CN103465777B - Double-differential electromechanical compound transmission device for crawler vehicle - Google Patents
Double-differential electromechanical compound transmission device for crawler vehicle Download PDFInfo
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- CN103465777B CN103465777B CN201310309080.4A CN201310309080A CN103465777B CN 103465777 B CN103465777 B CN 103465777B CN 201310309080 A CN201310309080 A CN 201310309080A CN 103465777 B CN103465777 B CN 103465777B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 26
- 150000001875 compounds Chemical class 0.000 title claims abstract description 17
- 230000001360 synchronised Effects 0.000 claims description 8
- 230000003247 decreasing Effects 0.000 claims description 6
- 230000002493 climbing Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000001141 propulsive Effects 0.000 description 1
Abstract
The invention belongs to technical field of power transmission, be specifically related to a kind of double differectial electromechanical compound gearing.A kind of Double-differential electromechanical compound transmission device for crawler vehicle, its technical scheme is, the present invention is primarily of 2 drive motor, 2 cover 3 gear planet speed change mechanisms, left conflux planetary gear set, right conflux planetary gear set, 2 zero axles and 4 connecting left bus duct and right bus duct to being connected gear, and 2 cover reduction planetary rows, 2 cover foundation brakess and 2 overlap side speed reduction gearings and form.The present invention only adopts two drive motor forms, arrange two conflux planetary gear set, zero axle being similar to double power flow drive form by two connects two difies, solve the backflow power delivery issues of inner side crawler belt to outside crawler belt of dual motors drive, the power grade of effective attenuating drive motor, drive motor can take into account straight and turning function, realizes the functions such as stepless driving, continuous turning and zero-bit turn to, can improve the volumetric power density of driving device.
Description
Technical field
The invention belongs to technical field of power transmission, be specifically related to a kind of double differectial electromechanical compound gearing.
Background technology
The advantages such as electric transmission has flexible arrangement, infinite speed variation, 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 independently to drive one-sided crawler belt, realizes turning to of continuously tracked vehicle by the speed difference of two motors.But low speed side crawler belt must provide braking force in continuously tracked vehicle small radius steering process, high-speed side crawler belt must provide propulsive effort, produce the backflow power of low speed crawler belt to high speed crawler belt, cause the power of high-speed side crawler belt transmission under some operating mode of small radius steering be straight when advancing power 170%, cause the power grade demand of both sides drive motor to increase, have a strong impact on the power density of electric drive system.Therefore need the backflow power of low speed side crawler belt 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, straight motor provides straight torque, and steer motor provides and turns to torque, and inside when turning to, crawler belt power is mechanically delivered to outside crawler belt through conflux planetary gear set, transmission efficiency is high, and required steer motor and straight power of motor little.When shortcoming is straight, steer motor does not work, and there is power idle, is difficult to the power density improving driving system further.
Summary of the invention
The object of the invention is: for overcoming the deficiencies in the prior art, proposing one and being applicable to Double-differential electromechanical compound transmission device for crawler vehicle, solve the backflow power delivery issues of inner side crawler belt to outside crawler belt of dual motors drive;
Technical scheme of the present invention is: a kind of Double-differential electromechanical compound transmission device for crawler vehicle, it comprises: left side drive motor, left side third gear planet speed change mechanism, the one grade of drg in left side, left side second gear drg, left side third gear power-transfer clutch, left side gear ring connects gear, left side zero axle connects gear, left side sun wheel connects gear, upper zero axle, left side bus duct, left side reduction planetary row, left side foundation brakes, left side driver, right side drive motors, right side third gear planet speed change mechanism, the one grade of drg in right side, right side second gear drg, right side third gear power-transfer clutch, right side gear ring connects gear, right side zero axle connects gear, right side sun wheel connects gear, lower zero axle, 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 third gear planet speed change mechanism by left side third gear power-transfer clutch; Wherein, one grade, left side drg, two sun wheels of left side second gear drg to left side third gear planet speed change mechanism control; The output planetary frame of left side third gear planet speed change mechanism 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 the sun wheel that left side reduction planetary is arranged, and the output planetary frame of left side reduction planetary row 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 third gear planet speed change mechanism by right side third gear power-transfer clutch; Wherein, one grade, right side drg, two sun wheels of right side second gear drg to right side third gear planet speed change mechanism control; The output planetary frame of right side third gear planet speed change mechanism 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 the sun wheel that right side reduction planetary is arranged, and the output planetary frame of right side reduction planetary row drives right side track 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 left side zero axle connection gear respectively and are connected gear with right side sun wheel, and left side zero axle connection gear is connected gear with left side gear ring and is meshed; The two ends of lower zero axle connect right side zero axle connection gear respectively and are connected gear with left side sun wheel, and right side zero axle connection gear is connected gear with right side gear ring and is meshed.
The invention has the beneficial effects as follows: (1) utilizes 3 grades of planet speed change mechanisms, greatly reduce torque and the speed adjustable range of drive motor, reduce motor technology risk and the power density of driving device is provided; The high efficiency range of motor can be made full use of simultaneously, improve the driving efficiency of driving device.
(3) adopt two zero axles, connect gear connection left and right conflux planetary gear set, the inner side crawler belt that can realize in steering procedure refluxes power transimission to outside crawler belt, wherein most of power is transmitted by mechanical type, achieves the efficient transmission and utilization that turn to backflow power.
(4) by 2 drive motor reversions, realize reverse gear, without the need to arranging reverse gear mechanism, structure is simple.
(5) eliminate steering hardware and the steer motor of split path transmission, two drive motor are taken into account straight and turn to, and drive motor power makes full use of.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is preferred embodiment of the invention structural representation;
Wherein, 10a-left side drive motor, third gear planet speed change mechanism on the left of 20a-, one grade of drg on the left of 21a-, second gear drg on the left of 22a-, third gear power-transfer clutch on the left of 23a-, on the left of 30a-, gear ring connects gear, on the left of 31a-, zero axle connects gear, on the left of 32a-, sun wheel connects gear, upper zero axle of 40a-, bus duct on the left of 50a-, reduction planetary row on the left of 60a-, foundation brakes on the left of 70a-, driver on the left of 80a-, 10b-right side drive motors, third gear planet speed change mechanism on the right side of 20b-, one grade of drg on the right side of 21b-, second gear drg on the right side of 22b-, third gear power-transfer clutch on the right side of 23b-, on the right side of 30b-, gear ring connects gear, on the right side of 31b-, zero axle connects gear, on the right side of 32b-, sun wheel connects gear, zero axle under 40b-, bus duct on the right side of 50b-, reduction planetary row on the right side of 60b-, foundation brakes on the right side of 70b-, driver on the right side of 80b-.
Detailed description of the invention
See accompanying drawing 1, a kind of Double-differential electromechanical compound transmission device for crawler vehicle, it comprises: left side drive motor 10a, left side third gear planet speed change mechanism 20a, the one grade of drg 21a in left side, left side second gear drg 22a, left side third gear power-transfer clutch 23a, left side gear ring connects gear 30a, left side zero axle connects gear 31a, 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 third gear planet speed change mechanism 20b, the one grade of drg 21b in right side, right side second gear drg 22b, right side third gear power-transfer clutch 23b, right side gear ring connects gear 30b, right side zero axle connects gear 31b, 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 third gear planet speed change mechanism 20a by left side third gear power-transfer clutch 23a; Wherein, one grade, left side drg 21a, two sun wheels of left side second gear drg 22a to left side third gear planet speed change mechanism 20a control; The output planetary frame of left side third 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 that left side reduction planetary arranges 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 third gear planet speed change mechanism 20b by right side third gear power-transfer clutch 23b; Wherein, one grade, right side drg 21b, two sun wheels of right side second gear drg 22b to right side third gear planet speed change mechanism 20b control; The output planetary frame of right side third 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 that right side reduction planetary arranges 60b, and the output planetary frame of right side reduction planetary row 60b drives right side track through right side foundation brakes 70b and right side driver 80b;
Left side drive motor 10a and right side drive motors 10b is coaxially arranged side by side, and the two ends of upper zero axle 40a connect left side zero axle connection gear 31a respectively and are connected gear 32b with right side sun wheel, and left side zero axle connection gear 31a is connected gear 30a with left side gear ring and is meshed; The two ends of lower zero axle 40b connect right side zero axle connection gear 31b respectively and are connected gear 32a with left side sun wheel, and right side zero axle connection gear 31b is connected gear 30b with right side gear ring and is meshed.
The power that left side drive motor 10a exports, after the third gear planet speed change mechanism 20a of left side, divides two-way transmission; One tunnel is delivered to the gear ring of left side bus duct 50a, and another road connects gear 30a through left side gear ring, left side zero axle connects gear 31a, upper zero axle 40a and is connected the sun wheel that gear 32b is delivered to right side bus duct 50b with right side sun wheel;
The power that right side drive motors 10b exports, after the third gear planet speed change mechanism 20b of right side, divides two-way transmission; One tunnel is delivered to the gear ring of right side bus duct 50b, and another road connects gear 30b through right side gear ring, right side zero axle connects gear 31b, lower zero axle 40b is connected with left side sun wheel the sun wheel that gear 32a is delivered to left side bus duct 50a;
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 right side track through right side reduction planetary row 60b, right side foundation brakes 70b and right side driver 80b successively.
See accompanying drawing 2, in the present invention, left side third gear planet speed change mechanism 20a and right side third gear planet speed change mechanism 20b is preferably 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, the one grade of drg 21a in left side is combined with one grade, right side drg 21b, makes left side third gear planet speed change mechanism 20a and right side third gear planet speed change mechanism 20b be in 1 grade, drives crawler vehicle climbing.
Under the normal operating mode travelled, the synchronized in the same way rotation of left side drive motor 10a and right side drive motors 10b, left side second gear drg 22a is combined with right side second gear drg 22b, make left side third gear planet speed change mechanism 20a and right side third gear planet speed change mechanism 20b be in 2 grades, 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 third gear power-transfer clutch 23a is combined with right side third gear power-transfer clutch 23b, make left side third gear planet speed change mechanism 20a and right side third gear planet speed change mechanism 20b be in 3 grades, drive crawler vehicle to run at high speed.
Under zero turn radius operating mode, the reverse synchronized rotation of left side drive motor 10a and right side drive motors 10b, the one grade of drg 21a in left side is combined with one grade, right side drg 21b, make left side third gear planet speed change mechanism 20a and right side third gear planet speed change mechanism 20b be in 1 grade, realize crawler vehicle zero turn radius.
When large radius steering situation, left side third gear planet speed change mechanism 20a and right side third gear planet speed change mechanism 20b is in same gear, control the rotating speed of left side drive motor 10a and right side drive motors 10b, the speed decreasing value of inner side drive motor is made to equal the speed increase value of outside motor, keep the center average velociity of crawler vehicle constant, realize large radius and turn to.When large radius turns to, do not turn to backflow power, both sides crawler belt all sends power.
When small radius steering operating mode, left side third gear planet speed change mechanism 20a and right side third gear planet speed change mechanism 20b is in same gear, control the rotating speed of left side drive motor 10a and right side drive motors 10b, the speed decreasing value of inner side drive motor is made to equal the speed increase value of outside motor, the torque of inner side 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 inner side crawler belt is delivered to outside crawler belt by machinery and the form of electric power, reduces the power demand of drive motor.
Claims (9)
1. a Double-differential electromechanical compound transmission device for crawler vehicle, is characterized in that, it comprises: left side drive motor (10a), left side third gear planet speed change mechanism (20a), the one grade of drg (21a) in left side, left side second gear drg (22a), left side third gear power-transfer clutch (23a), left side gear ring connects gear (30a), left side zero axle connects gear (31a), 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 third gear planet speed change mechanism (20b), the one grade of drg (21b) in right side, right side second gear drg (22b), right side third gear power-transfer clutch (23b), right side gear ring connects gear (30b), right side zero axle connects gear (31b), 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 by two sun wheels of described left side third gear power-transfer clutch (23a) with described left side third gear planet speed change mechanism (20a); Wherein, one grade, described left side drg (21a), two sun wheels of left side second gear drg (22a) to described left side third gear planet speed change mechanism (20a) control; The output planetary frame of described left side third gear planet speed change mechanism (20a) is connected gear (30a) with the gear ring in described left side bus duct (50a) and described left side gear ring and is connected; The sun wheel that gear ring and the described left side reduction planetary in described left side bus duct (50a) arrange (60a) is connected, and the output planetary frame of described left side reduction planetary row (60a) 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 by two sun wheels of described right side third gear power-transfer clutch (23b) with described right side third gear planet speed change mechanism (20b); Wherein, one grade, described right side drg (21b), two sun wheels of right side second gear drg (22b) to described right side third gear planet speed change mechanism (20b) control; The output planetary frame of described right side third gear planet speed change mechanism (20b) is connected gear (30b) with the gear ring on described right side bus duct (50b) and described right side gear ring and is connected; The sun wheel that gear ring and the described right side reduction planetary on described right side bus duct (50b) arrange (60b) is connected, and the output planetary frame of described right side reduction planetary row (60b) drives right side track 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 described left side zero axle connection gear (31a) respectively 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 described right side zero axle connection gear (31b) respectively 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 Double-differential electromechanical compound transmission device for crawler vehicle as claimed in claim 1, it is characterized in that, described left side third gear planet speed change mechanism (20a) and described right side third gear planet speed change mechanism (20b) are La Weina planetary mechanism.
3. a kind of Double-differential electromechanical compound transmission device for crawler vehicle as claimed in claim 1 or 2, it is characterized in that, the power that described left side drive motor (10a) exports, after described left side third gear planet speed change mechanism (20a), divides two-way transmission; One tunnel is delivered to the gear ring in described left side bus duct (50a), and another road connects gear (30a) through described left side gear ring, described left side zero axle connects gear (31a), described upper zero axle (40a) is connected with described right side sun wheel the sun wheel that gear (32b) is delivered to described right side bus duct (50b);
The power that described right side drive motors (10b) exports, after described right side third gear planet speed change mechanism (20b), divides two-way transmission; One tunnel is delivered to the gear ring on described right side bus duct (50b), and another road connects gear (30b) through described right side gear ring, described right side zero axle connects gear (31b), described lower zero axle (40b) is connected with described left side sun wheel the sun wheel that gear (32a) is delivered to described left side bus duct (50a);
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 right side track 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 Double-differential electromechanical compound transmission device for crawler vehicle 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), one grade, described left side drg (21a) and one grade, described right side drg (21b) combine, make described left side third gear planet speed change mechanism (20a) and described right side third gear planet speed change mechanism (20b) be in 1 grade, drive crawler vehicle climbing.
5. a kind of Double-differential electromechanical compound transmission device for crawler vehicle as claimed in claim 3, it is characterized in that, under the normal operating mode travelled, described left side drive motor (10a) and the synchronized in the same way rotation of described right side drive motors (10b), described left side second gear drg (22a) and described right side second gear drg (22b) combine, make described left side third gear planet speed change mechanism (20a) and described right side third gear planet speed change mechanism (20b) be in 2 grades, drive crawler vehicle normally to travel.
6. a kind of Double-differential electromechanical compound transmission device for crawler vehicle 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 third gear power-transfer clutch (23a) and described right side third gear power-transfer clutch (23b) combine, make described left side third gear planet speed change mechanism (20a) and described right side third gear planet speed change mechanism (20b) be in 3 grades, drive crawler vehicle to run at high speed.
7. a kind of Double-differential electromechanical compound transmission device for crawler vehicle as claimed in claim 3, it is characterized in that, under zero turn radius operating mode, described left side drive motor (10a) and the reverse synchronized rotation of described right side drive motors (10b), one grade, described left side drg (21a) and one grade, described right side drg (21b) combine, make described left side third gear planet speed change mechanism (20a) and described right side third gear planet speed change mechanism (20b) be in 1 grade, realize crawler vehicle zero turn radius.
8. a kind of Double-differential electromechanical compound transmission device for crawler vehicle as claimed in claim 3, it is characterized in that, when large radius steering situation, described left side third gear planet speed change mechanism (20a) and described right side third gear planet speed change mechanism (20b) are in same gear, control the rotating speed of described left side drive motor (10a) and described right side drive motors (10b), the speed decreasing value of inner side drive motor is made to equal the speed increase value of outside motor, keep the center average velociity of crawler vehicle constant, realize large radius and turn to.
9. a kind of Double-differential electromechanical compound transmission device for crawler vehicle as claimed in claim 3, it is characterized in that, when small radius steering operating mode, described left side third gear planet speed change mechanism (20a) and described right side third gear planet speed change mechanism (20b) are in same gear, control the rotating speed of described left side drive motor (10a) and described right side drive motors (10b), the speed decreasing value of inner side drive motor is made to equal the speed increase value of outside motor, the torque of described inner side drive motor is decreased to negative value gradually, crawler vehicle produces and turns to backflow power, realize small radius steering.
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| CN201310309080.4A CN103465777B (en) | 2013-07-22 | 2013-07-22 | Double-differential electromechanical compound transmission device for crawler vehicle |
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| CN201310309080.4A CN103465777B (en) | 2013-07-22 | 2013-07-22 | Double-differential electromechanical compound transmission device for crawler vehicle |
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| CN103802652B (en) * | 2014-01-26 | 2015-07-08 | 北京理工大学 | Double-star-planet-gear three-mode electromechanical composite transmission device |
| 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 |
| CA3005467A1 (en) * | 2015-11-16 | 2017-05-26 | Ker-Train Holdings Ltd. | Tracked-vehicle regenerative steering differential |
| 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 |
| CN111376714B (en) * | 2018-12-29 | 2022-04-15 | 比亚迪股份有限公司 | Electrically-driven speed reducer, electrically-driven axle power assembly and vehicle |
| CN111532340A (en) * | 2020-07-09 | 2020-08-14 | 山东科技职业学院 | Vehicle transmission speed difference steering device |
| CN112407045B (en) * | 2020-11-23 | 2021-10-29 | 北京理工大学 | Ackerman-active speed difference composite steering high-speed crawler-type action system |
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