CN103625278A - Modular electric driving device of tracked vehicle - Google Patents
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- CN103625278A CN103625278A CN201310676896.0A CN201310676896A CN103625278A CN 103625278 A CN103625278 A CN 103625278A CN 201310676896 A CN201310676896 A CN 201310676896A CN 103625278 A CN103625278 A CN 103625278A
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Abstract
The invention provides a modular electric driving device of a tracked vehicle. The modular electric driving device comprises a driving motor, a steering motor, a left two-gear speed changer, a right two-gear speed changer and a central differential driver, wherein the central differential driver is used for power distribution and transmission among the driving motor, the steering motor, the left two-gear speed changer and the right two-gear speed changer and comprises a box body, a linear driving input end, a steering input end, a linear driving torque vector, a steering torque vector, a left converging driving gear group, a right converging driving gear group, a left output end, a right output end and a cross beam. The driving motor and the steering motor can be independently replaced, the driving motor and the steering motor are driven by the same motor module, and when the vehicle is steered in the original center, the driving motor and the steering motor respectively drive two driving wheels, so that the modular electric driving device has higher maintainability, productibility and power performance.
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 Modular electrical driving device of continuously tracked vehicle.
Background technology
Existing high maneuverability continuously tracked vehicle electric actuator mainly contains two kinds of technical schemes, and a kind of is to adopt single drive motor and single steer motor, and another kind has adopted two drive motor and single steer motor.In principle, the control program of the first scheme is simpler than the second, and the tractive performance of first scheme will be higher than the first scheme.
US Patent No. 4998591 discloses a kind of electric actuator, wherein adopt the scheme of single drive motor and single steer motor to have four kinds: the first is the bilateral differential structure based on classical, drive motor and steer motor difference arranged coaxial are on main shaft and zero axle, during straight, steer motor locking guarantees road grabbing, drive motor provides straight the max speed required driving power, and steer motor provides pivot stud required driving power; The second on main shaft, drives zero axle by transmission gear by steer motor also arranged coaxial; The third is vertical drive motor and steer motor of putting, by finishing bevel gear cuter by transmission of power on main shaft and zero axle; The 4th kind is also vertical drive motor and steer motor of putting, drive motor arrives left and right semiaxis by transmission of power after bevel gear driving diff, steer motor is by driving bevel gear driving right axle shaft, steer motor locking not during straight, need to apply suitable driving or regenerative brake torque guarantees road grabbing to right axle shaft, drive motor locking during original position zero turn radius, steer motor provides required driving power.In above-mentioned disclosed technical scheme, there is following problem: 50 tons of required driving powers of car 72km/h maximum speed are 1000kW, and one week required driving power of 6s original position zero turn radius is 800kW.During due to zero turn radius in position, only by steer motor, provide power, if steer motor also configures heavy-duty motor, increased the volume of electric actuator; If do not configure high-power steer motor like this, original position zero turn radius performance inevitably reduces; The longitudinal length that the vertical drive motor of putting and steer motor have increased electric actuator, is unfavorable for the layout in power transmission cabin.
U.S. Patent application US 7326141 B2 disclose another kind of electric actuator, comprise drive motor in symmetric configuration and that arrange, single two grades of speed-changing mechanisms and parking brake, in electric actuator central configuration the controllable differential mechanism being formed by two steer motor and two differentials row, two steer motor are coaxial affixed and be configured on the axis parallel with drive motor rotor, by transmitting ratio equal and opposite in direction, two groups of dead axle transmission gears of opposite direction are connected respectively with two differential rows' sun wheel, two differential rows' pinion carrier is affixed, its gear ring is connected respectively with two drive motor rotors.During original position zero turn radius, two drive motor drive respectively left and right driving wheel, the steering power identical with straight driving power can be provided, its steer motor needn't be original position zero turn radius configuration relatively high power, therefore can arrange littlely, two steer motor power sums are about 1/3rd of two drive motor power sums.In addition, its drive motor and steer motor are the motors of two kinds of different sizes, there is no the possibility of exchanging.
In addition, the popular employing integral type of modern and of future generation high maneuverability continuously tracked vehicle or integrated dynamic driving device (Zhang Jun enjoys. high maneuverability carrier vehicle power system [M]. Beijing. the .2000 of China Science Tech Publishing House).The design of power drive is carried out according to the cumulative volume designing requirement in power transmission cabin completely, and consider the convenience of maintaining, the profile of engine installation and driving device is mated mutually, and formation one is rigidly connected, not only can reduce power transmission cabin volume, and assemble easy and be convenient to integral hoisting and dismounting, improve vehicle maintainability.When engine installation or driving device are out of order, power drive is hung out to maintenance or change fault engine installation or driving device from integral body in power transmission cabin.Therefore, having this requirement of integral hoisting ability also and unlimitedly implements in above-mentioned electric actuator design.
But the integral hoisting of power drive can only rely on technical support vehicle to complete while breaking down, and fault automotive occupant is conventionally helpless when running into this type of fault, can only call and wait for.Although out of order power drive is hung out and new power drive is hung in power transmission cabin and installs and only need to spend the time less than one hour in power transmission cabin, but repair power drive, may need to take dozens of time several weeks hour even, and will spend a large amount of budgets as the power drive of spare part, purchase.This only also cause have sufficient funds and prerequisite that technical guarantee ability is strong under, the integral hoisting performance of power drive just has real significance.
Although also implement modular design method in above-mentioned electric actuator, but this modularization is to realize in the casing of electric actuator, change separately drive motor, the parts such as steer motor or module are just attainable electric actuator hangs out in power transmission cabin, all there is no the special possibility of considering to change separately drive motor and steer motor, can not guarantee under field condition, under the condition of not using weight-lifting equipment, change to greatest extent the detachable part and assembly of great majority, automotive occupant needn't be waited until the arrival of technical support vehicle, just can trouble-shooting or complete voluntarily uncomplicated repairing work, steering vehicle has continued set task.
Therefore, also exist the single drive motor of a kind of employing and single steer motor are provided, and there is the demand of the motor-driven continuously tracked vehicle electric actuator of height of higher maintainability, productibility and dynamic property.
Summary of the invention
The object of the invention is, in order to overcome above-mentioned shortcoming of the prior art, provides a kind of Modular electrical driving device of continuously tracked vehicle.
The Modular electrical driving device that the invention provides a kind of continuously tracked vehicle, comprising: drive motor, steer motor, left side two-speed transmission, it has low grade and top grade, right side two-speed transmission, it has low grade and top grade, it is characterized in that: the Modular electrical driving device of described continuously tracked vehicle also comprises: central differential speed transducer, for described drive motor, described steer motor, power distribution and transmission between described left side two-speed transmission and described right side two-speed transmission, it comprises casing, straight input end, turn to input end, straight torque vector, turn to torque vector, the left side driving gear set of confluxing, the right side driving gear set of confluxing, left side mouth, right side mouth and transverse axis, wherein: the described left side driving gear set of confluxing, it is for connecting the left mouth of described straight torque vector, described left mouth and the described left side mouth that turns to torque vector, the described right side driving gear set of confluxing, its for connect described straight torque vector right mouth, described in turn to right mouth and the described right side mouth of torque vector, described transverse axis, it is for the transmission of power between described central differential speed transducer and described left side two-speed transmission, the mouth of described drive motor is connected with described straight input end, the mouth of described steer motor with described in turn to input end to be connected, described left side mouth is connected with the input end of described left side two-speed transmission by described transverse axis, and described right side mouth is connected with the input end of described right side two-speed transmission, described left side two-speed transmission, described transverse axis and described right side two-speed transmission arranged coaxial are on first axle, described drive motor is configured on the second axis parallel with described first axle, and described steer motor is configured on the 3rd axis parallel with described first axle, and described left side two-speed transmission and described right side two-speed transmission be arranged on respectively car body both sides, described central differential speed transducer setoff installation is on right side in car body, in the rear end of described drive motor and described steer motor, is provided with assembly space.
According to the Modular electrical driving device of continuously tracked vehicle of the present invention, described straight torque vector, it comprises the first planet row, the second planet row, first clutch, second clutch, the first drg and second brake, described the first planet row is interior external toothing double star row, described the second planet row is common row, the sun wheel of described the first planet row is connected with described straight input end by described first clutch, the pinion carrier of described the first planet row is connected with described straight input end by described second clutch, the pinion carrier of described the first planet row is connected with the sun wheel of described the second planet row, the pinion carrier of described the first planet row is connected with described casing by described the first drg, the gear ring of described the first planet row is connected as the right mouth of described straight torque vector and the described right side driving gear set of confluxing, the pinion carrier of described the second planet row is connected with described casing by described second brake, the gear ring of described the second planet row is connected as the left mouth of described straight torque vector and the described left side driving gear set of confluxing, the described torque vector that turns to, it comprises the second planet row, third planet row, the 3rd power-transfer clutch, four clutches, the 3rd drg and the 4th drg, described third planet row is interior external toothing double star row, described fourth planet row is common row, described third planet row's sun wheel by described the 3rd power-transfer clutch with described in turn to input end to be connected, described third planet row's pinion carrier by described four clutches with described in turn to input end to be connected, described third planet row's pinion carrier is connected with described fourth planet row's sun wheel, described third planet row's pinion carrier is connected with described casing by described the 3rd drg, described third planet row's gear ring is connected as the described right mouth that turns to torque vector and the described right side driving gear set of confluxing, described fourth planet row's pinion carrier is connected with described casing by described the 4th drg, described fourth planet row's gear ring is connected as the described left mouth that turns to torque vector and the described left side driving gear set of confluxing.
According to the Modular electrical driving device of continuously tracked vehicle of the present invention, described drive motor comprises the first motor module and second motor module of tandem connection, and described the first motor module, described the second motor module and described steer motor are identical motor; And described straight torque vector and described in to turn to torque vector be identical torque vector.
According to the Modular electrical driving device of continuously tracked vehicle of the present invention, described straight torque vector has differential drive pattern, left drive pattern and right drive pattern; When described first clutch and described second brake joint, described second clutch is with described the first drg when separated, from the power of described straight input side input, after described the first planet row and described the second planet row deceleration and differential, be assigned to the left mouth of described straight torque vector and the right mouth of described straight torque vector, described straight torque vector is realized differential drive pattern; When described first clutch and described the first drg joint, when described second clutch is separated with described second brake, from the power of described straight input side input, be delivered to the left mouth of described straight torque vector after described the first planet row slows down, described straight torque vector is realized left drive pattern; And when described second clutch and described second brake joint, described first clutch is with described the first drg when separated, from the power of described straight input side input, be delivered to the right mouth of described straight torque vector after described the second planet row slows down, described straight torque vector is realized right drive pattern.
According to the Modular electrical driving device of continuously tracked vehicle of the present invention, the described torque vector that turns to has differential drive pattern, left drive pattern and right drive pattern; When described the 3rd power-transfer clutch and described the 4th drg joint, described four clutches is with described the 3rd drg when separated, from the described power that turns to input side input through described third planet row and described fourth planet row is slowed down and differential after turn to torque vector described in being assigned to left mouth with described in turn to the right mouth of torque vector, described in turn to torque vector to realize differential drive pattern; When described the 3rd power-transfer clutch and described the 3rd drg joint, described four clutches is with described the 4th drg when separated, from turning to the left mouth of torque vector described in the described power that turns to input side input is delivered to after described third planet row is slowed down, described in turn to torque vector to realize left drive pattern; And when described four clutches and described the 4th drg joint, described the 3rd power-transfer clutch is with described the 3rd drg when separated, from turning to the right mouth of torque vector described in the described power that turns to input side input is delivered to after described fourth planet row is slowed down, described in turn to torque vector to realize right drive pattern.
According to the Modular electrical driving device of continuously tracked vehicle of the present invention, when vehicle straight, described straight torque vector and described in turn to torque vector to be operated in differential drive pattern, described left side two-speed transmission and described right side two-speed transmission are hung and are supported shelves or high-grade, described steer motor is operated in lockdown mode, described drive motor is operated in electric model, drives vehicle straight.
According to the Modular electrical driving device of continuously tracked vehicle of the present invention, advance transfer to time, described straight torque vector and described in turn to torque vector to be operated in differential drive pattern, described left side two-speed transmission and described right side two-speed transmission shift to a lower speed or top grade, described drive motor and described steer motor are operated in electric model, drive vehicle to turn to the left or to the right.
According to the Modular electrical driving device of continuously tracked vehicle of the present invention, in position during zero turn radius, described straight torque vector is operated in left drive pattern or right drive pattern, the described torque vector that turns to is correspondingly operated in right drive pattern or left drive pattern, described left side two-speed transmission and described right side two-speed transmission shift to a lower speed, described drive motor is operated in electric model and correspondingly drives left driving wheel or right driving wheel, described steer motor is correspondingly operated in electric model and drives right driving wheel or left driving wheel, drives vehicle original position zero turn radius.
According to the Modular electrical driving device of continuously tracked vehicle of the present invention, described left side two-speed transmission and described right side two-speed transmission plug the side driving hole of rear vehicle both sides and are secured on car body, described central differential speed transducer is arranged in car body, and described right side mouth is connected with described right side two-speed transmission, described transverse axis is connected with described left side two-speed transmission, described drive motor and described steer motor respectively with described straight input end with described in be secured on described central differential speed transducer after turning to input end to be connected.
According to the Modular electrical driving device of continuously tracked vehicle of the present invention, described drive motor, described steer motor, described the second motor module are removable connection with described central differential speed transducer.
The Modular electrical driving device of continuously tracked vehicle of the present invention, can change separately drive motor and steer motor, adopted identical motor module to realize drive motor and steer motor, and when vehicle original position zero turn radius, drive motor and steer motor drive respectively two driving wheels.Therefore, according to the present invention, can obtain a kind of continuously tracked vehicle electric actuator with higher maintainability, productibility and dynamic property.
Accompanying drawing explanation
Fig. 1 is the structural representation of the Modular electrical driving device of the related continuously tracked vehicle of the specific embodiment of the invention;
Fig. 2 is the structural representation of the related central differential speed transducer of the specific embodiment of the invention;
Fig. 3 is the car load assembling principle schematic of the related electric actuator of the specific embodiment of the invention.
In figure: 1,11,12 is respectively drive motor and the first motor module and the second motor module; The 2nd, steer motor; 3,4 is respectively left side two-speed transmission and right side two-speed transmission; 5,50,51i, 52i, 6,7,8L, 8R, 53o, 54o 55 is respectively central differential speed transducer, casing, straight input end, turn to input end, straight torque vector, turn to torque vector, left side conflux driving gear set, right side conflux driving gear set, left side mouth, right side mouth and transverse axis; 61,62, C1, C2, B1, B2 is respectively the first planet row, the second planet row, first clutch, second clutch, the first drg and the second brake of straight torque vector; 71,72, C3, C4, B3, B4 is respectively third planet row, fourth planet row, the 3rd power-transfer clutch, four clutches, the 3rd drg and the 4th drg that turns to torque vector; 9L, 9R is respectively left driving wheel and right driving wheel; Y1, Y2, Y3 is respectively first axle, the second axis and the 3rd axis; 100 car bodies.
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.
In the present invention, common row refers in system of vehicle transmission technical field and uses the most general interior external toothing list star row, also be the simplest three element planet row, its single satellite gear while and gear ring and sun wheel engaged transmission, interior external toothing double star row refers to one group of two satellite gear, it is intermeshing, one of them satellite gear also with gear ring engaged transmission, another satellite gear also with sun wheel engaged transmission.
Fig. 1 is the structural representation of the Modular electrical driving device of the related continuously tracked vehicle of the specific embodiment of the invention.With reference to Fig. 1, the Modular electrical driving device of continuously tracked vehicle, comprising: drive motor 1; Steer motor 2; Left side two-speed transmission 3, it has low grade and top grade; Right side two-speed transmission 4, it has low grade and top grade; Central authorities' differential speed transducer 5, for power distribution and the transmission between drive motor 1, steer motor 2, left side two-speed transmission 3 and right side two-speed transmission 4, it comprises casing 50, straight input end 51i, turn to input end 52i, straight torque vector 6, turn to torque vector 7, left side conflux driving gear set 8L, right side conflux driving gear set 8R, left side mouth 53o, right side mouth 54o and transverse axis 55.
Fig. 2 is the structural representation of the related central differential speed transducer of the specific embodiment of the invention.With reference to figure 2, straight torque vector 6, it comprises the first planet row 61, the second planet row 62, first clutch C1, second clutch C2, the first drg B1 and second brake B2, the first planet row 61 is interior external toothing double star row, the second planet row 62 is common row, the sun wheel of the first planet row 61 is connected with straight input end 51i by first clutch C1, the pinion carrier of the first planet row 61 is connected with straight input end 51i by second clutch C2, the pinion carrier of the first planet row 61 is connected with the sun wheel of the second planet row 62, the pinion carrier of the first planet row 61 is connected with casing 50 by the first drg B1, the gear ring of the first planet row 61 is connected as the right mouth of straight torque vector 6 and the right side driving gear set 8R that confluxes, the pinion carrier of the second planet row 62 is connected with casing 50 by second brake B2, the gear ring of the second planet row 62 is connected as the left mouth of straight torque vector 6 and the left side driving gear set 8L that confluxes.
Turn to torque vector 7, it comprises third planet row 71, fourth planet row 72, the 3rd power-transfer clutch C3, four clutches C4, the 3rd drg B3 and the 4th drg B4, third planet row 71 is interior external toothing double star row, fourth planet row 72 is common row, third planet row 71 sun wheel is connected with turning to input end 52i by the 3rd power-transfer clutch C3, third planet row 71 pinion carrier is connected with turning to input end 52i by four clutches C4, third planet row 71 pinion carrier is connected with fourth planet row 72 sun wheel, third planet row 71 pinion carrier is connected with casing 50 by the 3rd drg B3, third planet row 71 gear ring is connected as the right mouth that turns to torque vector 7 and the right side driving gear set 8R that confluxes, fourth planet row 72 pinion carrier is connected with casing 50 by the 4th drg B4, fourth planet row 72 gear ring is connected as the left mouth that turns to torque vector 7 and the left side driving gear set 8L that confluxes.
The left side driving gear set 8L that confluxes, it is for connecting the left mouth of straight torque vector 6, turning to the left mouth of torque vector 7 and left side mouth 53o; The right side driving gear set 8R that confluxes, it is for connecting the right mouth of straight torque vector 6, turning to the right mouth of torque vector 7 and right side mouth 54o.
The mouth of drive motor 1 is connected with the straight input end 51i of central differential speed transducer 5, the mouth of steer motor 2 is connected with the input end 52i that turns to of central differential speed transducer 5, the left side mouth 53o of central authorities' differential speed transducer 5 is connected with the input end of left side two-speed transmission 3 by transverse axis 55, and the right side mouth 54o of central differential speed transducer 5 is connected with the input end of right side two-speed transmission 4.
Left side two-speed transmission 3, transverse axis 55 and right side two-speed transmission 4 arranged coaxial are on first axle Y1, and it is upper that drive motor 1 is configured in the second axis Y2 parallel with first axle Y1, and steer motor 2 is configured on the 3rd axis Y3 parallel with first axle Y1.Be noted that axis Y1, Y2 and Y3 are not coplanar, according to the shape in power transmission cabin, can arrange flexibly, make the shared volume of central differential speed transducer 5 minimum, and be beneficial to the layout of other equipment.
Fig. 3 is the car load assembling principle schematic of the electric actuator of the specific embodiment of the invention.With reference to figure 3 and Fig. 1, left side two-speed transmission 3 and right side two-speed transmission 4 are arranged on respectively the both sides of car body 100, and central differential speed transducer 5 setoff installations are on the interior right side of car body 100, in the rear end of drive motor 1 and steer motor 2, are provided with assembly space.
Left side conflux driving gear set 8L and right side conflux in driving gear set 8R from straight torque vector 6 to left side, two transmitting ratio equal and opposite in direction directions of right side mouth 53o and 54o are identical; Turn to torque vector 7 to left side, two transmitting ratios size equidirectionals of right side mouth 53o and 54o are contrary.When steer motor 7 is operated in lockdown mode, the rotating speed of left side, right side mouth 53o and 54o equates, can guarantee vehicle straight motion stability.When steer motor 7 is rotated, a side mouth 53o or 54o rotating speed recruitment equal the speed decrease of opposite side mouth 54o or 53o, realize homodyne speed cornering properties.
Table 1 is the manipulation friction element state table of the related straight torque vector of the specific embodiment of the invention.Reference table 1, when first clutch C1 and second brake B2 joint, second clutch C2 is with the first drg B1 when separated, from straight input end 51i input power, after the first planet row 61 and the second planet row 62 decelerations and differential, be assigned to left mouth and the right mouth of straight torque vector 6, straight torque vector 6 is realized differential drive pattern; When first clutch C1 and the first drg B1 joint, when second clutch C2 is separated with second brake B2, from straight input end 51i input power, after the first planet row 61 slows down, be delivered to the left mouth of straight torque vector 6, straight torque vector 6 is realized left drive pattern; And when second clutch C2 and second brake B2 joint, first clutch C1 is with the first drg B1 when separated, from straight input end 51i input power, after the second planet row 62 slows down, be delivered to the right mouth of straight torque vector 6, straight torque vector 6 is realized right drive pattern.
When straight torque vector 6 is operated in differential drive pattern, according to the annexation of the first planet row 61 and the second planet row 62 and manipulation friction element state, and the left mouth of straight torque vector 6 and right mouth torque equate condition, by the kinematical equation of two planet rows, can be tried to achieve the structural characteristic parameter k of the first planet row 61 and the second planet row 62
1and k
2should meet following formula (1).Speed ratio i under each pattern
nalso list in table 1.
k
1=k
2/(k
2-1) （1）
Table 1 straight torque vector is handled friction element state table (* separation, zero engages)
| Pattern | C1 | C2 | B1 | B2 | i n |
| Differential drive pattern | ○ | × | × | ○ | k 1-k 2+k 1k 2 |
| Left drive pattern | ○ | × | ○ | × | -k 2 |
| Right drive pattern | × | × | ○ | ○ | k 1 |
The differential drive pattern of straight torque vector 6, left drive pattern and right drive pattern respectively corresponding input power in the allocation proportion of its left mouth and right mouth are: 50%:50%, 100%:0,0:100%.Obviously, control the corresponding friction element of handling when part bonding state, its input power changes between the allocation proportion of its mouth can be from 50%:50% to 100%:0, or changes between from 50%:50% to 0:100%, meets different power distribution demands.
Table 2 is the related manipulation friction element state tables that turn to torque vector of the specific embodiment of the invention.Reference table 2, when the 3rd power-transfer clutch C3 and the 4th drg B4 joint, four clutches C4 is with the 3rd drg B3 when separated, from turning to the power of input side 52i input to be assigned to left mouth and the right mouth that turns to torque vector 7 after third planet row 71 and fourth planet row 72 decelerations and differential, turn to torque vector 7 to realize differential drive pattern; When the 3rd power-transfer clutch C3 and the 3rd drg B3 joint, four clutches C4 is with the 4th drg B4 when separated, from turning to the power of input side 52i input to be delivered to the left mouth that turns to torque vector 7 after third planet row 71 is slowed down, turn to torque vector 7 to realize left drive pattern; And when four clutches C4 and the 4th drg B4 joint, the 3rd power-transfer clutch C3 is with the 3rd drg B3 when separated, from turning to the power of input side 52i input to be delivered to the right mouth that turns to torque vector 7 after fourth planet row 72 is slowed down, turn to torque vector 7 to realize right drive pattern.
While turning to torque vector 7 to be operated in differential drive pattern, according to third planet row 71 and fourth planet row's 72 annexation and manipulation friction element state, and turn to the left mouth of torque vector 7 and right mouth torque to equate condition, by the kinematical equation of two planet rows, can be tried to achieve third planet row 71 and fourth planet row's 72 structural characteristic parameter k
3and k
4should meet following formula (2).Speed ratio i under each pattern
nalso list in table 2.
k
3=k
4/(k
4-1) （2）
Table 2 turns to torque vector to handle friction element state table (* separation, zero engages)
| Pattern | C3 | C4 | B3 | B4 | i n |
| Differential drive pattern | ○ | × | × | ○ | k 3-k 4+k 3k 4 |
| Left drive pattern | ○ | × | ○ | × | -k 4 |
| Right drive pattern | × | × | ○ | ○ | k 3 |
Turn to the differential drive pattern of torque vector 7, left drive pattern and right drive pattern respectively corresponding its input power in the allocation proportion of its left mouth and right mouth, be: 50%:50%, 100%:0,0:100%.Obviously, control the corresponding friction element of handling when part bonding state, its input power changes between the allocation proportion of its mouth can be from 50%:50% to 100%:0, or changes between from 50%:50% to 0:100%, meets different power distribution demands.
According to formula (1) and (2) and table 1 and table 2, select k
2=k
4=2, k
1=k
3the speed ratio concrete numerical value of=2, two torque vectors 6 and 7 under different mode is in Table 3.Due to k
2=k
4=k
1=k
3=2, but the first planet row 61 and third planet row 71 are interior external toothing double star rows, and the second planet row 62 and fourth planet row 72 are simple rows, although incomplete same, but but can adopt identical sun wheel and gear ring, reduce amount of parts, also simplify production process.
Table 3 straight torque vector and turn to the speed ratio list under torque vector different mode
| Straight torque vector i n | Turn to torque vector i n | |
| |
4 | 4 |
| Left drive pattern | -2 | -2 |
| |
2 | 2 |
According to maximum speed 72km/ and the 6s original position zero turn radius performance figure of a week, can try to achieve required straight power and steering power and be respectively 1000kW and 800kW.Driving wheel radius 0.315m, low grade and the top-gear ratio of left side two-speed transmission 3 and right side two-speed transmission 4 are respectively 16 and 5.454, and the maximum speed of revolution that can try to achieve transverse axis 55 is 3250rpm.From straight torque vector 6 mouths to left side, the transmitting ratio of right side mouth 53o and 54o is 1.15, from turn to torque vector 7 mouths to left side, the transmitting ratio of right side mouth 53o and 54o is 2.6.According to the numerical value of table 3, the maximum speed of revolution that can try to achieve drive motor 1 is 15000rpm.Getting drive motor 1 peak power is 1000kW, and expansion speed ratio is 4, and peak torque is 2500Nm, the peak power of motor module 11, motor module 12 and steer motor 2 is respectively 500kW, peak torque is 1250Nm, and its diameter is less, and the little response of rotor inertia is rapider.
When vehicle straight, straight torque vector 6 and turn to torque vector 7 to be operated in differential drive pattern, left side two-speed transmission 3 and right side two-speed transmission 4 shifts to a lower speed or top grade, steer motor 2 is operated in lockdown mode, drive motor 1 is operated in electric model, drives vehicle straight.Advance transfer to time, straight torque vector 6 and turn to torque vector 7 to be operated in differential drive pattern, left side two-speed transmission 3 and right side two-speed transmission 4 shifts to a lower speed or top grade, drive motor 1 and steer motor 2 are operated in electric model, drive vehicle to turn to the left or to the right.
In position during zero turn radius, straight torque vector 6 is operated in left drive pattern or right drive pattern, turn to torque vector 7 to be operated in right drive pattern or left drive pattern, left side two-speed transmission 3 and right side two-speed transmission 4 shifts to a lower speed, drive motor 1 is operated in electric model and drives left driving wheel 9L or right driving wheel 9R, steer motor 2 is operated in electric model and drives right driving wheel 9R or left driving wheel 9L, drives vehicle original position zero turn radius.
Because the power of steer motor 2 has reached 1/2 of drive motor 1, therefore, when steer motor 2 and drive motor 1 drive respectively two driving wheel 9L and 9R, can guarantee in 6s original position zero turn radius one week.Due to the power of drive motor 1 and being twice of torque ratio steer motor 1, if therefore in position during zero turn radius the power of drive motor 1 and torque be arranged to steer motor 1 quite.If there is no to be operated in the straight torque vector 6 of right drive pattern or left drive pattern and turn to torque vector 7, in position during zero turn radius, steer motor 2 drives separately vehicle, and its driving power only has 500kW, and dynamic property is obviously lower.
With reference to figure 3(a), first left side two-speed transmission 3 and right side two-speed transmission 4 inserted in the side driving hole of car body 100 both sides, rear portion and be secured on car body 100; With reference to figure 3(b), central differential speed transducer 5 is installed in car body 100 and right side mouth 54o is connected with right side two-speed transmission 4, with transverse axis 55, left side mouth 53o is connected with left side two-speed transmission 3; With reference to figure 3(c), by drive motor 1 and steer motor 2 respectively with straight input end 51i with turn to input end 52i to be connected after be secured on central differential speed transducer 5.
On corresponding end-faces on drive motor 1, steer motor 2, central differential speed transducer 5, left side two-speed transmission 3 and right side two-speed transmission 4, be provided with mounting flange, by bolt etc., undertaken affixed, on shaft extension or propeller boss, be provided with spline and be convenient to quick centring and connection, the mode that tooth cover coupler is set at transverse axis 55 two ends or is convenient to handling by other connects.
Visible with reference to figure 1, as long as the reserved assembly space W between drive motor 1 and the aft end face of steer motor 2 and the opposing end surface of car body 100 or left side two-speed transmission 3 and peripheral equipment is slightly larger than the length of shaft of drive motor 1, be convenient to its shaft extension from central transmission device 5 exit to the left and can realize independent installation and replacing.Because drive motor 1 is high-speed electric expreess locomotive, maximum torque only has 2500Nm, and shaft extension size is totally little, and reserved assembly space W is about 50mm.
When steer motor 2 breaks down, pull down the second motor module 12 of steer motor 2 and drive motor 1, by the second motor module 12 with turn to input end 52i to be connected after be secured on central differential speed transducer 5.Of short duration and after simply dismantling and changing, vehicle has low speed driving ability, can continue finish the work or sail back maintenance point.When drive motor 1 and steer motor 2 break down, pull down drive motor 1 and steer motor 2 repairs or replaces.Now, left side two-speed transmission 3, right side two-speed transmission 4 and central differential speed transducer 5 are still stayed on car body, needn't carry out integral hoisting.Due to the lighter weight of independent drive motor 1 and steer motor 2, automotive occupant is made a concerted effort or can be completed dismounting by means of simple support, need not wait for the arrival of technical support vehicle, has improved the maintainability under field condition.
Compare with the electric actuator designing according to integral hoisting requirement, the electric actuator of the specific embodiment of the invention is mainly comprised of five standalone modules, therefore the structure of electric actuator of the present invention is slightly loose, volume is bigger, but bring the raising of maintainability under field condition, and this point may be prior.
In addition, fault vehicle can also be used motor module to non-fault vehicle, guarantees that vehicle has low speed driving ability.Under different terrain, the actual required drive of vehicle is different, but will guarantee the vehicle power under all landform during design configurations.If determine that the required power of certain landform is lower, for example, in flat-bottomed land or city, non-fault vehicle can be lent its motor module, guarantees that fault vehicle can continue to travel, and finishes the work jointly.
The Modular electrical driving device of continuously tracked vehicle of the present invention, can change separately drive motor and steer motor, adopted identical motor module to realize drive motor and steer motor, and when vehicle original position zero turn radius, drive motor and steer motor drive respectively two driving wheels.Therefore, according to the present invention, can obtain a kind of continuously tracked vehicle electric actuator with higher maintainability, productibility and dynamic property.
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 (10)
1. a Modular electrical driving device for continuously tracked vehicle, comprising:
Drive motor; Steer motor; Left side two-speed transmission, it has low grade and top grade; Right side two-speed transmission, it has low grade and top grade; It is characterized in that:
The Modular electrical driving device of described continuously tracked vehicle also comprises:
Central authorities' differential speed transducer, for power distribution and the transmission between described drive motor, described steer motor, described left side two-speed transmission and described right side two-speed transmission, it comprises casing, straight input end, turn to input end, straight torque vector, turn to torque vector, left side conflux driving gear set, right side conflux driving gear set, left side mouth, right side mouth and transverse axis, wherein:
The described left side driving gear set of confluxing, its for connect described straight torque vector left mouth, described in turn to left mouth and the described left side mouth of torque vector;
The described right side driving gear set of confluxing, its for connect described straight torque vector right mouth, described in turn to right mouth and the described right side mouth of torque vector;
Described transverse axis, it is for the transmission of power between described central differential speed transducer and described left side two-speed transmission;
The mouth of described drive motor is connected with described straight input end, the mouth of described steer motor with described in turn to input end to be connected, described left side mouth is connected with the input end of described left side two-speed transmission by described transverse axis, and described right side mouth is connected with the input end of described right side two-speed transmission;
Described left side two-speed transmission, described transverse axis and described right side two-speed transmission arranged coaxial are on first axle, described drive motor is configured on the second axis parallel with described first axle, and described steer motor is configured on the 3rd axis parallel with described first axle; And
Described left side two-speed transmission and described right side two-speed transmission are arranged on respectively car body both sides, and described central differential speed transducer setoff installation is on right side in car body, in the rear end of described drive motor and described steer motor, are provided with assembly space.
2. the Modular electrical driving device of continuously tracked vehicle according to claim 1, is characterized in that,
Described straight torque vector, it comprises the first planet row, the second planet row, first clutch, second clutch, the first drg and second brake, described the first planet row is interior external toothing double star row, described the second planet row is common row, the sun wheel of described the first planet row is connected with described straight input end by described first clutch, the pinion carrier of described the first planet row is connected with described straight input end by described second clutch, the pinion carrier of described the first planet row is connected with the sun wheel of described the second planet row, the pinion carrier of described the first planet row is connected with described casing by described the first drg, the gear ring of described the first planet row is connected as the right mouth of described straight torque vector and the described right side driving gear set of confluxing, the pinion carrier of described the second planet row is connected with described casing by described second brake, the gear ring of described the second planet row is connected as the left mouth of described straight torque vector and the described left side driving gear set of confluxing,
The described torque vector that turns to, it comprises the second planet row, third planet row, the 3rd power-transfer clutch, four clutches, the 3rd drg and the 4th drg, described third planet row is interior external toothing double star row, described fourth planet row is common row, described third planet row's sun wheel by described the 3rd power-transfer clutch with described in turn to input end to be connected, described third planet row's pinion carrier by described four clutches with described in turn to input end to be connected, described third planet row's pinion carrier is connected with described fourth planet row's sun wheel, described third planet row's pinion carrier is connected with described casing by described the 3rd drg, described third planet row's gear ring is connected as the described right mouth that turns to torque vector and the described right side driving gear set of confluxing, described fourth planet row's pinion carrier is connected with described casing by described the 4th drg, described fourth planet row's gear ring is connected as the described left mouth that turns to torque vector and the described left side driving gear set of confluxing.
3. the Modular electrical driving device of continuously tracked vehicle according to claim 1, is characterized in that,
Described drive motor comprises the first motor module and second motor module of tandem connection, and described the first motor module, described the second motor module and described steer motor are identical motor; And
Described straight torque vector and described in to turn to torque vector be identical torque vector.
4. continuously tracked vehicle electric actuator according to claim 2, is characterized in that,
Described straight torque vector has differential drive pattern, left drive pattern and right drive pattern;
When described first clutch and described second brake joint, described second clutch is with described the first drg when separated, from the power of described straight input side input, after described the first planet row and described the second planet row deceleration and differential, be assigned to the left mouth of described straight torque vector and the right mouth of described straight torque vector, described straight torque vector is realized described differential drive pattern;
When described first clutch and described the first drg joint, when described second clutch is separated with described second brake, from the power of described straight input side input, be delivered to the left mouth of described straight torque vector after described the first planet row slows down, described straight torque vector is realized described left drive pattern; And
When described second clutch and described second brake joint, described first clutch is with described the first drg when separated, from the power of described straight input side input, be delivered to the right mouth of described straight torque vector after described the second planet row slows down, described straight torque vector is realized described right drive pattern.
5. the Modular electrical driving device of continuously tracked vehicle according to claim 4, is characterized in that,
The described torque vector that turns to has differential drive pattern, left drive pattern and right drive pattern;
When described the 3rd power-transfer clutch and described the 4th drg joint, described four clutches is with described the 3rd drg when separated, from the described power that turns to input side input through described third planet row and described fourth planet row is slowed down and differential after turn to described in being assigned to torque vector left mouth and described in turn to the right mouth of torque vector, described in turn to the differential drive pattern described in torque vector realization;
When described the 3rd power-transfer clutch and described the 3rd drg joint, described four clutches is with described the 4th drg when separated, from turning to the left mouth of torque vector described in the described power that turns to input side input is delivered to after described third planet row is slowed down, described in turn to torque vector to realize described left drive pattern; And
When described four clutches and described the 4th drg joint, described the 3rd power-transfer clutch is with described the 3rd drg when separated, from turning to the right mouth of torque vector described in the described power that turns to input side input is delivered to after described fourth planet row is slowed down, described in turn to torque vector to realize described right drive pattern.
6. the Modular electrical driving device of continuously tracked vehicle according to claim 5, is characterized in that,
When vehicle straight, described straight torque vector and described in turn to torque vector to be operated in differential drive pattern, described left side two-speed transmission and described right side two-speed transmission are hung and are supported shelves or high-grade, described steer motor is operated in lockdown mode, described drive motor is operated in electric model, drives vehicle straight.
7. the Modular electrical driving device of continuously tracked vehicle according to claim 5, is characterized in that,
Advance transfer to time, described straight torque vector and described in turn to torque vector to be operated in differential drive pattern, described left side two-speed transmission and described right side two-speed transmission shift to a lower speed or top grade, described drive motor and described steer motor are operated in electric model, drive vehicle to turn to the left or to the right.
8. the Modular electrical driving device of continuously tracked vehicle according to claim 5, is characterized in that,
In position during zero turn radius, described straight torque vector is operated in left drive pattern or right drive pattern, the described torque vector that turns to is correspondingly operated in right drive pattern or left drive pattern, described left side two-speed transmission and described right side two-speed transmission shift to a lower speed, described drive motor is operated in electric model and correspondingly drives left driving wheel or right driving wheel, described steer motor is correspondingly operated in electric model and drives right driving wheel or left driving wheel, drives vehicle original position zero turn radius.
9. the Modular electrical driving device of continuously tracked vehicle according to claim 1, is characterized in that,
Described left side two-speed transmission and described right side two-speed transmission plug the side driving hole of rear vehicle both sides and are secured on car body, described central differential speed transducer is arranged in car body, and described right side mouth is connected with described right side two-speed transmission, described transverse axis is connected with described left side two-speed transmission, described drive motor and described steer motor respectively with described straight input end with described in be secured on described central differential speed transducer after turning to input end to be connected.
10. the Modular electrical driving device of continuously tracked vehicle according to claim 3, is characterized in that,
Described drive motor, described steer motor, described the second motor module are removable connection with described central differential speed transducer.
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| CN112805205A (en) * | 2018-07-03 | 2021-05-14 | 利勃海尔比伯拉赫零部件有限公司 | Track vehicle |
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