CN103538468B - There is the continuously tracked vehicle electric actuator of double side gearbox - Google Patents
There is the continuously tracked vehicle electric actuator of double side gearbox Download PDFInfo
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Abstract
The invention provides a kind of continuously tracked vehicle electric actuator with double side gearbox, comprising: left and right driving motor; Left and right reduction planetary row; Left and right side change speed gear box, have braking shelves, low grade and high-grade and high-grade be direct speed, also having the first and second top grades turns to shelves, its speed ratio between high-grade and low grade, and according to first, second, and third high-grade regulation relative steering setting; Left and right transverse axis, is respectively used to connect left and right reduction planetary row's mouth and left and right side transmission input; Line shaft clutch, for connecting left transverse axis and right transverse axis; Sinistral gearbox, left reduction planetary row, left drive motor, left transverse axis, line shaft clutch, right transverse axis, right drive motor, right reduction planetary row and dextral gearbox arranged coaxial and layout.The continuously tracked vehicle electric actuator with double side gearbox of the present invention, can realize multiple enough large regulation relative steering, the Combination property comprising turning efficiency is more excellent.
Description
Technical field
The present invention relates to vehicle electric transmission device technical field, particularly high maneuverability continuously tracked vehicle electric actuator technical field, specifically refer to a kind of continuously tracked vehicle electric actuator with double side gearbox.
Background technology
In the development course of high maneuverability continuously tracked vehicle transmission system, occurred the double transmission system turned to of a kind of Double-side variable speed of uniqueness, its principle of work is as follows: during straight, and double side gearbox hangs identical gear; When turning to, low speed side side change speed gear box reduces by one grade; Side change speed gear box hangs braking shelves, can realize the pivot stud of ρ=0.5; When side change speed gear box hangs 1 grade, opposite side change speed gear box hangs reverse gear, then can realize the original position zero turn radius of-0.5< ρ <0.5.This type of double side gearbox inwardly loads car body from the side driving hole of vehicle body side, be connected with driving engine by driving front, although its turning efficiency is not good, but make power transmission cabin have high power density, length over ends of body shortens nearly one meter, contour of the vehicle profile can be effectively reduced, reduce the probability being found and hitting, be therefore widely applied without hesitation on the high maneuverability continuously tracked vehicle of certain country.
Since nearly half a century, the double side gearbox mainly containing two profiles number uses on the high maneuverability continuously tracked vehicle that production quantity is huge, wherein the diesel engine of a kind of model coupling maximum speed of revolution 2300rpm uses, 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 uses, 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 the side transmission of single planetary row upgraded 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 is between double side gearbox, still maintains the high power density advantage in the power transmission cabin adopting 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 shelves should increase along with gear and increase gradually, but above data show, the medium-to-high grade regulation Turning radius of the double side gearbox of two profiles number is less than normal and can't bear practical, and the vehicle causing running at high speed produces and violently breaks away or topple to side by too small regulation Turning radius.In addition, vehicle from straight enter turn to and to the transition of regulation Turning radius time, corresponding friction element must be handled and be in slipping state, therefore can not realize accurately turning to, also affect the life-span of friction elements because traverse time is oversize.
In order to improve the cornering properties of double side gearbox, propose following measures: increase gear number and divide gear by arithmetic progression; To top grade increase some be exclusively used in turn to time side reduction of speed shelves to strengthen Turning radius; The basis of Double-side variable speed transmission increases hydraulic steering mechanism, hydraulic power is through zero passage axle, pass to the conflux planetary gear set place, both sides that change speed gear box front end, both sides is newly-increased respectively, the power transmitted with driving engine converges, inadequate hour of the fluid-link steering radius realized when hydraulic motor rotary speed reaches maximum, then low speed side side change speed gear box is reduced by one grade to continue reduction Turning radius.Above improving countermeasure respectively has merits and faults, and the result obtained also not exclusively matches with the cost paid.At present, be not still disclosed 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 the possibility brought and improve other side performance.Top-priority, need not larger change be carried out to the double side gearbox of existing enormous amount and its performance can be significantly improved.
In addition, existing drive motor has the expansion speed ratio of nearly 4, only needs less straight gear can meet the demand of vehicular drive.Too much gear, by the complexity of the structure and control that add electric actuator, also reduces driving efficiency, therefore only considers the electric actuator based on existing fourth gear double side gearbox.
Therefore, also also exist and provide a kind of Combination property comprising turning efficiency preferably to have the possibility of the continuously tracked vehicle electric actuator of double side gearbox.
Summary of the invention
The object of the invention is to overcome above-mentioned shortcoming of the prior art, providing a kind of Combination property comprising turning efficiency preferably to have 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 carry out deceleration to described left drive motor and described right drive motor and increase square; Sinistral gearbox and dextral gearbox, have braking shelves, low grade and top grade and top grade is direct speed; It is characterized in that: described sinistral gearbox and described dextral gearbox also have the first top grade and turn to shelves and the second top grade to turn to shelves, described 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 shelves and the second top grade to turn to the speed ratio of shelves to arrange according to the first high-grade regulation relative steering, the second high-grade regulation relative steering and 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 sinistral gearbox input end; Right transverse axis, for connecting described right reduction planetary row's mouth and described dextral gearbox input end; Line shaft clutch, it is for connecting described left transverse axis and described right transverse axis; And described sinistral gearbox, 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 dextral gearbox 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 hang the first top grade to turn to grade time, described left drive motor and described right drive motor drive the described left transverse axis of locking and described right transverse axis 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 the described left transverse axis of locking and described right transverse axis from low speed side side change speed gear box, exported by high-speed side side change speed gear box after superposing with total driving power of described left drive motor and described right drive motor and drive vehicle, realize the first high-grade regulation relative steering to turn to,
Hang the second top grade when low speed side side change speed gear box and turn to shelves, high-speed side side change speed gear box hangs the first top grade when to turn to grade, realizes the second high-grade regulation relative steering and turns to; And turn to shelves when low speed side side change speed gear box hangs the second top grade, during the change speed gear box shift to a higher gear of high-speed side side, 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 braking mode, realizes the first low-grade regulation relative steering and turns to; And when low speed side side change speed gear box hangs braking shelves, described line shaft clutch engages, described left drive motor and described right drive motor drive the described left transverse axis of locking and described right transverse axis 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, realize relative steering be 0.5 the second low-grade regulation relative steering turn to.
According to the continuously tracked vehicle electric actuator with double side gearbox of the present invention, when vehicle straight or hole fall into and roll away from, described line shaft clutch engages, described left drive motor and described right drive motor drive the described left transverse axis of locking and described right transverse axis jointly, side, both sides change speed gear box output speed is equal, realizes its straight line and travels.
According to the continuously tracked vehicle electric actuator with double side gearbox of the present invention, when side, both sides, change speed gear box hangs identical gear, described line shaft clutch is separated, when described left drive motor and described right drive motor are operated in respectively and rotate forward or reverse electric model, the driving power of described left drive motor and described right drive motor exports respectively by side, both sides change speed gear box and drives vehicle, 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; Sinistral gearbox and dextral gearbox, have 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 carrying out deceleration to described drive motor, be separately positioned in described sinistral gearbox and described dextral gearbox; It is characterized in that: described sinistral gearbox and described dextral gearbox also have the first top grade and turn to shelves and the second top grade to turn to shelves, described 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 shelves and the second top grade to turn to the speed ratio of shelves to arrange according to the first high-grade regulation relative steering, the second high-grade regulation relative steering and third high shelves regulation relative steering; And described sinistral gearbox, described drive motor and described dextral gearbox 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 hang the first top grade to turn to grade time, 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, exported by high-speed side side change speed gear box after superposing with the driving power of described drive motor and drive vehicle, realize the first high-grade regulation relative steering and turn to; Hang the second top grade when low speed side side change speed gear box and turn to shelves, high-speed side side change speed gear box hangs the first top grade when to turn to grade, realizes the second high-grade regulation relative steering and turns to; And turn to shelves when low speed side side change speed gear box hangs the second top grade, during the change speed gear box shift to a higher gear of high-speed side side, 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, control the low-grade friction elements degree of engagement of low speed side side change speed gear box or the degree of engagement of braking shelves friction elements, realize required Turning radius and turn to; And when low speed side side change speed gear box hang braking shelves time, realize relative steering be 0.5 low-grade regulation relative steering turn to.
According to the continuously tracked vehicle electric actuator with double side gearbox of the present invention, when side, side change speed gear box shift to a lower speed, opposite side side change speed gear box hangs reverse gear, when described drive motor is operated in and rotates forward or reverse electric model, the driving power of described drive motor exports respectively by side, both sides change speed gear box and drives vehicle, 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, also be provided with the first and second top grades outward at high and low two D Drives and turn to shelves, its speed ratio is between top grade and low grade, and arrange according to first, second, and third high-grade regulation Turning radius, multiple enough large regulation Turning radius can be realized.Therefore, can obtain according to the present invention the continuously tracked vehicle electric actuator that a kind of Combination property comprising turning efficiency preferably has double side gearbox.
Accompanying drawing explanation
Fig. 1 is the structural representation with the continuously tracked vehicle electric actuator of double side gearbox involved by the present invention first specific embodiment; And
Fig. 2 is the structural representation of the existing fourth gear side change speed gear box involved by the specific embodiment of the invention; And
Fig. 3 is the structural representation with the continuously tracked vehicle electric actuator of double side gearbox involved by the present invention second specific embodiment.
In figure: 1L, 1R are left drive motor and right drive motor respectively; 2L, 2R are left reduction planetary row and right reduction planetary row respectively; 3L, 3R are sinistral gearbox and dextral gearbox respectively; 4L, 4R are left transverse axis and right transverse axis respectively; 5 line shaft clutches; 1 is drive motor.
Detailed description of the invention
In order to more clearly understand technology contents of the present invention, describe in detail especially exemplified by following examples.Should be understood that embodiment is only for illustration of the present invention, instead of limitation of the present invention.
First specific embodiment
Fig. 1 is the structural representation with the continuously tracked vehicle electric actuator of double side gearbox involved by the present invention first specific embodiment.With reference to Fig. 1, have 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, is respectively used to carry out deceleration to left drive motor 1L and right drive motor 1R and increases square; Sinistral gearbox 3L and dextral gearbox 3R, have braking shelves, low grade and high-grade and high-grade be direct speed, also having the first top grade turns to shelves and the second top grade to turn to shelves, and its speed ratio between top grade and low grade, and is arranged according to first, second and the second high-grade regulation relative steering; Left transverse axis 4L, for connecting left reduction planetary row's mouth of 2L and the input end of sinistral gearbox 3L; Right transverse axis 4R, for connecting right reduction planetary row's mouth of 2R and the input end of dextral gearbox 3R; Line shaft clutch 5, for connecting left transverse axis 4L and right transverse axis 4R; Sinistral gearbox 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 dextral gearbox 3R 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 existing fourth gear side change speed gear box involved by the specific embodiment of the invention.The gear ratios that in Fig. 2, each gear is corresponding and the relation of relative steering as shown in table 1, the axial arrangement of existing fourth gear side change speed gear box closely, be made up of a compound planetary row, a simple planet row and several friction elements, it also comprises a hydrodynamic retarder and side transmission planetary row.Wherein, the structural characteristic parameter of compound planetary 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 shelves
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 shelves regulation relative steering ρ
n n-1obviously unreasonable, 4 grades should about 10, and 3 grades should about 7.5, and 2 grades should 4.5, and 1 grade should about 2.5.
The gear parameter list of table 1 existing fourth gear side change speed gear box
The torque coefficient of adaptability (i.e. the ratio of nearly zero rotational speed and torque and maximum speed of revolution torque) of automotive gas turbine is 2.5, and overall ratio scope is 2.5 × 4.761=12.Left drive motor 1L and right drive motor 1R has the expansion speed ratio (ratio of invariable power district maximum speed of revolution and permanent torque district maximum speed of revolution) of at least 4, and top-gear ratio is 1, then low-grade speed ratio is 12/4=3, can realize required overall ratio scope.In addition, in order to when ensureing gear shift, power overlaps, gear ratios should not be greater than expansion speed ratio, and therefore, low-grade speed ratio is selected in the scope of 3 ~ 4.
Because existing side change speed gear box only has four D Drives, and its speed ratio numerical value is described 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 for the side change speed gear box only with four D Drives, turns to special shelves because gear cannot be arranged very little under the prerequisite meeting straight performance again.The improvement project with the side change speed gear box of seven D Drives arranges one to each the straight shelves selected to turn to special shelves, and the speed ratio ratio still approximate requirement meeting geometric progression between multiple straight shelves, 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 practical, need the transmission components braking of low speed side side to turn to enter the large radius revised needed for direction.If need Turning radius comparatively large, then 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:
As can be seen from formula (1), be the top grade of 1 for speed ratio, if larger Turning radius will be obtained, then turn to a grade speed ratio to be arranged to more bigger than 1.If for top grade, correspondence arranges two and turns to shelves, then can realize two regulation relative steering, and the second top grade turns to grade speed ratio first top grade to turn to grade speed ratio larger, can meet better like this and turn to requirement.
For the low grade of speed ratio in the scope of 3 ~ 4, due to gear maximum speed not high (low-grade maximum speed can be tried to achieve 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 adopting the driving torque of high-speed side drive motor 1R or 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 extension braking shelves reduce this side speed of a motor vehicle further and can reduce Turning radius further, second low-grade regulation relative steering of ρ=0.5 needed for realization turns to.
Due to former 2 grades and former 3 grades can only be utilized to arrange and turn to special shelves, therefore first consider to realize first and third high shelves regulation relative steering, its numerical value is respectively 10 and 5, can calculate Δ according to (1) formula
1and Δ
2, also namely the first and second top grades turn to the speed ratio of shelves.Thereafter consider that hanging the first and second top grades respectively by high-speed side and low speed side side change speed gear box turns to shelves to realize the second middle high-grade regulation relative steering again.Δ is selected after tentative calculation
1=1.1, Δ
2=1.265, then first and third high shelves specify that the exact numerical of Turning radius is 10.5 and 4.27.According to the i shown in table 1
1, i
2and i
3speed ratio formula, i
1select in the scope of 3 ~ 4, 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 suitably amendment and can realize on the basis of existing structure.
In addition, the i tried to achieve
1=3.6 requirements also meeting straight completely, low-grade maximum speed is 20km/h.During shift to a higher gear, the point of transition of expansion speed than 4 (point of connection in permanent torque district and the invariable power district) speed of a motor vehicle is 72/4=18km/h, is slightly less than low-grade maximum speed, and therefore, the dynamic characteristic of height two grades has less lap at invariable power section.
In order to realize the second high-grade regulation relative steering, also must downshift by means of high-speed side side change speed gear box 3R or 3L.The speed ratio that can calculate 1.15 according to formula (1) can realize the regulation relative steering of 7.5.Turn to shelves when low speed side side change speed gear box 3L or 3R hangs the second top grade, and high-speed side side change speed gear box 3R or 3L hangs the first top grade turns to shelves, the speed ratio ratio=1.265/1.1=1.15 of both sides, the regulation relative steering of 7.5 can be realized.
When vehicle turns in shift to a higher gear straight, line shaft clutch 5 engages, left drive motor 1L and right drive motor 1R is all operated in electric model, when low speed side side change speed gear box 3L or 3R start to hang the first top grade to turn to grade time, left drive motor 1L and right drive motor 1R drives the left transverse axis 4L of locking and right transverse axis 4R 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 the left transverse axis 4L of locking and right transverse axis 4R from low speed side side change speed gear box 3L or 3R, exported by high-speed side side change speed gear box 3R or 3L after superposing with total driving power of left drive motor 1L and right drive motor 1R and drive vehicle, realize the first regulation Turning radius to turn to, turn to shelves when low speed side side change speed gear box 3L or 3R hangs the second top grade, high-speed side side change speed gear box 3R or 3L hangs the first top grade when to turn to grade, realizes the second regulation Turning radius and turns to, and turn to shelves when low speed side side change speed gear box 3L or 3R hangs 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.
First and second top grades turn to the speed ratio of shelves can to arrange relatively flexibly according to required regulation relative steering, as long as structure allows to realize new k1, k2 and k3.It is noted that if the expansion speed of drive motor 1L and 1R is than larger, then more easily realize the setting of each regulation 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 nearly half, still at least 4 straight shelves are needed, cannot arrange a gear as this specific embodiment and multiplely turn to shelves, obtain multiple 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 is separated, and high-speed side drive motor 1R or 1L is operated in electric model, and low speed side drive motor 1L or 1R is operated in braking mode, realizes the first low-grade regulation relative steering and turns to; And when low speed side side change speed gear box 3L or 3R hangs braking shelves, line shaft clutch 5 engages, left drive motor 1L and right drive motor 1R drives the left transverse axis 4L of locking and right transverse axis 4R 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 realizing ρ=0.5 turns to.
Compared with the electric actuator of existing dual motors drive, the electric actuator of this specific embodiment has outstanding advantage: road grabbing is guaranteed, and the former realizes by performance-oriented differential control algorithm; What transmitted on ground due to the left transverse axis 4L and right transverse axis 4R that have locking turns to regenerating power to high-speed side transmission, and 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.
Also be provided with hydrodynamic retarder in the change speed gear box of existing side, the B.P. of nearly 600kW can be provided.The nearly 900kW of power of former driving engine, then 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 close to total B.P. 1200kW of two hydrodynamic retarders, can for simplified structure with for two drive motor 1L and 1R provide axial space and cancel hydrodynamic retarder.
Existing side change speed gear box is also provided with reverse gear, and for can only the diesel engine of single direction rotation and automotive gas turbine, this be necessary, and due to structural limitations, is only provided with low-reverse shelves, does not have high-reverse shelves, can not realize high-reverse.This specific embodiment realizes reversing by the reversion of two drive motor 1L and 1R is electronic, also achieves high-reverse, and reversing maximum speed only depends on the reversing electronic speed limit arranged for driving safety consideration.
When vehicle straight or hole fall into and roll away from, line shaft clutch 5 engages, and left drive motor 1L and right drive motor 1R drives the left transverse axis 4L of locking and right transverse axis 4R jointly, and the output speed of side, both sides change speed gear box 3L and 3R is equal.
When side, both sides, change speed gear box 3L and 3R hangs identical gear, line shaft clutch 5 is separated, when left drive motor 1L and right drive motor 1R is operated in respectively and rotates forward or reverse electric model, its driving power exports respectively by side, both sides change speed gear box 3L and 3R and drives vehicle, can realize the original position zero turn radius of-0.5< ρ <0.5.
Second specific embodiment
Fig. 3 is the structural representation with the continuously tracked vehicle electric actuator of double side gearbox involved by the present invention second specific embodiment.With reference to Fig. 3, have the continuously tracked vehicle electric actuator of double side gearbox, it comprises: drive motor 1; Sinistral gearbox 3L and dextral gearbox 3R, have braking shelves, reverse gear, low grade and high-grade and high-grade be direct speed, also having the first top grade turns to shelves and the second top grade to turn to shelves, and its speed ratio between top grade and low grade, and is arranged according to first, second, and third high-grade regulation relative steering; Left reduction planetary row 2L and right reduction planetary row 2R, increases square for carrying out deceleration to drive motor 1, is separately positioned in sinistral gearbox 3L and dextral gearbox 3R; Sinistral gearbox 3L, drive motor 1 and dextral gearbox 3R arranged coaxial and layout successively from left to right.
With there are in the first specific embodiment two drive motor 1L with 1R compare, 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 adopt 6 or polyphase machine, axial-flux electric machine or transverse flux motor realize, drive motor 1 a phase or heterogeneous break down time, vehicle can also move, and ensures the fault-tolerant ability needed for high maneuverability continuously tracked vehicle.
Reduction planetary row 2L and 2R is separately positioned in change speed gear box 3L and 3R of side, is conducive to the complexity reducing lubricating system, is also convenient to its good lubrication.Like this, drive motor 1 can adopt dry type motor, does not namely have lubricating oil therein, 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 to turn to grade time, 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, exported by high-speed side side change speed gear box 3R or 3L after superposing with the driving power of drive motor 1 and drive vehicle, realize the first regulation relative steering and turn to; Turn to shelves when low speed side side change speed gear box 3L or 3R hangs the second top grade, high-speed side side change speed gear box 3R or 3L hangs the first top grade when to turn to grade, realizes the second regulation relative steering and turns to; And turn to shelves when low speed side side change speed gear box 3L or 3R hangs 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, control the low-grade friction elements degree of engagement of low speed side side change speed gear box 3L or 3R or the degree of engagement of braking shelves friction elements, realize required Turning radius and turn to; And when low speed side side change speed gear box 3L or 3R hangs braking shelves, the low-grade regulation relative steering realizing ρ=0.5 turns to.Because the speed of a motor vehicle is lower, and the regenerative brake of drive motor 1 also mitigates the wearing and tearing of the friction elements under damped condition, therefore can not be much affected the entire life of friction elements.
When side, side change speed gear box shift to a lower speed, opposite side side change speed gear box hangs reverse gear, when described drive motor is operated in and rotates forward or reverse electric model, its driving power exports respectively by side, both sides change speed gear box and drives vehicle, realizes the original position zero turn radius of-0.5< ρ <0.5.In this specific embodiment, the reverse gear ratio obtained according to the formulae discovery in table 1 is-4.9091, can meet the requirement of original position zero turn radius, but can not meet needed for high-reverse, and therefore reversing can only be realized by drive motor 1 reversion.Here reverse gear only has two effects: one is realize original position zero turn radius, and one is because its speed ratio is larger than low-grade, if run into abrupt slope, pole and ground attachment condition is suitable, when shift to a lower speed can not make the grade, can hang reverse gear, and vehicle falls back and climbs up abrupt slope, pole.
During vehicle sternway, drive motor 1 is operated in reversion electric model, side, both sides change speed gear box 3L and 3R shift to a lower speed or top grade.Namely in this specific embodiment, although side, both sides change speed gear box 3L and 3R has reverse gear, reversing is also realized by drive motor 1 reversion.Turning in vehicle sternway, operation during similar straight, repeats no more in this.
Compared with the first specific embodiment, this specific embodiment does not have the 2.5 first low-grade regulation relative steering, and friction elements must be relied on to skid and turn to, therefore will consume Partial Power, low-grade turning efficiency is not as the former.But the structure of this specific embodiment is very simple, controls also simple, performance-oriented differential control algorithm need not be related to, nor the life-span of friction elements can be affected, and be beneficial to production in enormous quantities and equipment, there is unique technical advantage.
The electric actuator of two specific embodiments of the present invention, with other for high maneuverability continuously tracked vehicle electric actuator compared with, the steer motor arranged separately, structure and control simple advantage clearly, 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, also be provided with the first and second top grades outward at high and low two D Drives and turn to shelves, its speed ratio is between top grade and low grade, and arrange according to first, second, and third high-grade regulation relative steering, multiple enough large regulation relative steering can be realized.Therefore, can obtain according to the present invention the continuously tracked vehicle electric actuator that a kind of Combination property comprising turning efficiency preferably has double side gearbox.
The present invention is not limited to above-described embodiment, but cover carry out when not departing from the spirit and scope of the present invention institute change and revise.These change and amendment should not be considered to depart from the spirit and scope of the present invention, and all amendments that 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 (7)
1. have a continuously tracked vehicle electric actuator for 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 carry out deceleration to described left drive motor and described right drive motor and increase square; Sinistral gearbox and dextral gearbox, have braking shelves, low grade and top grade and top grade is direct speed;
Left transverse axis, for connecting described left reduction planetary row's mouth and described sinistral gearbox input end;
Right transverse axis, for connecting described right reduction planetary row's mouth and described dextral gearbox input end;
Line shaft clutch, it is for connecting described left transverse axis and described right transverse axis;
Described sinistral gearbox, 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 dextral gearbox arranged coaxial and layout successively from left to right;
It is characterized in that:
Described sinistral gearbox and described dextral gearbox also have the first top grade and turn to shelves and the second top grade to turn to shelves, described 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 first top grade turns to shelves and the second top grade to turn to the speed ratio of shelves to arrange according to the first high-grade regulation relative steering, the second high-grade regulation relative steering and third high shelves regulation relative steering;
When vehicle turns in shift to a higher gear straight, when low speed side side change speed gear box hang the first top grade to turn to grade time, described left drive motor and described right drive motor drive the described left transverse axis of locking and described right transverse axis 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 the described left transverse axis of locking and described right transverse axis from low speed side side change speed gear box, exported by high-speed side side change speed gear box after superposing with total driving power of described left drive motor and described right drive motor and drive vehicle, realize the first high-grade regulation relative steering to turn to,
Hang the second top grade when low speed side side change speed gear box and turn to shelves, high-speed side side change speed gear box hangs the first top grade when to turn to grade, realizes the second high-grade regulation relative steering and turns to; And
Hang the second top grade when low speed side side change speed gear box and turn to shelves, during the change speed gear box shift to a higher gear of high-speed side side, realize third high shelves regulation relative steering and turn to.
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 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 braking mode, realizes the first low-grade regulation relative steering and turns to; And
When low speed side side change speed gear box hangs braking shelves, described line shaft clutch engages, described left drive motor and described right drive motor drive the described left transverse axis of locking and described right transverse axis 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, realize relative steering be 0.5 the second low-grade regulation relative steering turn to.
3. the continuously tracked vehicle electric actuator with double side gearbox according to claim 2, is characterized in that,
When vehicle straight or hole fall into and roll away from, described line shaft clutch engages, and described left drive motor and described right drive motor drive the described left transverse axis of locking and described right transverse axis jointly, and side, both sides change speed gear box output speed is equal, realizes its straight line and travels.
4. the continuously tracked vehicle electric actuator with double side gearbox according to claim 3, is characterized in that,
When side, both sides, change speed gear box hangs identical gear, described line shaft clutch is separated, when described left drive motor and described right drive motor are operated in respectively and rotate forward or reverse electric model, the driving power of described left drive motor and described right drive motor exports respectively by side, both sides change speed gear box and drives vehicle, realizes the original position zero turn radius of relative steering between-0.5 and 0.5.
5. have a continuously tracked vehicle electric actuator for double side gearbox, it comprises: drive motor; Sinistral gearbox and dextral gearbox, have 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 carrying out deceleration to described drive motor, be separately positioned in described sinistral gearbox and described dextral gearbox;
Described sinistral gearbox, described drive motor and described dextral gearbox arranged coaxial and layout successively from left to right;
It is characterized in that:
Described sinistral gearbox and described dextral gearbox also have the first top grade and turn to shelves and the second top grade to turn to shelves, described 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 first top grade turns to shelves and the second top grade to turn to the speed ratio of shelves to arrange according to the first high-grade regulation relative steering, the second high-grade regulation relative steering and third high shelves regulation relative steering;
When vehicle turns in shift to a higher gear straight, when low speed side side change speed gear box hang the first top grade to turn to grade time, 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, exported by high-speed side side change speed gear box after superposing with the driving power of described drive motor and drive vehicle, realize the first high-grade regulation relative steering and turn to;
Hang the second top grade when low speed side side change speed gear box and turn to shelves, high-speed side side change speed gear box hangs the first top grade when to turn to grade, realizes the second high-grade regulation relative steering and turns to; And
Hang the second top grade when low speed side side change speed gear box and turn to shelves, during the change speed gear box shift to a higher gear of high-speed side side, realize third high shelves regulation relative steering and turn to.
6. the continuously tracked vehicle electric actuator with double side gearbox according to claim 5, is characterized in that,
When vehicle turns in shift to a lower speed straight, control the low-grade friction elements degree of engagement of low speed side side change speed gear box or the degree of engagement of braking shelves friction elements, realize required Turning radius and turn to; And
When low speed side side change speed gear box hang braking shelves time, realize relative steering be 0.5 low-grade regulation relative steering turn to.
7. the continuously tracked vehicle electric actuator with double side gearbox according to claim 6, is characterized in that,
When side, side change speed gear box shift to a lower speed, opposite side side change speed gear box hangs reverse gear, when described drive motor is operated in and rotates forward or reverse electric model, the driving power of described drive motor exports respectively by side, both sides change speed gear box and drives vehicle, realizes the original position zero turn radius of relative steering between-0.5 and 0.5.
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| CN103836131B (en) * | 2014-03-24 | 2017-02-08 | 上海中科深江电动车辆有限公司 | Side speed changing box |
| 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 |
| CN111532340A (en) * | 2020-07-09 | 2020-08-14 | 山东科技职业学院 | Vehicle transmission speed difference steering device |
| BR112023018155A2 (en) * | 2021-03-10 | 2024-01-16 | Omni Powertrain Tech Llc | ELECTRIC TRANSMISSION |
| CN113696721A (en) * | 2021-09-14 | 2021-11-26 | 燕山大学 | Dual-motor coupling driving system based on double-row single sun wheel type planetary mechanism |
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