CN103538468A - Tracked vehicle electric transmission device provided with gearboxes on two sides - Google Patents
Tracked vehicle electric transmission device provided with gearboxes on two sides Download PDFInfo
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- CN103538468A CN103538468A CN201310432610.4A CN201310432610A CN103538468A CN 103538468 A CN103538468 A CN 103538468A CN 201310432610 A CN201310432610 A CN 201310432610A CN 103538468 A CN103538468 A CN 103538468A
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Abstract
The invention provides a tracked vehicle electric transmission device provided with gearboxes on two sides. The tracked vehicle electric transmission device provided with the gearboxes on the two sides comprises a left drive motor, a right drive motor, a left speed reduction planet row, a right speed reduction planet row, the left gearbox, the right gearbox, a left cross shaft, a right cross shaft and a cross shaft clutch. The left gearbox and the right gearbox are provided with braking gears, low gears and high gears, wherein the high gears are direct gears, the left gearbox and the right gearbox are also provided with a first high gear turning gear and a second high gear turning gear, the speed ratio is between the high gears and the low gears, and the left gearbox and the right gearbox are arranged according to specified relative turning radii of the first high gear, the second high gear and the third high gear. The left cross shaft is used for being connected with the output end of the left speed reduction planet row and the input end of the left gearbox, and the right cross shaft is used for being connected with the output end of the right speed reduction planet row and the input end of the right gearbox. The cross shaft clutch is used for being connected with the left cross shaft and the right cross shaft. The left gearbox, the left speed reduction planet row, the left drive motor, the left cross shaft, the cross shaft clutch, the right cross shaft, the right drive motor, the right speed reduction planet row and the right gearbox are arranged coaxially. By means of the tracked vehicle electric transmission device provided with the gearboxes on the two sides, multiple specified relative turning radii large enough can be realized, and combination properties including the turning property are excellent.
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 refers to a kind of continuously tracked vehicle electric actuator with double side gearbox.
Background technology
In the development course of high maneuverability continuously tracked vehicle transmission system, there is a kind of double transmission system turning to of Double-side variable speed of uniqueness, its principle of work is as follows: during straight, double side gearbox is hung identical gear; While turning to, low speed side side change speed gear box reduces by one grade; One side change speed gear box is hung braking shelves, can realize the pivot stud of ρ=0.5; When a side change speed gear box, hang 1 grade, opposite side change speed gear box is hung reverse gear, the original position zero turn radius of can realize-0.5< ρ <0.5.This type of double side gearbox inwardly packs car body into from the side driving hole of vehicle body side, by driving front, be connected with driving engine, although its turning efficiency is not good, but make power transmission cabin there is high power density, length over ends of body shortens nearly one meter, can effectively reduce contour of the vehicle profile, reduce the probability that is found and hits, therefore on certain national high maneuverability continuously tracked vehicle, be widely applied without hesitation.
Since nearly half a century, the double side gearbox that mainly contains two kinds of models is used on the huge high maneuverability continuously tracked vehicle of production quantity, wherein the diesel engine of a kind of model coupling maximum speed of revolution 2300rpm is used, there are seven D Drives, a reverse gear and braking shelves, the automotive gas turbine of another kind of model coupling maximum speed of revolution 20000rpm is used, and has four D Drives, a reverse gear and braking shelves.In recent years, the further developing of this type of side change speed gear box mainly concentrate on by the side transmission of single planetary row upgrade to double planet wheel rows of mixing just, the transmission of falling side, make the quantity of reverse gear increase to 4.In addition, parallel type hybrid dynamic electric actuator based on double side gearbox also occurs, after it adopts 200kW diesel motor 200kW drive motor in parallel, arranged coaxial, between double side gearbox, is still retaining the high power density advantage in the power transmission cabin that adopts double side gearbox.
The gear ratios of seven grades of double side gearboxes is followed successively by: 8.1714/4.4/3.4856/2.7867/2.0274/1.4667/1.000, the regulation relative steering ρ of each gear
n n-1be followed successively by: 0.5/1.667/4.3119/4.4873/3.170/3.1158/2.6427.The gear ratios of fourth gear double side gearbox is followed successively by: 4.761/2.160/1.460/1.000, the regulation relative steering ρ of each gear
n n-1be followed successively by: 0.5/1.43/2.58/2.67.The regulation Turning radius of each grade should increase and increase gradually along with gear, but above data show, the medium-to-high grade regulation Turning radius of the double side gearbox of two kinds of models is less than normal and unbearably practical, and too small regulation Turning radius produces the vehicle that causes running at high speed violent sideslip or covers to an inclination.In addition, vehicle enters and turns to and during to the transition of regulation Turning radius, must handle corresponding friction element in slipping state from straight, therefore can not realize accurately and turning to, and also because traverse time is oversize, affect the life-span of manipulation friction element.
In order to improve the cornering properties of double side gearbox, following measures has been proposed: increase gear number and divide gear by arithmetic progression; Top grade is increased to some to be exclusively used in the shelves of a side reduction of speed while turning to and to strengthen Turning radius; On the basis of Double-side variable speed transmission, increase hydraulic steering mechanism, hydraulic power is through zero passage axle, pass to respectively the planet row place of confluxing, the newly-increased both sides of change speed gear box front end, both sides, the power transmitting with driving engine converges, inadequate hour of the fluid-link steering radius of realizing when hydraulic motor rotary speed reaches maximum, then low speed side side change speed gear box is reduced to one grade and continue to reduce Turning radius.More than improving scheme respectively has merits and faults, and the result obtaining also not exclusively matches with the cost of paying.At present, still do not disclose the electric actuator based on double side gearbox, it not only can attempt overcoming the not good shortcoming of above-mentioned turning efficiency, and has and bring the possibility of improving other side performance.Top-priority, need not carry out can significantly improving its performance compared with large change to the double side gearbox of existing enormous amount.
In addition, existing drive motor has nearly 4 expansion speed ratio, only needs less straight gear can meet the demand of vehicular drive.Too much gear, by having increased the structure of electric actuator and the complexity of control, has also reduced driving efficiency, therefore only considers the electric actuator based on existing fourth gear double side gearbox.
Therefore, also exist and provide a kind of and comprise that the Combination property of turning efficiency preferably has the possibility of the continuously tracked vehicle electric actuator of double side gearbox.
Summary of the invention
The object of the invention is in order to overcome above-mentioned shortcoming of the prior art, provide a kind of and comprise that the Combination property of turning efficiency preferably has the continuously tracked vehicle electric actuator of double side gearbox.
The invention provides a kind of continuously tracked vehicle electric actuator with double side gearbox, it comprises: left drive motor and right drive motor; Left reduction planetary row and right reduction planetary row, be respectively used to described left drive motor and the described right drive motor increasing square that slows down; Left side change speed gear box and right side change speed gear box, have braking shelves, low-grade and high-grade and high-grade be direct speed; It is characterized in that: described left side change speed gear box and described right side change speed gear box also have the first top grade and turn to shelves and the second top grade to turn to shelves, described the first top grade turns to shelves and the second top grade to turn to the speed ratio of shelves all between top grade and low grade, and the first described top grade turns to speed ratio that shelves and the second top grade turn to grade according to the first high-grade regulation relative steering, the second high-grade regulation relative steering and the setting of third high shelves regulation relative steering; The described continuously tracked vehicle electric actuator with double side gearbox also comprises: left transverse axis, for connecting described left reduction planetary row's mouth and described left side change speed gear box input end; Right transverse axis, for connecting described right reduction planetary row's mouth and described right side change speed gear box input end; Line shaft clutch, it is for connecting described left transverse axis and described right transverse axis; And described left side change speed gear box, described left reduction planetary row, described left drive motor, described left transverse axis, described line shaft clutch, described right transverse axis, described right drive motor, described right reduction planetary row and described right side change speed gear box arranged coaxial and layout successively from left to right.
According to the continuously tracked vehicle electric actuator with double side gearbox of the present invention, when vehicle turns in shift to a higher gear straight, when low speed side side change speed gear box is hung the first top grade and is turned to grade, described left drive motor and described right drive motor drive described left transverse axis and the described right transverse axis of locking jointly, total driving power of described left drive motor and described right drive motor is exported by high-speed side side change speed gear box, from ground, the regenerating power that turns to of defeated time transfers back to described left transverse axis and the described right transverse axis of locking from low speed side side change speed gear box, rear by high-speed side side change speed gear box output driving vehicle with total driving power stack of described left drive motor and described right drive motor, realizing the first high-grade regulation relative steering turns to,
When low speed side side change speed gear box, hang the second top grade and turn to shelves, when high-speed side side change speed gear box is hung the first top grade and turned to grade, realize the second high-grade regulation relative steering and turn to; And hang the second top grade and turn to shelves when low speed side side change speed gear box, during high-speed side side change speed gear box shift to a higher gear, realize third high shelves regulation relative steering and turn to.
According to the continuously tracked vehicle electric actuator with double side gearbox of the present invention, when vehicle turns in shift to a lower speed straight, described line shaft clutch is separated, high-speed side drive motor is operated in electric model, low speed side drive motor is operated in regenerative brake pattern, realizes the first low-grade regulation relative steering and turns to; And when low speed side side change speed gear box is hung braking shelves, described line shaft clutch engages, described left drive motor and described right drive motor drive described left transverse axis and the described right transverse axis of locking jointly, total driving power of described left drive motor and described right drive motor is exported by high-speed side side change speed gear box, realizes relative steering and is the second low-grade regulation relative steering of 0.5 and turn to.
According to the continuously tracked vehicle electric actuator with double side gearbox of the present invention, vehicle straight or hole fall into while rolling away from, described line shaft clutch engages, described left drive motor and described right drive motor drive described left transverse axis and the described right transverse axis of locking jointly, both sides side change speed gear box output speed equates, realizes vehicle straight-line travelling.
According to the continuously tracked vehicle electric actuator with double side gearbox of the present invention, when both sides, side change speed gear box is hung identical gear, described line shaft clutch is separated, when described left drive motor and described right drive motor are operated in respectively forward or reversion electric model, the driving power of described left drive motor and described right drive motor drives vehicle by the output of both sides side change speed gear box respectively, realizes the original position zero turn radius of relative steering between-0.5 and 0.5.
The invention provides a kind of continuously tracked vehicle electric actuator with double side gearbox, it comprises: drive motor; Left side change speed gear box and right side change speed gear box, having braking shelves, reverse gear, low grade and top grade and top grade is direct speed; Left reduction planetary row and right reduction planetary row, increase square for described drive motor is slowed down, and is separately positioned in described left side change speed gear box and described right side change speed gear box; It is characterized in that: described left side change speed gear box and described right side change speed gear box also have the first top grade and turn to shelves and the second top grade to turn to shelves, described the first top grade turns to shelves and the second top grade to turn to the speed ratio of shelves all between top grade and low grade, and the first described top grade turns to speed ratio that shelves and the second top grade turn to grade according to the first high-grade regulation relative steering, the second high-grade regulation relative steering and the setting of third high shelves regulation relative steering; And described left side change speed gear box, described drive motor and described right side change speed gear box arranged coaxial and layout successively from left to right.
According to the continuously tracked vehicle electric actuator with double side gearbox of the present invention, when vehicle turns in shift to a higher gear straight, when low speed side side change speed gear box is hung the first top grade and is turned to grade, the driving power of described drive motor is exported by high-speed side side change speed gear box, from ground, the regenerating power that turns to of defeated time transfers back to described drive motor rotor shaft from low speed side side change speed gear box, rear by high-speed side side change speed gear box output driving vehicle with the driving power stack of described drive motor, realize the first high-grade regulation relative steering and turn to; When low speed side side change speed gear box, hang the second top grade and turn to shelves, when high-speed side side change speed gear box is hung the first top grade and turned to grade, realize the second high-grade regulation relative steering and turn to; And hang the second top grade and turn to shelves when low speed side side change speed gear box, during high-speed side side change speed gear box shift to a higher gear, realize third high shelves regulation relative steering and turn to.
According to the continuously tracked vehicle electric actuator with double side gearbox of the present invention, when vehicle turns in shift to a lower speed straight, the low grade of controlling low speed side side change speed gear box is handled the degree of engagement of friction element degree of engagement or braking shelves manipulation friction element, realizes required Turning radius and turns to; And when low speed side side change speed gear box is hung braking shelves, realize relative steering and be 0.5 low-grade regulation relative steering and turn to.
According to the continuously tracked vehicle electric actuator with double side gearbox of the present invention, when a side side change speed gear box shift to a lower speed, opposite side side change speed gear box is hung reverse gear, when described drive motor is operated in forward or reversion electric model, the driving power of described drive motor drives vehicle by the output of both sides side change speed gear box respectively, realizes the original position zero turn radius of relative steering between-0.5 and 0.5.
The continuously tracked vehicle electric actuator with double side gearbox of the present invention, at high and low two D Drives, be also provided with the first and second top grades outward and turn to shelves, its speed ratio is between top grade and low grade, and according to first, second, and third high-grade regulation Turning radius setting, can realize a plurality of enough large regulation Turning radiuss.Therefore, according to the present invention, can obtain a kind ofly comprising that the Combination property of turning efficiency preferably has the continuously tracked vehicle electric actuator of double side gearbox.
Accompanying drawing explanation
Fig. 1 is the structural representation of the related continuously tracked vehicle electric actuator with double side gearbox of the present invention's the first specific embodiment; And
Fig. 2 is the structural representation of the related existing fourth gear side change speed gear box of the specific embodiment of the invention; And
Fig. 3 is the structural representation of the related continuously tracked vehicle electric actuator with double side gearbox of the present invention's the second specific embodiment.
In figure: 1L, 1R is respectively left drive motor and right drive motor; 2L, 2R is respectively left reduction planetary row and right reduction planetary row; 3L, 3R is respectively left side change speed gear box and right side change speed gear box; 4L, 4R is respectively left transverse axis and right transverse axis; 5 line shaft clutches; The 1st, drive motor.
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.
The first specific embodiment
Fig. 1 is the structural representation of the related continuously tracked vehicle electric actuator with double side gearbox of the present invention's the first specific embodiment.With reference to Fig. 1, there is the continuously tracked vehicle electric actuator of double side gearbox, it comprises: left drive motor 1L; Right drive motor 1R; Left reduction planetary row 2L and right reduction planetary row 2R, be respectively used to the increasing square that slows down to left drive motor 1L and right drive motor 1R; Left side change speed gear box 3L and right side change speed gear box 3R, having braking shelves, low grade and top grade and top grade is direct speed, also have the first top grade and turn to shelves and the second top grade to turn to shelves, its speed ratio is between top grade and low grade, and according to first, second with second high-grade stipulate relative steering setting; Left transverse axis 4L, for connecting left reduction planetary row's mouth of 2L and the input end of left side change speed gear box 3L; Right transverse axis 4R, for connecting right reduction planetary row's mouth of 2R and the input end of right side change speed gear box 3R; Line shaft clutch 5, for connecting left transverse axis 4L and right transverse axis 4R; Left side change speed gear box 3L, left reduction planetary row 2L, left drive motor 1L, left transverse axis 4L, line shaft clutch 5, right transverse axis 4R, right drive motor 1R, right reduction planetary row 2R and right side change speed gear box 3R be arranged coaxial and layout successively from left to right.
Consider that the highest input speed of original side change speed gear box is generally at 3250rpm, and the rotating speed of high power density drive motor is all higher, is therefore provided with reduction planetary row 2L and 2R.
Fig. 2 is the structural representation of the related existing fourth gear side change speed gear box of the specific embodiment of the invention.The gear ratios that in Fig. 2, each gear is corresponding and the relation of relative steering are as shown in table 1, the axial arrangement of existing fourth gear side change speed gear box is very compact, a compound planet row, a simple planet row and several manipulation friction elements, consist of, it also comprises a hydrodynamic retarder and a side transmission planet row.Wherein, the structural characteristic parameter of compound planet row is k1=1.449 and k2=2, and the structural characteristic parameter of simple planet row is k3=2.174; Gear ratios is respectively: i1=4.761, i2=2.160, i3=1.460, i4=1.000; The regulation relative steering ρ of each grade
n n-1be followed successively by: ρ
1 0=0.5, ρ
2 1=1.43, ρ
3 2=2.58, ρ
4 3=2.67.Each grade of regulation relative steering ρ
n n-1obviously unreasonable, 4 grades should be in 10 left and right, and 3 grades should be in 7.5 left and right, and 2 grades should should be in 2.5 left and right at 4.5,1 grades.
The gear parameter list of the existing fourth gear side of table 1 change speed gear box
The torque coefficient of adaptability of automotive gas turbine (i.e. the ratio of nearly zero rotational speed and torque and maximum speed of revolution torque) is 2.5, and overall ratio scope is 2.5 * 4.761=12.Left drive motor 1L and right drive motor 1R have at least 4 expansion speed than (ratio of maximum speed of revolution Yu Heng torque district, permanent power district maximum speed of revolution), and top-gear ratio is 1, and low-grade speed ratio is 12/4=3, can realize required overall ratio scope.In addition, power overlaps when guaranteeing gear shift, and gear ratios should not be greater than expansion speed ratio, and therefore, low-grade speed ratio is selected in 3～4 scope.
Because existing side change speed gear box only has four D Drives, and its speed ratio numerical value as mentioned above, therefore selects former 1 grade of conduct low-grade, selects former 4 grades of conducts high-grade.Existing improvement is just made for the side change speed gear box with seven D Drives, cannot implement, because gear cannot arrange again and turn to special-purpose shelves very little under the prerequisite that meets straight performance for the side change speed gear box only with four D Drives.The improvement project with the side change speed gear box of seven D Drives is each straight shelves of selection to be arranged to one turn to special-purpose shelves, and the speed ratio ratio between a plurality of straight shelves is the approximate requirement that meets geometric progression still, but direct speed cannot arrange due to structural limitations and turn to conversion shelves, the regulation relative steering of direct speed only has 2.434, still can't bear practicality, need low speed side side change speed gear box partly to brake to enter the required large radius of correction direction and turn to.If need Turning radius larger, the speed ratio between two gears should differ very little, and corresponding computing formula is as follows, and in formula, Δ is the speed ratio ratio of two gears:
From formula (1), can find out that the top grade that is 1 for speed ratio, if obtain larger Turning radius, turns to a grade speed ratio to be arranged to more bigger than 1.If for top grade, correspondence arranges two and turns to shelves, can realize two regulation relative steering, and the second top grade turns to grade speed ratio the first top grade to turn to grade speed ratio larger, can meet and turn to requirement better like this.
Low grade for speed ratio in 3～4 scope, due to gear maximum speed not high (can try to achieve low-grade maximum speed between 18～24km/h according to maximum speed 72km/h and expansion speed ratio), dynamic factor is larger, the the first low-grade regulation relative steering that adopts high-speed side drive motor 1R or the driving torque of 1L and the regenerative brake torque of low speed side drive motor 1L or 1R can realize required ρ=2.5 turns to, low speed side side change speed gear box 3L or 3R hang further this sidecar speed that reduces of braking shelves can further reduce Turning radius, the the second low-grade regulation relative steering that realizes required ρ=0.5 turns to.
Owing to can only utilizing former 2 grades and former 3 grades to arrange and turn to special-purpose shelves, therefore first consider to realize first and third high shelves regulation relative steering, its numerical value is respectively 10 and 5, according to (1) formula, can calculate Δ
1and Δ
2, be also the speed ratio that the first and second top grades turn to shelves.Again consider that by high-speed side and low speed side side change speed gear box, hanging respectively the first and second top grades turns to shelves to realize the second middle high-grade regulation relative steering thereafter.After tentative calculation, select Δ
1=1.1, Δ
2=1.265, first and the accurate numerical value of third high shelves regulation Turning radius be 10.5 and 4.27.According to the i shown in table 1
1, i
2and i
3speed ratio formula, i
1in 3～4 scope, select, tentative calculation goes out corresponding k
1, k
2and k
3: k
1=2.28184, k
2=1.5, k
3=2.27273.This carries out suitable modification and can realize on the basis of existing structure.
In addition the i trying to achieve,
1=3.6 also meet the requirement of straight completely, and low-grade maximum speed is 20km/h.During shift to a higher gear, expansion speed is 72/4=18km/h than 4 point of transition (point of connection in the Heng Zhuanjuqu He Heng power district) speed of a motor vehicle, is slightly less than low-grade maximum speed, and therefore, the dynamic characteristic that height is two grades has less lap at permanent power range.
In order to realize the second high-grade regulation relative steering, must also lower category by means of high-speed side side change speed gear box 3R or 3L.According to formula (1), can calculate 1.15 speed ratio and can realize 7.5 regulation relative steering.When low speed side side change speed gear box 3L or 3R hang the second top grade, turn to shelves, and high-speed side side change speed gear box 3R or 3L hang the first top grade, turn to shelves, the speed ratio ratio=1.265/1.1=1.15 of both sides, can realize 7.5 regulation relative steering.
When vehicle turns in shift to a higher gear straight, line shaft clutch 5 engages, left drive motor 1L and right drive motor 1R are all operated in electric model, when low speed side side change speed gear box 3L or 3R start to hang the first top grade and turn to grade, left drive motor 1L and right drive motor 1R drive left transverse axis 4L and the right transverse axis 4R of locking jointly, its total driving power is exported by high-speed side side change speed gear box 3R or 3L, from ground, the regenerating power that turns to of defeated time transfers back to left transverse axis 4L and the right transverse axis 4R of locking from low speed side side change speed gear box 3L or 3R, rear by high-speed side side change speed gear box 3R or 3L output driving vehicle with total driving power stack of left drive motor 1L and right drive motor 1R, realizing the first regulation Turning radius turns to, when low speed side side change speed gear box 3L or 3R hang the second top grade, turn to shelves, when high-speed side side change speed gear box 3R or 3L hang the first top grade and turn to grade, realize the second regulation Turning radius and turn to, and turn to shelves when low speed side side change speed gear box 3L or 3R hang the second top grade, when high-speed side side change speed gear box 3R or 3L shift to a higher gear, realize the 3rd regulation Turning radius and turn to.
The first and second top grades turn to the speed ratio of shelves to arrange relatively flexibly according to required regulation relative steering, as long as structure allows to realize new k1, k2 and k3.Be noted that if the expansion speed of drive motor 1L and 1R is than larger, more easily realize the setting of respectively stipulating relative steering, because arranging of straight gear will be more flexible.By contrast, although automotive gas turbine can reduce straight shelves, but due to its torque coefficient of adaptability than the expansion speed of electrical motor than little near half, still need at least 4 straight shelves, cannot as this specific embodiment, to a gear, a plurality of shelves that turn to be set, obtain a plurality of enough large regulation relative steering, the Vehicular turn demand in meeting preferably during the high speed of a motor vehicle.
When vehicle turns in shift to a lower speed straight, line shaft clutch 5 separation, high-speed side drive motor 1R or 1L are operated in electric model, and low speed side drive motor 1L or 1R are operated in regenerative brake pattern, realize the first low-grade regulation relative steering and turn to; And when low speed side side change speed gear box 3L or 3R extension braking shelves, line shaft clutch 5 engages, left drive motor 1L and right drive motor 1R drive left transverse axis 4L and the right transverse axis 4R of locking jointly, its total driving power is exported by high-speed side side change speed gear box 3R or 3L, and the second low-grade regulation relative steering that realizes ρ=0.5 turns to.
Compare with the electric actuator of existing dual motors drive, the electric actuator of this specific embodiment has advantages of outstanding: road grabbing is guaranteed, and the former realizes by performance-oriented differential control algorithm; Due to what have that the left transverse axis 4L of locking and right transverse axis 4R transmit ground, turn to regenerating power to high-speed side transmission, therefore, under the prerequisite of same turning efficiency, the power demand of this specific embodiment drive motor 1L and 1R is also much smaller than the former.
In existing side change speed gear box, be also provided with hydrodynamic retarder, the B.P. of nearly 600kW can be provided.The nearly 900kW of power of former driving engine, total continuous power of two drive motor 1L and 1R is also arranged to nearly 900kW, the nearly 900kW of available regenerative brake power, substantially approach total B.P. 1200kW of two hydrodynamic retarders, can provide axial space to cancel hydrodynamic retarder for simplified structure with for two drive motor 1L and 1R.
Existing side change speed gear box is also provided with reverse gear, and for diesel engine and automotive gas turbine that can only single direction rotation, this be necessary, and due to structural limitations, is only provided with low-reverse shelves, there is no high-reverse shelves, can not realize high-reverse.The reversion of this specific embodiment by two drive motor 1L and 1R be electronic realizes reversing, has also realized high-reverse, and reversing maximum speed only depends on for driving safety to be considered and the reversing electronic speed limit that arranges.
Vehicle straight or hole fall into while rolling away from, and line shaft clutch 5 engages, and left drive motor 1L and right drive motor 1R drive left transverse axis 4L and the right transverse axis 4R of locking jointly, and the output speed of both sides side change speed gear box 3L and 3R equates.
When both sides side change speed gear box 3L and 3R hang identical gear, line shaft clutch 5 separation, when left drive motor 1L and right drive motor 1R are operated in respectively forward or reversion electric model, its driving power drives vehicle, the original position zero turn radius of can realize-0.5< ρ <0.5 by both sides side change speed gear box 3L and 3R output respectively.
The second specific embodiment
Fig. 3 is the structural representation of the related continuously tracked vehicle electric actuator with double side gearbox of the present invention's the second specific embodiment.With reference to Fig. 3, there is the continuously tracked vehicle electric actuator of double side gearbox, it comprises: drive motor 1; Left side change speed gear box 3L and right side change speed gear box 3R, having braking shelves, reverse gear, low grade and top grade and top grade is direct speed, also have the first top grade and turn to shelves and the second top grade to turn to shelves, its speed ratio, between top grade and low grade, and high-grade is stipulated relative steering setting according to first, second, and third; Left reduction planetary row 2L and right reduction planetary row 2R, increase square for drive motor 1 is slowed down, and is separately positioned in left side change speed gear box 3L and right side change speed gear box 3R; Left side change speed gear box 3L, drive motor 1 and right side change speed gear box 3R be arranged coaxial and layout successively from left to right.
Compare with 1R with having two drive motor 1L in the first specific embodiment, this specific embodiment is only provided with a drive motor 1, and structure is simpler, does not also need complicated control algorithm.But for reliability consideration, drive motor 1 employing 6 or polyphase machine, axial-flux electric machine or transverse flux motor are realized, drive motor 1 one mutually or during heterogeneous breaking down, vehicle can also move, and guarantees the required fault-tolerant ability of high maneuverability continuously tracked vehicle.
Reduction planetary row 2L and 2R are separately positioned in side change speed gear box 3L and 3R, are conducive to reduce the complexity of lubricating system, are also convenient to its good lubrication.Like this, drive motor 1 can adopt dry type motor, and portion does not have lubricating oil within it, to reduce churning loss.
When vehicle turns in shift to a higher gear straight, when low speed side side change speed gear box 3L or 3R hang the first top grade and turn to grade, the driving power of drive motor 1 is exported by high-speed side side change speed gear box 3R or 3L, from ground, the regenerating power that turns to of defeated time transfers back to the rotor shaft of drive motor 1 from low speed side side change speed gear box 3L or 3R, rear by high-speed side side change speed gear box 3R or 3L output driving vehicle with the driving power stack of drive motor 1, realize the first regulation relative steering and turn to; When low speed side side change speed gear box 3L or 3R hang the second top grade, turn to shelves, when high-speed side side change speed gear box 3R or 3L hang the first top grade and turn to grade, realize the second regulation relative steering and turn to; And turn to shelves when low speed side side change speed gear box 3L or 3R hang the second top grade, when high-speed side side change speed gear box 3R or 3L shift to a higher gear, realize the 3rd regulation relative steering and turn to.
When vehicle turns in shift to a lower speed straight, the low grade of controlling low speed side side change speed gear box 3L or 3R is handled the degree of engagement of friction element degree of engagement or braking shelves manipulation friction element, realizes required Turning radius and turns to; And when low speed side side change speed gear box 3L or 3R extension braking shelves, the low-grade regulation relative steering that realizes ρ=0.5 turns to.Because the speed of a motor vehicle is lower, and the regenerative brake of drive motor 1 also alleviated the wearing and tearing of the manipulation friction element under damped condition, and can not be much affected the entire life of therefore handling friction element.
When a side side change speed gear box shift to a lower speed, opposite side side change speed gear box is hung reverse gear, when described drive motor is operated in forward or reversion electric model, its driving power drives vehicle, the original position zero turn radius of realization-0.5< ρ <0.5 by the output of both sides side change speed gear box respectively.In this specific embodiment, the reverse gear ratio calculating according to the formula in table 1 is-4.9091, can meet the requirement of original position zero turn radius, but it is required to meet high-reverse, and therefore reversing can only realize by drive motor 1 reversion.The reverse gear here only has two effects: the one, realize original position zero turn radius, and the one, because its speed ratio is larger than low-grade, if run into utmost point abrupt slope, to adhere to condition suitable on ground, when shift to a lower speed can not make the grade, can hang reverse gear, and vehicle is falling back and is climbing up utmost point abrupt slope.
During vehicle sternway, drive motor 1 is operated in reversion electric model, both sides side change speed gear box 3L and 3R shift to a lower speed or top grade.In this specific embodiment, although both sides side change speed gear box 3L and 3R have reverse gear, reversing is also to realize by drive motor 1 reversion.Turning in vehicle sternway, operation during similar straight, repeats no more in this.
Compare with the first specific embodiment, this specific embodiment does not have the first low-grade regulation relative steering of 2.5, must rely on manipulation friction element to skid to turn to, and therefore will consume Partial Power, and low-grade turning efficiency is not as the former.But the structure of this specific embodiment is very simple, control also simply, need not relate to performance-oriented differential control algorithm, nor can affect the life-span of handling friction element, and be beneficial to and produce in enormous quantities and equipment, there is unique technical advantage.
The electric actuator of two specific embodiments of the present invention, compare with other electric actuator for high maneuverability continuously tracked vehicle, there is no the steer motor arranging separately, structure and to control simple advantage very obvious, and be highly advantageous to and realize the power transmission cabin of high power density.
The continuously tracked vehicle electric actuator with double side gearbox of specific embodiments of the invention, at high and low two D Drives, be also provided with the first and second top grades outward and turn to shelves, its speed ratio is between top grade and low grade, and according to first, second, and third high-grade regulation relative steering setting, can realize a plurality of enough large regulation relative steering.Therefore, according to the present invention, can obtain a kind ofly comprising that the Combination property of turning efficiency preferably has the continuously tracked vehicle electric actuator of double side gearbox.
The present invention is not limited to above-described embodiment, but cover the institute carrying out in the situation that does not depart from the spirit and scope of the present invention, changes and revises.These changes and revise and should not be considered to depart 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. a continuously tracked vehicle electric actuator with double side gearbox, it comprises: left drive motor and right drive motor; Left reduction planetary row and right reduction planetary row, be respectively used to described left drive motor and the described right drive motor increasing square that slows down; Left side change speed gear box and right side change speed gear box, have braking shelves, low-grade and high-grade and high-grade be direct speed; It is characterized in that:
Described left side change speed gear box and described right side change speed gear box also have the first top grade and turn to shelves and the second top grade to turn to shelves, described the first top grade turns to shelves and the second top grade to turn to the speed ratio of shelves all between top grade and low grade, and described the first top grade turns to speed ratio that shelves and the second top grade turn to grade according to the first high-grade regulation relative steering, the second high-grade regulation relative steering and the setting of third high shelves regulation relative steering;
The described continuously tracked vehicle electric actuator with double side gearbox also comprises:
Left transverse axis, for connecting described left reduction planetary row's mouth and described left side change speed gear box input end;
Right transverse axis, for connecting described right reduction planetary row's mouth and described right side change speed gear box input end;
Line shaft clutch, it is for connecting described left transverse axis and described right transverse axis; And
Described left side change speed gear box, described left reduction planetary row, described left drive motor, described left transverse axis, described line shaft clutch, described right transverse axis, described right drive motor, described right reduction planetary row and described right side change speed gear box be arranged coaxial and layout successively from left to right.
2. the continuously tracked vehicle electric actuator with double side gearbox according to claim 1, is characterized in that,
When vehicle turns in shift to a higher gear straight, when low speed side side change speed gear box is hung the first top grade and is turned to grade, described left drive motor and described right drive motor drive described left transverse axis and the described right transverse axis of locking jointly, total driving power of described left drive motor and described right drive motor is exported by high-speed side side change speed gear box, from ground, the regenerating power that turns to of defeated time transfers back to described left transverse axis and the described right transverse axis of locking from low speed side side change speed gear box, rear by high-speed side side change speed gear box output driving vehicle with total driving power stack of described left drive motor and described right drive motor, realizing the first high-grade regulation relative steering turns to,
When low speed side side change speed gear box, hang the second top grade and turn to shelves, when high-speed side side change speed gear box is hung the first top grade and turned to grade, realize the second high-grade regulation relative steering and turn to; And
When low speed side side change speed gear box, hang the second top grade and turn to shelves, during high-speed side side change speed gear box shift to a higher gear, realize third high shelves regulation relative steering and turn to.
3. the continuously tracked vehicle electric actuator with double side gearbox according to claim 1, is characterized in that,
When vehicle turns in shift to a lower speed straight, described line shaft clutch is separated, and high-speed side drive motor is operated in electric model, and low speed side drive motor is operated in regenerative brake pattern, realizes the first low-grade regulation relative steering and turns to; And
When low speed side side change speed gear box is hung braking shelves, described line shaft clutch engages, described left drive motor and described right drive motor drive described left transverse axis and the described right transverse axis of locking jointly, total driving power of described left drive motor and described right drive motor is exported by high-speed side side change speed gear box, realizes relative steering and is the second low-grade regulation relative steering of 0.5 and turn to.
4. the continuously tracked vehicle electric actuator with double side gearbox according to claim 1, is characterized in that,
Vehicle straight or hole fall into while rolling away from, and described line shaft clutch engages, and described left drive motor and described right drive motor drive described left transverse axis and the described right transverse axis of locking jointly, and both sides side change speed gear box output speed equates, realizes vehicle straight-line travelling.
5. the continuously tracked vehicle electric actuator with double side gearbox according to claim 1, is characterized in that,
When both sides, side change speed gear box is hung identical gear, described line shaft clutch is separated, when described left drive motor and described right drive motor are operated in respectively forward or reversion electric model, the driving power of described left drive motor and described right drive motor drives vehicle by the output of both sides side change speed gear box respectively, realizes the original position zero turn radius of relative steering between-0.5 and 0.5.
6. a continuously tracked vehicle electric actuator with double side gearbox, it comprises: drive motor; Left side change speed gear box and right side change speed gear box, having braking shelves, reverse gear, low grade and top grade and top grade is direct speed; Left reduction planetary row and right reduction planetary row, increase square for described drive motor is slowed down, and is separately positioned in described left side change speed gear box and described right side change speed gear box; It is characterized in that:
Described left side change speed gear box and described right side change speed gear box also have the first top grade and turn to shelves and the second top grade to turn to shelves, described the first top grade turns to shelves and the second top grade to turn to the speed ratio of shelves all between top grade and low grade, and described the first top grade turns to speed ratio that shelves and the second top grade turn to grade according to the first high-grade regulation relative steering, the second high-grade regulation relative steering and the setting of third high shelves regulation relative steering; And
Described left side change speed gear box, described drive motor and described right side change speed gear box be arranged coaxial and layout successively from left to right.
7. the continuously tracked vehicle electric actuator with double side gearbox according to claim 6, is characterized in that,
When vehicle turns in shift to a higher gear straight, when low speed side side change speed gear box is hung the first top grade and is turned to grade, the driving power of described drive motor is exported by high-speed side side change speed gear box, from ground, the regenerating power that turns to of defeated time transfers back to described drive motor rotor shaft from low speed side side change speed gear box, rear by high-speed side side change speed gear box output driving vehicle with the driving power stack of described drive motor, realize the first high-grade regulation relative steering and turn to;
When low speed side side change speed gear box, hang the second top grade and turn to shelves, when high-speed side side change speed gear box is hung the first top grade and turned to grade, realize the second high-grade regulation relative steering and turn to; And
When low speed side side change speed gear box, hang the second top grade and turn to shelves, during high-speed side side change speed gear box shift to a higher gear, realize third high shelves regulation relative steering and turn to.
8. the continuously tracked vehicle electric actuator with double side gearbox according to claim 6, is characterized in that,
When vehicle turns in shift to a lower speed straight, the low grade of controlling low speed side side change speed gear box is handled the degree of engagement of friction element degree of engagement or braking shelves manipulation friction element, realizes required Turning radius and turns to; And
When low speed side side change speed gear box is hung braking shelves, realize relative steering and be 0.5 low-grade regulation relative steering and turn to.
9. the continuously tracked vehicle electric actuator with double side gearbox according to claim 6, is characterized in that,
When a side side change speed gear box shift to a lower speed, opposite side side change speed gear box is hung reverse gear, when described drive motor is operated in forward or reversion electric model, the driving power of described drive motor drives vehicle by the output of both sides side change speed gear box respectively, realizes the original position zero turn radius of relative steering between-0.5 and 0.5.
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