophy is in the comprehensive transmission with hydraulic pressure-fluid power Combined Steering Mechanism, or adopt and to embody especially obviously in the transmission system of the double side gearbox have turning function concurrently, the latter's change speed gear box transmitting ratio is according to guaranteeing that vehicle has good straight tractive performance and chooses.And, for hybrid power electric actuator or electric actuator with a plurality of electrical motors, should be designed according to the principle of the Vehicular turn performance in low vehicle speed range in preferential assurance.Current disclosed hybrid power electric actuator or electric actuator, generally include at least three motors, wherein two drive motor are mainly used in guaranteeing vehicle straight performance, steer motor is for steering power is provided, or drive the controllable differential device realize inboard drive motor part power laterally drive motor shift after also for turning to.
U.S. Patent application US6491599B1 discloses a kind of bimodulus, the hybrid power electric actuator of compound shunting, driving engine is connected with the first planet rows of planetary frame with the driving front gear by master clutch, the first planet toothrow circle is connected with the second planet row pinion carrier, and be connected with main shaft by a power-transfer clutch, the first dynamoelectric machine rotor is connected with the second planet row gear ring, the sun wheel of two planet rows is connected with the second dynamoelectric machine rotor, the second dynamoelectric machine rotor is connected with third planet toothrow circle, its sun wheel is fixed, its pinion carrier is connected with suitable Mechanism input end, fall and be connected with main shaft along mechanism's mouth, steer motor is connected with zero axle with transmission gear by reduction planetary row, straight and turn to two-way power stream to conflux after planet row converges and export to both sides in both sides.The disclosed a kind of system configuration of specific embodiment is as follows: the horsepower output of driving engine when the 2800RPM constant-speed operation is 900kW; The continuous power of the first and second dynamoelectric machines is 510kW, maximum speed of revolution 4400RPM, maximum torque 8138Nm; Power-supply system has at least electric power output of 450kW.
U.S. Patent application US7326141B2 discloses a kind of electric actuator, it comprises left-right symmetric configuration and the drive motor of arranging, two grades of speed-changing mechanisms of single planetary row, the side transmission, mechanical braking mechanism and driving wheel, in the central configuration of electric actuator by two steer motor and two controllable differential mechanisms that differential planetaries row forms, two steer motor are coaxial affixed and be configured on the axis parallel with the drive motor rotor, by the transmitting ratio equal and opposite in direction, two groups of dead axle transmission gears of opposite direction are connected respectively with two differential planetary rows' sun wheel, two differential planetary rows' pinion carrier is affixed, its gear ring is connected respectively with two drive motor rotors.Specific embodiment openly to a kind of system configuration as follows: drive motor and steer motor all adopt induction motor; The continuous power of single drive motor is 190kW, and 5 minutes horsepower outputs are 260kW, maximum speed of revolution 12000RPM; Single steer motor has the horsepower output of 90kW, maximum speed of revolution 12000RPM.
In above-mentioned the first scheme, the first and second dynamoelectric machines and steer motor arranged coaxial, on main shaft, there is no therebetween Poewr transmission mechanism are set, and this is the typical preferential conventional system configuration that guarantees vehicle straight performance.The steer motor of smaller power is difficult to meet the power demand of original position zero turn radius on difficult road surface, maybe can by with the system combined operation of hydropneumatic suspension, by raising liftoffly with the bearing wheed of rearmost end foremost, reduce the power demand that track ground contact length reduces the original position zero turn radius.In above-mentioned first scheme, drive motor power is nearly three times (260kW/90kW=2.9) of steer motor power, obviously embodies conventional system configuration mentality of designing.
In addition, the high advantage of Fault Tolerance that the multi power source configuration has is not embodied in technique scheme, the first scheme has lost steering capability after steer motor breaks down, and first scheme has lost the straight ability when a side drive motor breaks down.
Therefore, also exist a kind of possibility of carrying out the electric actuator of configuration driven motor and steer motor based on the actual applying working condition characteristics of high maneuverability continuously tracked vehicle is provided, it can provide higher Vehicular turn performance and Fault Tolerance.
Summary of the invention
The objective of the invention is in order to overcome above-mentioned shortcoming of the prior art, a kind of continuously tracked vehicle electric actuator with straight servomechanism that comes configuration driven motor and steer motor based on the actual applying working condition characteristics of high maneuverability continuously tracked vehicle is provided.
The invention provides a kind of continuously tracked vehicle electric actuator with straight servomechanism, it comprises:
Drive motor, for providing the first propulsion source that drives the vehicle straight, steer motor, for providing the first propulsion source that drives Vehicular turn, the first reduction planetary row, for slowing down and increase square described drive motor, the second reduction planetary row, for slowing down and increase square described steer motor, the straight speed-changing mechanism, for the torque characteristics conversion of described drive motor, main shaft, zero axle, left zero shaft drive and right zero shaft drive, planet row and the right side planet row that confluxes confluxes on a left side, it is characterized in that: the described continuously tracked vehicle electric actuator with straight servomechanism also comprises: turn to/drive motor, for the second propulsion source that drives Vehicular turn and/or vehicle straight is provided, the straight servomechanism, for the transmission of power between described turning to/drive motor and described main shaft, assistant steering mechanism, for the transmission of power between described turning to/drive motor and described zero axle, and the mouth of described turning to/drive motor is connected with the input end of described straight servomechanism and the input end of described assistant steering mechanism respectively, the first mouth of described straight servomechanism is connected with described main shaft, the second mouth of described straight servomechanism with by described the first reduction planetary row, with described straight speed-changing mechanism, with described main shaft, be connected after the mouth of described drive motor is connected, the mouth of described steer motor by described the second reduction planetary row with by zero shaft drive of a described left side or right zero shaft drive, with described zero axle, be connected after the mouth of described assistant steering mechanism is connected.
According to the continuously tracked vehicle electric actuator with straight servomechanism of the present invention, described straight servomechanism comprises the first hydraulic coupler and first clutch, wherein, described the first hydraulic coupler one end is connected with described turning to/drive motor mouth, the described first hydraulic coupler other end is connected with described main shaft, when the power of described the first hydraulic coupler described turning to/drive motor when oil-filled to described main shaft transmission, described first clutch is for connecting the mouth of described turning to/drive motor and the mouth of described drive motor, when described first clutch engages the power of described turning to/drive motor by described the first reduction planetary, arrange and described straight speed-changing mechanism to described main shaft transmission.
According to the continuously tracked vehicle electric actuator with straight servomechanism of the present invention, described assistant steering mechanism comprises the second hydraulic coupler, second clutch, the forward planet row, reverse planet row, the first drg and second brake, wherein, described the second hydraulic coupler one end is connected with the mouth of described turning to/drive motor, the described second hydraulic coupler other end is connected with reverse planet row sun wheel with forward planet row sun wheel respectively, oppositely the planet row gear ring is connected with the forward planet row pinion carrier as the assistant steering mechanism mouth, described second clutch is for described the second hydraulic coupler of locking, described the first drg and second brake are respectively used to brake reverse planet row pinion carrier and forward planet row gear ring, when described the first drg engages, described assistant steering mechanism is realized oppositely shelves, when described second brake engages, described assistant steering mechanism is realized the forward shelves, when described the first drg and second brake engage simultaneously, described assistant steering mechanism is realized the steering lock stop, when described the first drg separates with second brake simultaneously, described assistant steering mechanism realizes turning to neutral gear.
According to the continuously tracked vehicle electric actuator with straight servomechanism of the present invention, described straight speed-changing mechanism comprises the straight planet row, the 3rd drg and the 3rd power-transfer clutch, wherein, described the 3rd drg is for braking straight planet row gear ring, described the 3rd power-transfer clutch is for connecting straight planet row sun wheel and gear ring thereof, when described the 3rd drg engages, described straight speed-changing mechanism is realized low-grade, when described the 3rd power-transfer clutch engages, described straight speed-changing mechanism is realized high-grade, when described the 3rd drg and the 3rd power-transfer clutch engage simultaneously, described straight speed-changing mechanism is realized straight locking shelves, when described the 3rd drg separates with the 3rd power-transfer clutch simultaneously, described straight speed-changing mechanism is realized the straight neutral gear.
According to the continuously tracked vehicle electric actuator with straight servomechanism of the present invention, when vehicle has middle low power or medium-and-small torque demand, described first clutch separates, described the first hydraulic coupler is emptying, and described assistant steering mechanism is hung and turned to neutral gear, and described the second hydraulic coupler is emptying, described turning to/drive motor is static, described drive motor is operated in electric model, and described steer motor is operated in lockdown mode or electric model, drive the vehicle straight or advance between turn to.
According to the continuously tracked vehicle electric actuator with straight servomechanism of the present invention, when vehicle has high-power or large torque-demand, described first clutch engages or separates, described the first hydraulic coupler is oil-filled or emptying, described assistant steering mechanism is hung forward shelves or reverse shelves, described the second hydraulic coupler is oil-filled or emptying, described turning to/drive motor and drive motor all are operated in electric model, described steer motor is operated in lockdown mode or electric model, drive the vehicle straight or advance between turn to.
According to the continuously tracked vehicle electric actuator with straight servomechanism of the present invention, when vehicle original position zero turn radius, described straight speed-changing mechanism is hung straight locking shelves and/or described drive motor is operated in lockdown mode by described main shaft locking, described assistant steering mechanism is hung forward shelves or reverse shelves, described second clutch engages, and described turning to/drive motor drives vehicle original position zero turn radius together with steer motor.
According to the continuously tracked vehicle electric actuator with straight servomechanism of the present invention, cheat on difficult landform at vehicle and fall into while rolling away from, described assistant steering mechanism hangs the steering lock stop and described steer motor is operated in lockdown mode by described zero axle locking, described first clutch engages, and described turning to/drive motor drives the vehicle straight together with drive motor.
According to the continuously tracked vehicle electric actuator with straight servomechanism of the present invention, when described drive motor breaks down, described first clutch engages, described the first hydraulic coupler is emptying, described assistant steering mechanism is hung and is turned to neutral gear, and described the second hydraulic coupler is emptying, and described turning to/drive motor is operated in electric model, described steer motor is operated in lockdown mode or electric model, drive the vehicle straight or advance between turn to; When described steer motor breaks down, described assistant steering mechanism is hung forward shelves or reverse shelves, described second clutch engages, described the second hydraulic coupler is emptying, described turning to/drive motor is operated in lockdown mode or electric model, described drive motor is operated in electric model, drive the vehicle straight or advance between turn to; And when described drive motor and steer motor break down, described first clutch and second clutch timesharing engage, described assistant steering mechanism is hung steering lock stop, forward shelves or reverse shelves, and described turning to/drive motor is operated in electric model, drive the vehicle straight or advance between turn to.
The present invention is based on the actual applying working condition characteristics of high maneuverability continuously tracked vehicle and come configuration driven motor and steer motor, and turn to/drive motor can provide power-assisted by straight and assistant steering mechanism to drive motor and steer motor respectively, and when breaking down, drive motor or steer motor can provide low speed driving power.Therefore, can obtain a kind of have higher Vehicular turn performance and the continuously tracked vehicle electric actuator of Fault Tolerance according to the present invention.
The accompanying drawing explanation
Fig. 1 is the structural representation of the related continuously tracked vehicle electric actuator with straight servomechanism of the present invention's one specific embodiment.
In figure: the 1st, drive motor; The 2nd, steer motor; The 3rd, turn to/drive motor; 4,41,42 is respectively straight servomechanism, first clutch and the first hydraulic coupler; 5,51,52,53,54,55,56 is respectively assistant steering mechanism, the second hydraulic coupler, second clutch, the first drg, reverse planet row, second brake and forward planet row; 6 is first reduction planetary rows; 7 is second reduction planetary rows; 8,81,82,83 is respectively straight speed-changing mechanism, straight variable speed planetary row, the 3rd power-transfer clutch and the 3rd drg; 9L, 9R is respectively left side planet row and the right side planet row that confluxes that confluxes; 10L, 10R is respectively stop port drg and right parking brake; 11L, 11R is respectively left side transmission and right side transmission; 12L, 12R is respectively left zero shaft drive and right zero shaft drive; The 13rd, main shaft; The 14th, zero axle; The 15th, the integrated power control unit; The 16th, supply unit; The 17th, entire car controller.
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 the present invention is described, rather than limitation of the present invention.
Fig. 1 is the structural representation of the related continuously tracked vehicle electric actuator with straight servomechanism of the present invention's one specific embodiment.With reference to Fig. 1, the continuously tracked vehicle electric actuator with straight servomechanism comprises: drive motor 1, for the first propulsion source that drives the vehicle straight is provided; Steer motor 2, for providing the first propulsion source that drives Vehicular turn; The first reduction planetary row 6, for slowing down and increase square drive motor 1; The second reduction planetary row 7, for slowing down and increase square steer motor 2; Straight speed-changing mechanism 8, for the torque characteristics conversion of drive motor 1; Main shaft 13; Zero axle 14; Left zero shaft drive 12L and right zero shaft drive 12R; Planet row 9L and the right side planet row 9R that confluxes confluxes on a left side; Stop port drg 10L and right parking brake 10R; Left side transmission 11L and right side transmission 11R; Turn to/drive motor 3, for providing the second propulsion source that drives Vehicular turn and/or vehicle straight; Straight servomechanism 4, for the transmission of power between turn to/drive motor 3 and main shaft 13; Assistant steering mechanism 5, for the transmission of power between turn to/drive motor 3 and zero axle 14.
The mouth of turn to/drive motor 3 is connected with the input end of assistant steering mechanism 5 with the input end of straight servomechanism 4 respectively, the first mouth of straight servomechanism 4 is connected with main shaft 13, the second mouth of straight servomechanism 4 with by the first reduction planetary row 6, with straight speed-changing mechanism 8, with main shaft 13, be connected after the mouth of drive motor 1 is connected, the mouth of steer motor 2 by the second reduction planetary row 7 with by left zero shaft drive 12L or right zero shaft drive 12R, with zero axle 14, be connected after the mouth of assistant steering mechanism 5 is connected.
Usually determine required total driving power according to maximum speed, 55 tons of high maneuverability continuously tracked vehicle power required at maximum speed 72km/h are 1000kW, and the required power of 6s original position zero turn radius one circle is 800kW.From steer motor 2 and turn to/drive motor 3, be that part time participation driving is different, almost full-time of drive motor 1, for exempting to reduce the life-span, it enters overload hardly.In the present embodiment, the continuous power of drive motor 1 is 500kW; The maximum 5min power of steer motor 2 and turn to/drive motor 3 is also all elected 500kW as, and overload magnification selects 1.5, and its continuous power is 333kW.Dissimilar motor has different overload magnifications, and large than induction motor of the overload magnification of magneto-electric machine wherein can further reduce the volume of motor, obtains compacter electric actuator.
Because the power of the steer motor 2 configured is larger, therefore, can meet the requirement in most cases accurately turned to continuous turning, simplified operation.Because column's marching speed depends primarily on driving experience and that minimum chaufeur of driving ability, after the steer motor 2 of configuration relatively high power, it is required greatly to reduce, also improved column's average ground speed.
Integrated power control unit 15 is for controlling drive motor 1, steer motor 2 and turn to/drive motor 3.Supply unit 16 consists of energy-storage travelling wave tubes such as generator set and super capacitor, lithium ion battery, fuel cells, the driving engine of generator set adopts rotating combustion engine, automotive gas turbine or high speed diesel engine (rotating speed at least reaches 4250rpm) to reduce the volume of generator set and supply unit 16, in this specific embodiment, supply unit 16 should be able to provide at least continuous electric power output of 900kW, the output of 5min maximum electric power should reach 1250kW, and mourning in silence travels while not starting the engine can provide at least electric power output of 500kW.Entire car controller 17 is for carrying out energy and torque management to supply unit 16 and integrated power control unit 15, its input is for characterizing the acceleration pedal of power demand and the angle signal of bearing circle or left and right joystick, and comprehensively after the status information of other parts, the power output to drive motor 1, steer motor 2 and turn to/drive motor 3 manages.
Straight servomechanism 4 comprises first clutch 41 and the first hydraulic coupler 42, wherein, one end of the first hydraulic coupler 42 is connected with the mouth of turn to/drive motor 3, the other end is connected with main shaft 13, when the power of the first hydraulic coupler 42 turn to/drive motor 3 when oil-filled transmits to main shaft 13, first clutch 41 is for the mouth of turn to/drive motor of connection 3 and the mouth of drive motor 1, when first clutch 41 engages, the power of turn to/drive motor 3 transmits to main shaft 13 by the first reduction planetary row 6 and straight speed-changing mechanism 8.Because the power of only turn to/drive motor 3 transmits to main shaft 13 by straight servomechanism 4, therefore, straight servomechanism 4 gets final product by the power stage configuration of turn to/drive motor 3.
Assistant steering mechanism 5 comprises the second hydraulic coupler 51, second clutch 52, forward planet row 56, reverse planet row 54, the first drg 53 and second brake 55, wherein, one end of the second hydraulic coupler 51 is connected with the mouth of turn to/drive motor 3, the other end is connected with the sun wheel of reverse planet row 54 with the sun wheel of forward planet row 56, the gear ring of reverse planet row 54 is connected with the pinion carrier of the forward planet row 56 of the mouth as assistant steering mechanism 5, the first drg 53 and second brake 55 are respectively used to brake the pinion carrier of reverse planet row 54 and the gear ring of forward planet row 56, when the first drg 53 engages, assistant steering mechanism 5 is realized oppositely shelves, when second brake 55 engages, assistant steering mechanism 5 is realized the forward shelves, when the first drg 53 and second brake 55 engage simultaneously, assistant steering mechanism 5 is realized the steering lock stop, when the first drg 53 separates with second brake 55 simultaneously, assistant steering mechanism 5 realizes turning to neutral gear.
In order to guarantee that hanging the forward shelves all has equal-sized output with reverse shelves, has identical power-assisted effect for left steering and right steering, the structural characteristic parameter k of the structural characteristic parameter kp of forward planet row 56 and reverse planet row 54
nshould meet k
n=1+k
pcondition.Because the power of only turn to/drive motor 3 transmits to zero axle 14 by assistant steering mechanism 5, therefore, assistant steering mechanism 5 gets final product by the power stage configuration of turn to/drive motor 3.
The first hydraulic coupler 42 and the second hydraulic coupler 51 are the forward blade impeller disk, can only unidirectional efficient transferring power, and to reduce its volume.Because straight is main operating mode, and assistant steering mechanism 5 is provided with the forward shelves and oppositely shelves are to realize left steering and right steering power-assisted, and the hand of rotation of therefore, turn to/drive motor 3 and drive motor 1 are consistent.When advancing, the first hydraulic coupler 42 and the second hydraulic coupler 51 can efficiently transmit power-assisted, the anxious straight of accelerating of General Requirements when reversing, first clutch 41 engages the large torque that provides required, the power of turn to/drive motor 3 is 13 transmission without the first hydraulic coupler 42 to main shaft, the second hydraulic coupler 51 does not transmit power-assisted substantially yet, and therefore, the first hydraulic coupler 42 and second hydraulic coupler 51 each needs are unidirectional to be arranged one and get final product.
Straight speed-changing mechanism 8 comprises straight planet row 81, the 3rd drg 83 and the 3rd power-transfer clutch 82, wherein, the 3rd drg 83 is for braking the gear ring of straight planet row 81, when the 3rd drg 83 engages, straight speed-changing mechanism 8 is realized low-grade, sun wheel and the gear ring thereof of the 3rd power-transfer clutch 82 for connecting straight planet row 81, when the 3rd power-transfer clutch 82 engages, straight speed-changing mechanism 8 is realized high-grade, when the 3rd drg 83 and the 3rd power-transfer clutch 82 engage simultaneously, straight speed-changing mechanism 8 is realized straight locking shelves, when the 3rd drg 83 separates with the 3rd power-transfer clutch 82 simultaneously, straight speed-changing mechanism 8 is realized the straight neutral gear.
Because drive motor 1 has the expansion speed ratio up to 4, so straight speed-changing mechanism 8 simplified, and having two gears that advance can meet the demands.And reverse gear is not set separately, reversing is by electronic the completing of drive motor 1 reversion.The high-grade transmitting ratio of straight speed-changing mechanism 8 is 1, and low gear ratio is selected between 3～4.Because the power of turn to/drive motor 3 also can be by straight speed-changing mechanism 8 to main shaft 13 transmission, therefore, straight speed-changing mechanism 8 should be by full power output configuration.
When middle low power or medium-and-small torque demand, first clutch 41 separates, the first hydraulic coupler 42 is emptying, assistant steering mechanism 5 is hung and is turned to neutral gear, the second hydraulic coupler 51 is emptying, and turn to/drive motor 3 is static, and drive motor 1 is operated in electric model, steer motor 2 is operated in lockdown mode or electric model, drive the vehicle straight or advance between turn to.
Because drive motor 1 and steer motor 2 all have total driving power of 1/2 and can meet the demand of normal road traveling, therefore turn to/drive motor 3 need not provide power to participate in driving the vehicle straight or turning to by straight, assistant steering mechanism 4 and 5, and it can remain static.
When high-power or large torque-demand, first clutch 41 engages or separates, the first hydraulic coupler 42 is oil-filled or emptying, assistant steering mechanism 5 is hung forward shelves or reverse shelves, the second hydraulic coupler 51 is oil-filled or emptying, turn to/drive motor 3 and drive motor 1 are operated in electric model, and steer motor 2 is operated in lockdown mode or electric model, drive the vehicle straight or advance between turn to.
For example, when the low speed climb very steep slopes, the power of turn to/drive motor 3 through together with the power of first clutch 41 and drive motor 1 by the straight speed-changing mechanism 4 of shift to a lower speed after output, drive vehicle to climb up 60% abrupt slope; When running maximum speed, the power of turn to/drive motor 3 through together with the power of first clutch 41 and drive motor 1 by the straight speed-changing mechanism 4 of shift to a higher gear after output, drive vehicle to reach the maximum speed of 72km/h.During low speed of a motor vehicle small radius steering, the power of turn to/drive motor 3 is divided into two-way, the first hydraulic coupler 42 of one route straight servomechanism 4 is delivered to main shaft 13, the second hydraulic coupler 51 of another route assistant steering mechanism 5 is delivered to zero axle 14, respectively with the power stack rear drive Vehicle Driving Cycle of drive motor 1 and steer motor 2.When the first hydraulic coupler 42 and/or the complete oil-filled or part of the second hydraulic coupler 51 when oil-filled, turn to drive motor 3 to accelerate to higher rotation speed, adjust the slippage rate of the first hydraulic coupler 42 and/or the second hydraulic coupler 51, in order to obtain greater efficiency when transmitting larger torque.
In position during zero turn radius, straight speed-changing mechanism 4 hangs straight locking shelves and/or drive motor 1 is operated in lockdown mode by main shaft 13 lockings, assistant steering mechanism 5 is hung forward shelves or reverse shelves and second clutch 52 and is engaged, and turn to/drive motor 3 drives vehicle original position zero turn radius together with steer motor 2.
On difficult landform, hole falls into while rolling away from, and assistant steering mechanism 5 hangs the steering lock stop and steer motor 2 is operated in lockdown mode by zero axle 14 lockings, and first clutch 41 engages, and turn to/drive motor 3 drives the vehicle straight together with drive motor 1.Rely on mechanical latching torque and electric power locking torque, zero axle 14 will be by locking reliably, so that the giving full play to of vehicle drive force.
When drive motor 1 breaks down, first clutch 41 engages, the first hydraulic coupler 42 is emptying, assistant steering mechanism 5 is hung and is turned to neutral gear, the second hydraulic coupler 51 is emptying, turn to/drive motor 3 is operated in electric model, and steer motor 2 is operated in lockdown mode or electric model, drive the vehicle straight or advance between turn to.
When steer motor 2 breaks down, assistant steering mechanism 5 is hung forward shelves or reverse shelves, and second clutch 52 engages, the second hydraulic coupler 51 is emptying, turn to/drive motor 3 is operated in lockdown mode or electric model, and drive motor 1 is operated in electric model, drive the vehicle straight or advance between turn to.
When drive motor 1 and steer motor 2 break down, engage first clutch 41 and second clutch 52 by timesharing, turn to/drive motor 3 drive the vehicle straight or advance between turn to.For example, second clutch 52 separates fully and first clutch 41 engages fully, turn to/drive motor 3 drives the vehicle straight, and while turning to, first clutch 41 partially or completely separates, and second clutch 52 partially or completely engages, assistant steering mechanism 5 is hung forward shelves or reverse shelves, turn to/drive motor 3 drives vehicle to be turned to, and after having turned to, second clutch 52 separates fully, first clutch 41 engages fully, and vehicle continues straight.
In addition, when three motors 1, 2 and 3 all break down, perhaps supply unit 16 breaks down, when the vehicle paralysis needs to drag to maintenance station by trailer, straight speed-changing mechanism 8 is hung the straight neutral gear, assistant steering mechanism 5 is hung and is turned to neutral gear, the first hydraulic coupler 42 and the second hydraulic coupler 51 are emptying, contacting between drive motor 1 and turn to/drive motor 3 and crawler belt is cut off, not only vehicle is easy to be dragged but also avoid two motors further to damage, not contacting between steer motor 2 and crawler belt cut off, but it is lower to drag turning velocity, be unlikely to increase the weight of its damage rate.
Specific embodiments of the invention are come configuration driven motor and steer motor based on the actual applying working condition characteristics of high maneuverability continuously tracked vehicle, and turn to/drive motor can provide power-assisted by straight and assistant steering mechanism to drive motor and steer motor respectively, and when breaking down, drive motor or steer motor provide low speed driving power.Therefore, can obtain a kind of have higher Vehicular turn performance and the continuously tracked vehicle electric actuator of Fault Tolerance according to the present invention.
The present invention is not limited to above-described embodiment, but cover the institute carried out in the situation that does not break away from the spirit and scope of the present invention, changes and revises.These changes and revise and should not be considered to break away from the spirit and scope of the present invention, and all modifications such as it will be apparent to those skilled in the art that all should be included within the scope of the appended claims.
Claims (9)
1. the continuously tracked vehicle electric actuator with straight servomechanism, it comprises:
Drive motor, for providing the first propulsion source that drives the vehicle straight; Steer motor, for providing the first propulsion source that drives Vehicular turn; The first reduction planetary row, for slowing down and increase square described drive motor; The second reduction planetary row, for slowing down and increase square described steer motor; The straight speed-changing mechanism, for the torque characteristics conversion of described drive motor; Main shaft; Zero axle; Left zero shaft drive and right zero shaft drive; Planet row and the right side planet row that confluxes confluxes on a left side; It is characterized in that:
The described continuously tracked vehicle electric actuator with straight servomechanism also comprises:
Turn to/drive motor, for the second propulsion source that drives Vehicular turn and/or vehicle straight is provided;
The straight servomechanism, for the transmission of power between described turning to/drive motor and described main shaft;
Assistant steering mechanism, for the transmission of power between described turning to/drive motor and described zero axle; And
The mouth of described turning to/drive motor is connected with the input end of described straight servomechanism and the input end of described assistant steering mechanism respectively, the first mouth of described straight servomechanism is connected with described main shaft, the second mouth of described straight servomechanism with by described the first reduction planetary row, with described straight speed-changing mechanism, with described main shaft, be connected after the mouth of described drive motor is connected, the mouth of described steer motor by described the second reduction planetary row with by zero shaft drive of a described left side or right zero shaft drive, with described zero axle, be connected after the mouth of described assistant steering mechanism is connected.
2. the continuously tracked vehicle electric actuator with straight servomechanism according to claim 1, is characterized in that,
Described straight servomechanism comprises the first hydraulic coupler and first clutch, wherein, described the first hydraulic coupler one end is connected with described turning to/drive motor mouth, the described first hydraulic coupler other end is connected with described main shaft, when the power of described the first hydraulic coupler described turning to/drive motor when oil-filled to described main shaft transmission, described first clutch is for connecting the mouth of described turning to/drive motor and the mouth of described drive motor, when described first clutch engages the power of described turning to/drive motor by described the first reduction planetary, arrange and described straight speed-changing mechanism to described main shaft transmission.
3. the continuously tracked vehicle electric actuator with straight servomechanism according to claim 2, is characterized in that,
Described assistant steering mechanism comprises the second hydraulic coupler, second clutch, the forward planet row, reverse planet row, the first drg and second brake, wherein, described the second hydraulic coupler one end is connected with the mouth of described turning to/drive motor, the described second hydraulic coupler other end is connected with reverse planet row sun wheel with forward planet row sun wheel respectively, oppositely the planet row gear ring is connected with the forward planet row pinion carrier as the assistant steering mechanism mouth, described second clutch is for described the second hydraulic coupler of locking, described the first drg and second brake are respectively used to brake reverse planet row pinion carrier and forward planet row gear ring, when described the first drg engages, described assistant steering mechanism is realized oppositely shelves, when described second brake engages, described assistant steering mechanism is realized the forward shelves, when described the first drg and second brake engage simultaneously, described assistant steering mechanism is realized the steering lock stop, when described the first drg separates with second brake simultaneously, described assistant steering mechanism realizes turning to neutral gear.
4. the continuously tracked vehicle electric actuator with straight servomechanism according to claim 1, is characterized in that,
Described straight speed-changing mechanism comprises the straight planet row, the 3rd drg and the 3rd power-transfer clutch, wherein, described the 3rd drg is for braking straight planet row gear ring, described the 3rd power-transfer clutch is for connecting straight planet row sun wheel and gear ring thereof, when described the 3rd drg engages, described straight speed-changing mechanism is realized low-grade, when described the 3rd power-transfer clutch engages, described straight speed-changing mechanism is realized high-grade, when described the 3rd drg and the 3rd power-transfer clutch engage simultaneously, described straight speed-changing mechanism is realized straight locking shelves, when described the 3rd drg separates with the 3rd power-transfer clutch simultaneously, described straight speed-changing mechanism is realized the straight neutral gear.
5. the continuously tracked vehicle electric actuator with straight servomechanism according to claim 3, is characterized in that,
When vehicle has middle low power or medium-and-small torque demand, described first clutch separates, described the first hydraulic coupler is emptying, described assistant steering mechanism is hung and is turned to neutral gear, described the second hydraulic coupler is emptying, and described turning to/drive motor is static, and described drive motor is operated in electric model, described steer motor is operated in lockdown mode or electric model, drive the vehicle straight or advance between turn to.
6. the continuously tracked vehicle electric actuator with straight servomechanism according to claim 3, is characterized in that,
When vehicle has high-power or large torque-demand, described first clutch engages or separates, described the first hydraulic coupler is oil-filled or emptying, described assistant steering mechanism is hung forward shelves or reverse shelves, described the second hydraulic coupler is oil-filled or emptying, described turning to/drive motor and drive motor all are operated in electric model, and described steer motor is operated in lockdown mode or electric model, drive the vehicle straight or advance between turn to.
7. the continuously tracked vehicle electric actuator with straight servomechanism according to claim 3, is characterized in that,
When vehicle original position zero turn radius, described straight speed-changing mechanism is hung straight locking shelves and/or described drive motor is operated in lockdown mode by described main shaft locking, described assistant steering mechanism is hung forward shelves or reverse shelves, described second clutch engages, and described turning to/drive motor drives vehicle original position zero turn radius together with steer motor.
8. the continuously tracked vehicle electric actuator with straight servomechanism according to claim 2, is characterized in that,
Cheat on difficult landform at vehicle and fall into while rolling away from, described assistant steering mechanism hangs the steering lock stop and described steer motor is operated in lockdown mode by described zero axle locking, described first clutch engages, and described turning to/drive motor drives the vehicle straight together with drive motor.
9. the continuously tracked vehicle electric actuator with straight servomechanism according to claim 3, is characterized in that,
When described drive motor breaks down, described first clutch engages, described the first hydraulic coupler is emptying, described assistant steering mechanism is hung and is turned to neutral gear, described the second hydraulic coupler is emptying, described turning to/drive motor is operated in electric model, and described steer motor is operated in lockdown mode or electric model, drive the vehicle straight or advance between turn to;
When described steer motor breaks down, described assistant steering mechanism is hung forward shelves or reverse shelves, described second clutch engages, described the second hydraulic coupler is emptying, described turning to/drive motor is operated in lockdown mode or electric model, described drive motor is operated in electric model, drive the vehicle straight or advance between turn to; And
When described drive motor and steer motor break down, described first clutch and second clutch timesharing engage, described assistant steering mechanism is hung steering lock stop, forward shelves or reverse shelves, and described turning to/drive motor is operated in electric model, drive the vehicle straight or advance between turn to.
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