CN103465777A - Double-differential electromechanical compound transmission device for crawler vehicle - Google Patents

Double-differential electromechanical compound transmission device for crawler vehicle Download PDF

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Publication number
CN103465777A
CN103465777A CN2013103090804A CN201310309080A CN103465777A CN 103465777 A CN103465777 A CN 103465777A CN 2013103090804 A CN2013103090804 A CN 2013103090804A CN 201310309080 A CN201310309080 A CN 201310309080A CN 103465777 A CN103465777 A CN 103465777A
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gear
right side
left side
described
described left
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CN2013103090804A
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Chinese (zh)
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CN103465777B (en
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彭增雄
胡纪滨
苑士华
李雪原
荆崇波
魏超
吴维
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北京理工大学
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Abstract

The invention belongs to the technical field of power transmission and particularly relates to a double-differential electromechanical compound transmission device. The double-differential electromechanical compound transmission device for a crawler vehicle has the technical scheme that the double-differential electromechanical compound transmission device mainly consists of two driving motors, two sets of three-gear planetary speed change mechanisms, a left confluence planetary bar, a right confluence planetary bar, two zero shafts, four pairs of connecting gears, two sets of speed reducing planetary bars, two sets of main brakes and two sets of lateral speed reducing mechanisms, wherein the two zero shafts are connected with the left confluence planetary bar and the right confluence planetary bar. The double-differential electromechanical compound transmission device has the advantages that the mode of the two driving motors is only adopted, two confluence planetary bars are arranged, two differentials are connected through two zero shafts similar to the double-power flow driving mode, the problem of backflow power transfer from an inner side crawler belt to an outer side crawler belt of the double-motor independent driving is solved, the power grade of the driving motors is effectively reduced, the driving motors can realize the straight running and steering functions, the functions of stepless driving, stepless steering, zero position steering and the like are realized, and the volume power density of the transmission device can be improved.

Description

Continuously tracked vehicle double differectial electromechanical compound gearing

Technical field

The invention belongs to the power transmission technical field, be specifically related to a kind of double differectial electromechanical compound gearing.

Background technology

Electric transmission has flexible arrangement, the advantages such as infinite speed variation, and along with the raising of electric drive system efficiency and power density, its application at continuously tracked vehicle will be more extensive.The simplest System in Electric-drive Tracked Vehicle adopts two motors one-sided crawler belts of individual drive respectively, and the speed difference by two motors realizes turning to of continuously tracked vehicle.But in continuously tracked vehicle small radius steering process, the low speed side crawler belt must provide braking force, the high-speed side crawler belt must provide propulsive effort, produce the backflow power of low speed crawler belt to the high speed crawler belt, the power that causes high-speed side crawler belt transmission under some operating mode of small radius steering be straight while advancing power 170%, cause the power grade demand of both sides drive motor to increase, had a strong impact on the power density of electric drive system.Therefore the backflow power of low speed side crawler belt need to be transferred to high-speed side by other paths, to reduce the power grade of motor.

Turn to the double power flow drive form with straight, the straight motor provides the straight torque, and steer motor provides and turns to torque, and while turning to, inboard crawler belt power is delivered to outside crawler belt through the planet row that confluxes by mechanical mode, transmission efficiency is high, and required steer motor and the straight power of motor little.When shortcoming is straight, steer motor is not worked, and exists power idle, is difficult to further improve the power density of driving system.

Summary of the invention

The objective of the invention is: for overcoming the deficiencies in the prior art, proposed a kind of continuously tracked vehicle double differectial electromechanical compound gearing that is applicable to, solved the backflow power problem of transmission of the inboard crawler belt of dual motors drive to outside crawler belt;

Technical scheme of the present invention is: a kind of continuously tracked vehicle double differectial electromechanical compound gearing, it comprises: left side drive motor, left side three gear planet speed change mechanisms, left side one gear drg, left side two gear drgs, left side three gear power-transfer clutchs, the left side gear ring connects gear, left side zero axle connects gear, the left side sun wheel connects gear, upper zero axle, the left side bus duct, left side reduction planetary row, the left side foundation brakes, the left side driver, right side drive motors, right side three gear planet speed change mechanisms, right side one gear drg, right side two gear drgs, right side three gear power-transfer clutchs, the right side gear ring connects gear, right side zero axle connects gear, the right side sun wheel connects gear, lower zero axle, the right side bus duct, right side reduction planetary row, right side foundation brakes and right side driver,

The output shaft of left side drive motor is connected with two sun wheels of left side three gear planet speed change mechanisms by left side three gear power-transfer clutchs; Wherein, left side one gear drg, left side two gear drgs are controlled two sun wheels of left side three gear planet speed change mechanisms; The output planetary frame of left side three gear planet speed change mechanisms is connected gear with the gear ring of left side bus duct and left side gear ring and is connected; The gear ring of left side bus duct is connected with left side reduction planetary row's sun wheel, and left side reduction planetary row's output planetary frame drives left track through left side foundation brakes and left side driver;

The output shaft of right side drive motors is connected with two sun wheels of right side three gear planet speed change mechanisms by right side three gear power-transfer clutchs; Wherein, right side one gear drg, right side two gear drgs are controlled two sun wheels of right side three gear planet speed change mechanisms; The output planetary frame of right side three gear planet speed change mechanisms is connected gear with the gear ring of right side bus duct and right side gear ring and is connected; The gear ring of right side bus duct is connected with right side reduction planetary row's sun wheel, and right side reduction planetary row's output planetary frame drives the right side crawler belt through right side foundation brakes and right side driver;

Left side drive motor and right side drive motors are coaxially arranged side by side, and the two ends of upper zero axle connect respectively left side zero axle connection gear and are connected gear with the right side sun wheel, and left side zero axle connection gear is connected gear with the left side gear ring and is meshed; The two ends of zero axle connect respectively right side zero axle connection gear and are connected gear with the left side sun wheel down, and right side zero axle connection gear is connected gear with the right side gear ring and is meshed.

The invention has the beneficial effects as follows: (1) utilizes 3 gear planet speed change mechanisms, greatly reduces torque and the speed adjustable range of drive motor, reduces the motor technology risk and the power density of driving device is provided; Can take full advantage of the high efficiency range of motor, improved the driving efficiency of driving device simultaneously.

(2) adopt two zero axles, connect about gear connects the planet row that confluxes, can realize that the inboard crawler belt backflow power in steering procedure is delivered to outside crawler belt, wherein most of power, by the mechanical type transmission, has realized turning to efficient transmission and the utilization of backflow power.

(3) can realize reversing gear by 2 drive motor reversions, without reverse gear mechanism is set, simple in structure.

(4) saved steering hardware and the steer motor of double-current transmission, two drive motor are taken into account straight and turn to, and drive motor power takes full advantage of.

The accompanying drawing explanation

Fig. 1 is structural representation of the present invention;

Fig. 2 is preferred embodiment of the invention structural representation;

Wherein, the 10a-left side drive motor, 20a-left side three gear planet speed change mechanisms, 21a-left side one gear drg, 22a-left side two gear drgs, 23a-left side three gear power-transfer clutchs, 30a-left side gear ring connects gear, 31a-left side zero axle connects gear, 32a-left side sun wheel connects gear, upper zero axle of 40a-, 50a-left side bus duct, 60a-left side reduction planetary row, 70a-left side foundation brakes, 80a-left side driver, the 10b-right side drive motors, 20b-right side three gear planet speed change mechanisms, 21b-right side one gear drg, 22b-right side two gear drgs, 23b-right side three gear power-transfer clutchs, 30b-right side gear ring connects gear, 31b-right side zero axle connects gear, 32b-right side sun wheel connects gear, zero axle under 40b-, 50b-right side bus duct, 60b-right side reduction planetary row, 70b-right side foundation brakes, 80b-right side driver.

The specific embodiment

Referring to accompanying drawing 1, a kind of continuously tracked vehicle double differectial electromechanical compound gearing, it comprises: left side drive motor 10a, left side three gear planet speed change mechanism 20a, left side one gear drg 21a, left side two gear drg 22a, left side three gear power-transfer clutch 23a, the left side gear ring connects gear 30a, left side zero axle connects gear 31a, the left side sun wheel connects gear 32a, upper zero axle 40a, left side bus duct 50a, left side reduction planetary row 60a, left side foundation brakes 70a, left side driver 80a, right side drive motors 10b, right side three gear planet speed change mechanism 20b, right side one gear drg 21b, right side two gear drg 22b, right side three gear power-transfer clutch 23b, the right side gear ring connects gear 30b, right side zero axle connects gear 31b, the right side sun wheel connects gear 32b, lower zero axle 40b, right side bus duct 50b, right side reduction planetary row 60b, right side foundation brakes 70b and right side driver 80b,

The output shaft of left side drive motor 10a is connected with two sun wheels of left side three gear planet speed change mechanism 20a by left side three gear power-transfer clutch 23a; Wherein, left side one gear drg 21a, left side two gear drg 22a are controlled two sun wheels of left side three gear planet speed change mechanism 20a; The output planetary frame of left side three gear planet speed change mechanism 20a is connected gear 30a with the gear ring of left side bus duct 50a and left side gear ring and is connected; The gear ring of left side bus duct 50a is connected with the sun wheel of left side reduction planetary row 60a, and the output planetary frame of left side reduction planetary row 60a drives left track through left side foundation brakes 70a and left side driver 80a;

The output shaft of right side drive motors 10b is connected with two sun wheels of right side three gear planet speed change mechanism 20b by right side three gear power-transfer clutch 23b; Wherein, right side one gear drg 21b, right side two gear drg 22b are controlled two sun wheels of right side three gear planet speed change mechanism 20b; The output planetary frame of right side three gear planet speed change mechanism 20b is connected gear 30b with the gear ring of right side bus duct 50b and right side gear ring and is connected; The gear ring of right side bus duct 50b is connected with the sun wheel of right side reduction planetary row 60b, and the output planetary frame of right side reduction planetary row 60b drives the right side crawler belt through right side foundation brakes 70b and right side driver 80b;

Left side drive motor 10a and right side drive motors 10b are coaxially arranged side by side, and the two ends of upper zero axle 40a connect respectively left side zero axle connection gear 31a and are connected gear 32b with the right side sun wheel, and left side zero axle connection gear 31a is connected gear 30a with the left side gear ring and is meshed; The two ends of zero axle 40b connect respectively right side zero axle connection gear 31b and are connected gear 32a with the left side sun wheel down, and right side zero axle connection gear 31b is connected gear 30b with the right side gear ring and is meshed.

The power of left side drive motor 10a output, after the three gear planet speed change mechanism 20a of left side, divides the two-way transmission; One tunnel is delivered to the gear ring of left side bus duct 50a, and another road is connected with the right side sun wheel sun wheel that gear 32b is delivered to right side bus duct 50b through left side gear ring connection gear 30a, left side zero axle connection gear 31a, upper zero axle 40a;

The power of right side drive motors 10b output, after the three gear planet speed change mechanism 20b of right side, divides the two-way transmission; One tunnel is delivered to the gear ring of right side bus duct 50b, and another road is connected through right side gear ring connection gear 30b, right side zero axle connection gear 31b, lower zero axle 40b the sun wheel that gear 32a is delivered to left side bus duct 50a with the left side sun wheel;

After left side bus duct 50a converges two-way power, drive left track through left side reduction planetary row 60a, left side foundation brakes 70a and left side driver 80a successively;

After right side bus duct 50b converges two-way power, drive the right side crawler belt through right side reduction planetary row 60b, right side foundation brakes 70b and right side driver 80b successively.

Referring to accompanying drawing 2, in the present invention, left side three gear planet speed change mechanism 20a and right side three gear planet speed change mechanism 20b are preferably the La Weina planetary mechanism.

Under the operating mode of climbing, the synchronized in the same way rotation of left side drive motor 10a and right side drive motors 10b, left side one gear drg 21a is combined with right side one gear drg 21b, makes left side three gear planet speed change mechanism 20a and right side three gear planet speed change mechanism 20b in 1 gear, drives the crawler vehicle climbing.

Under the operating mode of normally travelling, the synchronized in the same way rotation of left side drive motor 10a and right side drive motors 10b, left side two gear drg 22a are combined with right side two gear drg 22b, make left side three gear planet speed change mechanism 20a and right side three gear planet speed change mechanism 20b in 2 gears, drive crawler vehicle normally to travel.

Under the operating mode of running at high speed, the synchronized in the same way rotation of left side drive motor 10a and right side drive motors 10b, left side three gear power-transfer clutch 23a are combined with right side three gear power-transfer clutch 23b, make left side three gear planet speed change mechanism 20a and right side three gear planet speed change mechanism 20b in 3 gears, drive the crawler belt overall height to travel.

Under the zero turn radius operating mode, the reverse synchronized rotation of left side drive motor 10a and right side drive motors 10b, left side one gear drg 21a is combined with right side one gear drg 21b, make left side three gear planet speed change mechanism 20a and right side three gear planet speed change mechanism 20b in 1 gear, realize the crawler vehicle zero turn radius.

When large radius steering situation, left side three gear planet speed change mechanism 20a and right side three gear planet speed change mechanism 20b are in same gear, control the rotating speed of left side drive motor 10a and right side drive motors 10b, make the Speed Reduction value of inboard drive motor equal the speed added value of outside motor, keep the center average velociity of crawler vehicle constant, realize that large radius turns to.When large radius turns to, do not turn to backflow power, the both sides crawler belt all sends power.

When the small radius steering operating mode, left side three gear planet speed change mechanism 20a and right side three gear planet speed change mechanism 20b are in same gear, control the rotating speed of left side drive motor 10a and right side drive motors 10b, make the Speed Reduction value of inboard drive motor equal the speed added value of outside motor, the torque of inboard drive motor is decreased to negative value gradually, crawler vehicle produces and turns to backflow power, realizes small radius steering.Because Turning radius is less than free Turning radius, continuously tracked vehicle produces and turns to backflow power, and the backflow power of inboard crawler belt is delivered to outside crawler belt by machinery and the form of electric power, has reduced the power demand of drive motor.

Claims (9)

1. a continuously tracked vehicle double differectial electromechanical compound gearing, is characterized in that, it comprises: left side drive motor (10a), left side three gear planet speed change mechanisms (20a), left side one gear drg (21a), left side two gear drgs (22a), left side three gear power-transfer clutchs (23a), the left side gear ring connects gear (30a), left side zero axle connects gear (31a), the left side sun wheel connects gear (32a), upper zero axle (40a), left side bus duct (50a), left side reduction planetary row (60a), left side foundation brakes (70a), left side driver (80a), right side drive motors (10b), right side three gear planet speed change mechanisms (20b), right side one gear drg (21b), right side two gear drgs (22b), right side three gear power-transfer clutchs (23b), the right side gear ring connects gear (30b), right side zero axle connects gear (31b), the right side sun wheel connects gear (32b), lower zero axle (40b), right side bus duct (50b), right side reduction planetary row (60b), right side foundation brakes (70b) and right side driver (80b),
The output shaft of described left side drive motor (10a) is connected with two sun wheels of described left side three gear planet speed change mechanisms (20a) by described left side three gear power-transfer clutchs (23a); Wherein, described left side one gear drg (21a), left side two gear drgs (22a) are controlled two sun wheels of described left side three gear planet speed change mechanisms (20a); The output planetary frame of described left side three gear planet speed change mechanisms (20a) is connected gear (30a) with the gear ring of described left side bus duct (50a) and described left side gear ring and is connected; The gear ring of described left side bus duct (50a) is connected with described left side reduction planetary row's (60a) sun wheel, and described left side reduction planetary row's (60a) output planetary frame drives left track through described left side foundation brakes (70a) and described left side driver (80a);
The output shaft of described right side drive motors (10b) is connected with two sun wheels of described right side three gear planet speed change mechanisms (20b) by described right side three gear power-transfer clutchs (23b); Wherein, described right side one gear drg (21b), right side two gear drgs (22b) are controlled two sun wheels of described right side three gear planet speed change mechanisms (20b); The output planetary frame of described right side three gear planet speed change mechanisms (20b) is connected gear (30b) with the gear ring of described right side bus duct (50b) and described right side gear ring and is connected; The gear ring of described right side bus duct (50b) is connected with described right side reduction planetary row's (60b) sun wheel, and described right side reduction planetary row's (60b) output planetary frame drives the right side crawler belt through described right side foundation brakes (70b) and described right side driver (80b);
Described left side drive motor (10a) is coaxially arranged side by side with described right side drive motors (10b), the two ends of described upper zero axle (40a) connect respectively described left side zero axle connection gear (31a) and are connected gear (32b) with described right side sun wheel, and described left side zero axle connection gear (31a) is connected gear (30a) with described left side gear ring and is meshed; The two ends of described lower zero axle (40b) connect respectively described right side zero axle connection gear (31b) and are connected gear (32a) with described left side sun wheel, and described right side zero axle connection gear (31b) is connected gear (30b) with described right side gear ring and is meshed.
2. a kind of continuously tracked vehicle double differectial electromechanical compound gearing as claimed in claim 1, is characterized in that, described left side three gear planet speed change mechanisms (20a) are the La Weina planetary mechanism with described right side three gear planet speed change mechanisms (20b).
3. a kind of continuously tracked vehicle double differectial electromechanical compound gearing as claimed in claim 1 or 2, is characterized in that, the power of described left side drive motor (10a) output, after the three gear planet speed change mechanisms (20a) of described left side, divides the two-way transmission; One tunnel is delivered to the gear ring of described left side bus duct (50a), and another road is connected with described right side sun wheel the sun wheel that gear (32b) is delivered to described right side bus duct (50b) through described left side gear ring connection gear (30a), described left side zero axle connection gear (31a), described upper zero axle (40a);
The power of described right side drive motors (10b) output, after the three gear planet speed change mechanisms (20b) of described right side, divides the two-way transmission; One tunnel is delivered to the gear ring of described right side bus duct (50b), and another road is connected with described left side sun wheel the sun wheel that gear (32a) is delivered to described left side bus duct (50a) through described right side gear ring connection gear (30b), described right side zero axle connection gear (31b), described lower zero axle (40b);
After two-way power is converged in described left side bus duct (50a), drive left track through described left side reduction planetary row (60a), described left side foundation brakes (70a) and described left side driver (80a) successively;
After two-way power is converged on described right side bus duct (50b), drive the right side crawler belt through described right side reduction planetary row (60b), described right side foundation brakes (70b) and described right side driver (80b) successively.
4. a kind of continuously tracked vehicle double differectial electromechanical compound gearing as claimed in claim 3, it is characterized in that, under the operating mode of climbing, described left side drive motor (10a) and the synchronized in the same way rotation of described right side drive motors (10b), described left side one gear drg (21a) and one gear drg (21b) combination of described right side, make described left side three gear planet speed change mechanisms (20a) and described right side three keep off planet speed change mechanisms (20b) in 1 gear, drive the crawler vehicle climbing.
5. a kind of continuously tracked vehicle double differectial electromechanical compound gearing as claimed in claim 3, it is characterized in that, under the operating mode of normally travelling, described left side drive motor (10a) and the synchronized in the same way rotation of described right side drive motors (10b), described left side two gear drgs (22a) and two gear drg (22b) combinations of described right side, make described left side three gear planet speed change mechanisms (20a) and described right side three keep off planet speed change mechanisms (20b) in 2 gears, drive crawler vehicle normally to travel.
6. a kind of continuously tracked vehicle double differectial electromechanical compound gearing as claimed in claim 3, it is characterized in that, under the operating mode of running at high speed, described left side drive motor (10a) and the synchronized in the same way rotation of described right side drive motors (10b), described left side three gear power-transfer clutchs (23a) and three gear power-transfer clutch (23b) combinations of described right side, make described left side three gear planet speed change mechanisms (20a) and described right side three keep off planet speed change mechanisms (20b) in 3 gears, drive the crawler belt overall height to travel.
7. a kind of continuously tracked vehicle double differectial electromechanical compound gearing as claimed in claim 3, it is characterized in that, under the zero turn radius operating mode, described left side drive motor (10a) and the reverse synchronized rotation of described right side drive motors (10b), described left side one gear drg (21a) and one gear drg (21b) combination of described right side, make described left side three gear planet speed change mechanisms (20a) and described right side three keep off planet speed change mechanisms (20b) in 1 gear, realize the crawler vehicle zero turn radius.
8. a kind of continuously tracked vehicle double differectial electromechanical compound gearing as claimed in claim 3, it is characterized in that, when large radius steering situation, described left side three gear planet speed change mechanisms (20a) keep off planet speed change mechanisms (20b) in same gear with described right side three, control the rotating speed of described left side drive motor (10a) and described right side drive motors (10b), make the Speed Reduction value of inboard drive motor equal the speed added value of outside motor, keep the center average velociity of crawler vehicle constant, realize that large radius turns to.
9. a kind of continuously tracked vehicle double differectial electromechanical compound gearing as claimed in claim 3, it is characterized in that, when the small radius steering operating mode, described left side three gear planet speed change mechanisms (20a) keep off planet speed change mechanisms (20b) in same gear with described right side three, control the rotating speed of described left side drive motor (10a) and described right side drive motors (10b), make the Speed Reduction value of inboard drive motor equal the speed added value of outside motor, the torque of described inboard drive motor is decreased to negative value gradually, crawler vehicle produces and turns to backflow power, realize small radius steering.
CN201310309080.4A 2013-07-22 2013-07-22 Double-differential electromechanical compound transmission device for crawler vehicle CN103465777B (en)

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CN103802652A (en) * 2014-01-26 2014-05-21 北京理工大学 Double-star-planet-gear three-mode electromechanical composite transmission device
CN103802653A (en) * 2014-01-26 2014-05-21 北京理工大学 Independent steering type electromechanical composite transmission device for crawler
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CN103802653B (en) * 2014-01-26 2015-07-29 北京理工大学 A kind of continuously tracked vehicle independent steering formula electromechanical compound gearing
CN105501055A (en) * 2014-09-26 2016-04-20 上海中科深江电动车辆有限公司 Transmission device and driving control method for track vehicle
CN105501055B (en) * 2014-09-26 2018-07-24 上海中科深江电动车辆有限公司 The transmission device and travel control method of endless-track vehicle
CN108473158A (en) * 2015-11-16 2018-08-31 科特雷恩控股有限公司 Caterpillar regenerates steering differential
CN106945496A (en) * 2017-03-22 2017-07-14 中国煤炭科工集团太原研究院有限公司 Mining driving force adaptive multiple-shift automatic transmission Dual-motors Driving bridge
CN106945495A (en) * 2017-03-22 2017-07-14 中国煤炭科工集团太原研究院有限公司 Mining driving force adaptive multiple-shift automatic transmission bi-motor steering and driving axle
CN106945495B (en) * 2017-03-22 2019-02-19 中国煤炭科工集团太原研究院有限公司 Mining driving force adaptive multiple-shift automatic transmission bi-motor steering and driving axle
CN106945496B (en) * 2017-03-22 2019-03-26 中国煤炭科工集团太原研究院有限公司 Mining driving force adaptive multiple-shift automatic transmission Dual-motors Driving bridge

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