CN106594221B - A kind of crawler-type harvester ratio steering-type speed changer - Google Patents
A kind of crawler-type harvester ratio steering-type speed changer Download PDFInfo
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- CN106594221B CN106594221B CN201710080540.9A CN201710080540A CN106594221B CN 106594221 B CN106594221 B CN 106594221B CN 201710080540 A CN201710080540 A CN 201710080540A CN 106594221 B CN106594221 B CN 106594221B
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- wheel
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H47/00—Combinations of mechanical gearing with fluid clutches or fluid gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
- F16H2057/02043—Gearboxes for particular applications for vehicle transmissions
- F16H2057/02056—Gearboxes for particular applications for vehicle transmissions for utility vehicles, e.g. tractors or agricultural machines
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/20—Transmissions using gears with orbital motion
- F16H2200/2002—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears
- F16H2200/2007—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears with two sets of orbital gears
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
A kind of crawler-type harvester ratio steering-type speed changer, power are transferred to speed changing assembly by clutch, and speed changing assembly outputs power to left and right sides Athey wheel power output shaft by planetary gear mechanism；And the gear ring of planetary gear mechanism is controlled by hydrostatic stepless speed change device, when the unpowered output of hydrostatic stepless speed change device, planetary gear mechanism is individually driven by speed changing assembly, harvester straight-line travelling, when the dynamic output of hydrostatic stepless speed change device, planetary gear mechanism is driven by two sets of Power compounds causes both sides crawler belt speed discrepancy occur to realize that differential speed type turns to, and steering angular velocity has proportionate relationship with hydrostatic stepless speed change device rotating speed；Hydrostatic stepless speed change device is arranged on the second axle, it is consistent with caterpillar band harvester advance and astern direction that it inputs steering, so that crawler-type harvester has identical steering characteristic in advance and reversing, advantageously reduce and turn to mud accumulation, improve rice field flatness and steering manipulation.
Description
Technical field
The present invention relates to crawler equipment technical field of power transmission, more particularly to a kind of crawler-type harvester to be turned to ratio
Formula speed changer.
Background technology
Rice due to during growth is whole water requirement it is especially big, rice field long-term storage, so as to cause rice field soil property soft, carrying
Ability, wheel-type working machine tool easily sink to skidding after going to the field, and are not suitable for paddy-field-working；Track-type work machine is due to contact area
Greatly, unitary ground pressure is small, sink during farm work small, and small, rice field strong adaptability is destroyed to rice field.But existing crawler type is received
The embedded steering by clutch of cutting mill generally use tooth, by separation or skid steer side power during steering, make steering inner track
Speed turns to less than outer track speed so as to realize, for this steering mode when low-angle turns to low speed, it is more accurate to turn to, right
Farmland is destroyed small；When wide-angle turns to (such as the edge of a field turn around operating mode), due to turning to inner track stop motion, crawler belt harvesting
Machine surrounds inner track central rotation, causes to turn to the accumulation of surrounding mud, destroys farmland, be unfavorable for farmland water storage, especially mesh
The preceding secondary rice of late rice is popular, improves harvested farm flattening degree, is advantageous to secondary rice production, improves yield.This turn simultaneously
To mode, due to thering is side crawler belt to run out of steam when turning to, cause steering efficiency low；And existing hydrostatic stepless speed change device
The proportions constant of input speed and engine speed, cause under identical steering angle, different stalls correspond to different steerings
Angular speed, and then influence to turn to precision.
The content of the invention
Technical problem solved by the invention is to provide a kind of crawler-type harvester ratio steering-type speed changer, with solution
The shortcomings that in certainly above-mentioned background technology.
Technical problem solved by the invention is realized using following technical scheme：
A kind of crawler-type harvester ratio steering-type speed changer, including clutch assembly, speed changing assembly, steering power biography
Dynamic assembly, Athey wheel drive assembly and casing assembly, wherein, speed changing assembly, steering power transmission are installed always in casing assembly
Into and Athey wheel drive assembly, clutch assembly be connected with speed changing assembly, speed changing assembly is connected with steering power drive assembly, turn
It is connected to power transmission assembly with Athey wheel drive assembly, each mechanism concrete structure is as follows：
Casing assembly includes casing；
Speed changing assembly includes gear, intermediate transmission mechanism, planetary gear mechanism and reverse gear mechanism；
In gear, clutch is arranged on casing, and transmission input shaft both ends are separately mounted on casing, speed changer
Be set with successively on input shaft the 1 gear-driving gear that reverses gear, 2 gear driving gears and 3 gear driving gears, and 2 gear driving gears with
2-3 gear splined hubs are provided with transmission input shaft between 3 gear driving gears, 2-3 gear splined hubs are led to transmission input shaft
Spline fitted installation is crossed, 2-3 gear combined covers are installed in 2-3 gear splined hubs, 2-3 gear shift forks are set in 2-3 by spline slide
Keep off in splined hub, transmission input shaft inputs axis connection by spline and hydrostatic stepless speed change device and coordinates passing power；The
Two axle both ends are separately mounted on casing, and 1 gear driven gear, the driven gear that reverses gear and 2 that driving gear engages are kept off-reversed gear with 1
2 gear driven gears of gear driving gear engagement, the 3 gear driven gears engaged with 3 gear driving gears are sleeved on the second axle successively,
1 gear-splined hub of reversing gear is provided with the second axle between 1 gear driven gear and the driven gear that reverses gear, 1 keeps off-reverse gear splined hub
On 1 gear-reverse gear combined cover, 1 gear, and-back fork is inserted into 1 gear-reverses gear in splined hub is installed；
In intermediate transmission mechanism, jackshaft both ends are separately mounted on casing, and the jackshaft engaged with 2 gear driven gears passes
Moving gear is sleeved on jackshaft；
In planetary gear mechanism, left planet carrier shaft is set with the inside of sun wheel shaft one end, outside is machined with the left sun
Take turns and left gear ring support frame is stretched out in left outside end cap by flange bearing, right lateral is set with the inside of the sun wheel shaft other end
Carrier axle, outside is machined with right sun gear and stretches out right gear ring support frame in right outer end cap by flange bearing, with
Between shaft transmission gear engage sun wheel shaft driven gear be sleeved in sun wheel shaft；Left planet carrier shaft one end is provided with left lateral star
Frame axle driving gear, the other end are provided with the left lateral star-wheel engaged with left sun gear, and left lateral star-wheel passes through left lateral star-wheel supporting pin
On left lateral carrier support, left lateral star-wheel rotates around left lateral star-wheel supporting pin, while left gear ring internal tooth and left lateral star-wheel
Engaged transmission, left gear ring side are arranged on left inside end cap, and opposite side is fastened on left gear ring support frame, left inside end cap, left outside
End cap is separately mounted on casing；Right planet carrier shaft one end is provided with right planet carrier shaft driving gear, and the other end is provided with and the right side
The right lateral star-wheel of sun gear engagement, right lateral star-wheel are arranged on right lateral carrier support by planetary gear supporting pin, and right lateral star-wheel encloses
Rotated around right lateral star-wheel supporting pin, while right gear ring internal tooth and right lateral star-wheel engaged transmission, right gear ring external tooth and right turn idle pulley
Gear engages；Right gear ring side is arranged in right inner end cap, and opposite side is fastened on right gear ring support frame, and right inner end cap, the right side are outer
End cap is separately mounted on casing；
In reverse gear mechanism, reverse gear shaft both ends are separately mounted on casing, and reversing gear for being engaged with the driven gear that reverses gear is lazy
Wheel gear is arranged on reverse gear shaft；
Steering power drive assembly includes hydrostatic stepless speed change device and steering gear；Hydrostatic variable speed dress
Put and be securedly mounted on casing, and hydrostatic stepless speed change device input shaft and hydrostatic are provided with hydrostatic stepless speed change device
Stepless speed change device output shaft is pressed, the hydrostatic stepless speed change device output gear engaged with jackshaft tooth sector is sleeved on quiet
On hydraulic variable speed unit output shaft, hydrostatic stepless speed change device is driven by hydrostatic stepless speed change device input shaft,
Hydrostatic stepless speed change device output shaft is used to drive steering gear；
In steering gear, steering intermediate shaft both ends are separately mounted on casing, defeated with hydrostatic stepless speed change device
Go out the steering intermediate shaft gear set of gear engagement on steering intermediate shaft；Steering spindle one end is arranged in steering spindle upper end cover,
The other end is set with steering spindle right side gear through flange bearing, and flange bearing is arranged on casing, with left gear ring spatially
The steering spindle left side gear of engagement, the steering spindle driven gear engaged with steering intermediate shaft gear are sleeved in steering spindle successively；
Right turn idle pulley gear one end is arranged on casing by flange bearing, and the other end is arranged in steering spindle bottom end cover, steering spindle
Upper end cover, steering spindle bottom end cover are arranged on casing, and right turn idle pulley gear engages with steering spindle right side gear；
In Athey wheel drive assembly, left track sprocket shaft one end is arranged on casing and stretches out casing, other end installation
On casing and stretch out outside the driving upper end cover being arranged on casing, driving upper end cover is arranged on casing, left crawler driving whell
Axle spline upper sleeve is equipped with left track sprocket shaft driven gear；Right-hand track chiain live axle one end is arranged on casing and stretches out case
Body, the other end are arranged on casing and stretched out outside the driving bottom end cover being arranged on casing, and driving bottom end cover is arranged on casing,
Right-hand track chiain live axle driven gear is sleeved on right-hand track chiain live axle.
In the present invention, 2 gear driving gears keep off driving gear axle sleeve empty sets on transmission input shaft by 2.
In the present invention, 3 gear driving gears keep off driving gear axle sleeve empty sets on transmission input shaft by 3.
In the present invention, the second axle and casing contact position are provided with back-up ring.
In the present invention, 1 gear driven gear is by 1 gear driven gear axle sleeve empty set on the second axle, and reverse gear driven gear
By reversing gear driven gear axle sleeve empty set on the second axle.
In the present invention, middle shaft transmission gear side is provided with snap ring, spacing for being carried out to jackshaft travelling gear.
In the present invention, right planet carrier shaft is arranged on sun wheel shaft one end by right needle bearing, and left planet carrier shaft passes through
The needle bearing that rolls left is arranged on the sun wheel shaft other end.
In the present invention, the left side for supporting left lateral star-wheel to surround the rotation of left lateral star-wheel supporting pin is provided with left lateral star-wheel
Planetary gear axle sleeve, while left planet carrier shaft driving gear side is provided with back-up ring, opposite side is provided with snap ring.
In the present invention, the right side that the rotation of right lateral star-wheel supporting pin is surrounded for supports right planetary gear is provided with right lateral star-wheel
Planetary gear axle sleeve, while right planet carrier shaft driving gear side is provided with back-up ring, opposite side is provided with snap ring.
In the present invention, left track sprocket shaft driven gear side is provided with snap ring, is covered with dust and is installed on driving upper end cover
It is interior and be set on left track sprocket shaft.
In the present invention, right-hand track chiain live axle driven gear side is provided with snap ring, is covered with dust and is installed on driving bottom end cover
It is interior and be set on right-hand track chiain live axle.
In the present invention, when crawler-type harvester carries out linear drives, power is transferred to too by sun wheel shaft driven gear
Positive wheel shaft, then power be divided into two, be transferred to left sun gear and right sun gear respectively, wherein, left sun wheel drive left lateral star
Wheel rotation, because left gear ring is diverted power locking equal in magnitude, in opposite direction in the steering spindle of transmission mechanism, left gear ring can not
Rotation, left planet carrier shaft is transferred to left planet carrier shaft by left sun wheel drive, power, then is transferred to left planet carrier shaft driving tooth
Wheel；Similarly, right sun wheel drive right lateral carrier axle rotation, and then right planet carrier shaft driving gear is driven, due to dynamic without turning to
When power inputs, left gear ring is locked out with right gear ring, the output of both sides power at constant speed, crawler-type harvester straight-line travelling.
In the present invention, when crawler-type harvester needs to turn to, hydrostatic stepless speed change device rotates forward, hydrostatic nothing
Shaft transmission gear rotates among the output gear driving of level speed change gear, and middle shaft transmission gear driving jackshaft rotates, jackshaft
Steering intermediate shaft pinion rotation is driven, steering intermediate shaft gear driving steering spindle driven gear rotates, and steering spindle driven gear drives
Dynamic steering axes, steering spindle driving steering spindle left side gear and steering spindle right side gear rotate, the driving of steering spindle left side gear
Left ring gear against rotation, steering spindle right side gear driving right turn idle pulley pinion rotation, the right ring gear against rotation of right turn idler gear wheel drive；
Because steering spindle left side gear drives left ring gear against rotation, and steering spindle right side gear passes through the right gear ring of right turn idler gear wheel drive
Rotate so that left and right sides gear ring constant speed opposite direction rotates, and both sides gear ring is diverted mechanism locking during straight-line travelling, due to hydrostatic
Stepless speed change device driving is pressed, destroys the dynamic balance of both sides gear ring, effect of the both sides gear ring in hydrostatic stepless speed change device
Lower constant speed reversely rotates, after this rotary speed synthesizes with sun gear input speed so that left planet carrier shaft and right planet carrier shaft
Unequal rotating speed is exported, so as to promote driving wheel both ends to export different rotating speeds, and then realizes and is turned to side；Similarly, hydrostatic is worked as
When pressure stepless speed change device rotates backward, crawler equipment turns to opposite side.
Beneficial effect：The present invention is realized using hydrostatic stepless speed change device driving planetary gear mechanism and turned to, and is turned
To when do not interrupt track drive power, and it is certain that the output speed of steering angular velocity and hydrostatic stepless speed change device can be caused to have
Proportionate relationship, the control of steering direction and angular speed determines by the steering of hydrostatic stepless speed change device with rotating speed, steering precision
Accurately, efficiency high is turned to, advantageously reduces and turns to mud accumulation, improve rice field flatness；Simultaneously because hydrostatic variable speed
Device is arranged on the second axle, so that crawler-type harvester has similar steering characteristic when different gears travel, is turned
To handling good.
Brief description of the drawings
Fig. 1 is the structural representation of presently preferred embodiments of the present invention.
Fig. 2 is B profiles at A-A in Fig. 1.
Fig. 3 is the forward gear power transmission line figure in presently preferred embodiments of the present invention.
Fig. 4 is the planetary gear mechanism drive path figure in presently preferred embodiments of the present invention.
Fig. 5 is the gear structural representation in presently preferred embodiments of the present invention.
Fig. 6 is the power transmission line figure that reverses gear in presently preferred embodiments of the present invention.
Fig. 7 is C profiles at A-A in Fig. 1.
Fig. 8 is the right view of presently preferred embodiments of the present invention.
Fig. 9 is the Athey wheel drive assembly structural representation in presently preferred embodiments of the present invention.
Figure 10 is the steering power drive assembly structural representation in presently preferred embodiments of the present invention.
Figure 11 is D profiles at A-A in Fig. 1.
Figure 12 is speed changing assembly and steering power drive assembly scheme of installation in presently preferred embodiments of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
Referring to a kind of Fig. 1 crawler-type harvester ratio steering-type speed changer, including clutch assembly 1, speed changing assembly
2nd, steering power drive assembly 3, Athey wheel drive assembly 4 and casing assembly 5, wherein, speed changing assembly 2, steering power transmission are total
It is separately mounted into 3, Athey wheel drive assembly 4 in casing assembly 5, clutch assembly 1 is connected with speed changing assembly 2, speed changing assembly 2
It is connected with steering power drive assembly 3, steering power drive assembly 3 is connected with Athey wheel drive assembly 4, each mechanism concrete structure
It is as follows：
Referring to shown in Fig. 2~Fig. 8, Figure 10, speed changing assembly 2 includes gear E, intermediate transmission mechanism F, planetary gear and passed
Motivation structure G and reverse gear mechanism J；
Wherein, gear E include sealing ring E1, clutch fastening bolt E2, deep groove ball bearing (E3, E13, E18,
E33), transmission input shaft E4,1 keep off-reversed gear driving gear E5,2 gear driving gear axle sleeve E6,2 gear driving gear E7,2-3 gears
Splined hub E8,2-3 gear combined cover E9,2-3 gear shift fork E10,3 gear driving gear E11,3 gear driving gear axle sleeve E12, bottom end cover
E14, upper end cover E31, cover baffle E15, end cap fastening bolt (E16, E32), spline E17, back-up ring (E19, E30), 3 gears are driven
Gear E20, the second axle E21,2 gear driven gear E22, the driven gear E23 that reverses gear, the driven gear axle sleeve E24 that reverses gear, 1 keep off-reversed gear
Combined cover E25,1 gear-back fork E26,1 are kept off-splined hub of reversing gear E27,1 gear driven gear E28 and 1 gear driven gear axle sleeve
E29, clutch C are fastened on casing 51 by clutch fastening bolt E2, and transmission input shaft E4 one end passes through deep-groove ball axle
E3 is held on casing 51, the other end is arranged on casing 51 by deep groove ball bearing E13, and outside transmission input shaft E4
Side is provided with sealing ring E1, and transmission input shaft E4 is set with the 1 gear-driving gear E5 that reverses gear, 2 gear driving gear E7 and 3 successively
Driving gear E11 is kept off, and 2- is provided with the transmission input shaft E4 between 2 gear driving gear E7 and 3 gear driving gear E11
3 gear splined hub E8,2-3 gear splined hub E8 and transmission input shaft E4 are installed by spline fitted, are installed on 2-3 gear splined hubs E8
There are 2-3 gear combined cover E9,2-3 gear shift fork E10 to be set in 2-3 by spline slide to keep off on splined hub E8,2 gear driving gear E7 lead to
Cross 2 gear driving gear axle sleeve E6 to be sleeved on transmission input shaft E4,3 gear driving gear E11 pass through 3 gear driving gear axle sleeves
E12 is sleeved on transmission input shaft E4, and transmission input shaft E4 drives hydrostatic stepless speed change device H by spline E17；The
Two axle E21 one end are arranged in bottom end cover E14 by deep groove ball bearing E18, and the other end is arranged on upper by deep groove ball bearing E33
In end cap E31, bottom end cover E14 is arranged on casing by end cap fastening bolt E16, upper end cover E31 by end cap fastening bolt E32
On 51, the driving gear E5 1 gear driven gear E28 engaged, the driven gear E23 that reverses gear are kept off-reversed gear with 1, keep off driving gear E7 with 2
2 gear driven gear E22 of engagement, the 3 gear driven gear E20 engaged with 3 gear driving gear E11 are sleeved on the second axle E21 successively
On, 1 gear-splined hub of reversing gear E27 is provided with the second axle E21 between the 1 gear driven gear E28 and driven gear E23 that reverses gear,
1 keeps off-being provided with 1 gear on splined hub of reversing gear E27-, and reverse gear combined cover E25,1 gear-back fork E26 is inserted into 1 gear-that reverse gear spline
On hub E27；Back-up ring E19 and back-up ring E30 is arranged on the second axle E21 and casing contact position, and 1 gear driven gear E28 is driven by 1 gear
Gear bush E29 is sleeved on the second axle E21, and the driven gear E23 that reverses gear is sleeved on second by the driven gear axle sleeve E24 that reverses gear
On axle E21；Cover baffle E15 is installed on bottom end cover E14；
Intermediate transmission mechanism F includes bolt (F1, F10), upper driving end lid F2, underdrive end cap F8, deep groove ball bearing
(F3, F7), jackshaft F4, middle shaft transmission gear F5, snap ring F6 and cover baffle F9；Jackshaft F4 one end passes through deep-groove ball axle
F3 is held in upper driving end lid F2, the other end is arranged in underdrive end cap F8 by deep groove ball bearing F7, upper driving end
Cover F2 to be arranged on casing 51 by bolt F10 by bolt F1, underdrive end cap F8, in engaging with 2 gear driven gear E22
Between shaft transmission gear F5 be sleeved on jackshaft F4, snap ring F6 is arranged on middle shaft transmission gear F5 sides, for jackshaft
Travelling gear F5 progress is spacing, and cover baffle F9 is provided with underdrive end cap F8；
Planetary gear mechanism G include right planet carrier shaft G1, snap ring (G2, G44), right planet carrier shaft driving gear G3,
Back-up ring (G4, G42), right inner end cap G5, left inside end cap G41, right gear ring G6, right needle bearing G7, right gear ring support G 8, bolt
(G9, G12, G20, G33, G36, G40), right sun gear G10, right outer end cap G11, left outside end cap G35, deep groove ball bearing (G13,
G19, G21, G25, G26, G32), flange bearing (G14, G31), right lateral carrier support G15, right lateral star-wheel G16, right lateral spider gear shaft
Cover G17, right lateral star-wheel supporting pin G18, sun wheel shaft G22, sun wheel shaft driven gear G23, snap ring G24, the support of left lateral star-wheel
Sell G27, left lateral star-wheel axle sleeve G28, left lateral star-wheel G29, left lateral carrier support G30, left sun gear G34, left gear ring support frame
G37, the needle bearing G38 that rolls left, left gear ring G39, left planet carrier shaft driving gear G43 and left planet carrier shaft G45；
Sun wheel shaft G22 one end is sleeved on by right needle bearing G7 on the inside of right planet carrier shaft G1, outside passes through deep-groove ball
Bearing G21 is sleeved on right inner end cap G5, and sun wheel shaft G22 is sleeved on by the needle bearing G38 that rolls left on the inside of left planet carrier shaft G45
The other end, outside are sleeved on left inside end cap G41 by deep groove ball bearing G25, the sun engaged with middle shaft transmission gear F5
Wheel shaft driven gear G23 is sleeved on sun wheel shaft G22, and sun wheel shaft driven gear G23 sides are provided with snap ring G24；
Sun wheel shaft G22 one end is machined with right sun gear G10 and stretches out right gear ring support G 8 by flange bearing G14
In right outer end cap G11, deep groove ball bearing G13, right lateral star-wheel G16 and right sun gear G10 are installed in right outer end cap G11
Engagement, right lateral star-wheel G16 surround right lateral star-wheel supporting pin by right lateral star-wheel axle sleeve G17 supports right planetary gear supporting pin G18
G18 is rotated, and right lateral star-wheel G16 is arranged on right lateral carrier support G15, and right gear ring G6 internal tooths engage with right lateral star-wheel G16, right tooth
Circle G6 external tooths engage with right turn idle pulley gear K16, and right gear ring G6 sides are arranged on right inner end cap by deep groove ball bearing G19
On G5, opposite side is fastened in right gear ring support G 8 by bolt G9, and right inner end cap G5 is arranged on casing 51 by bolt G20
On, deep groove ball bearing G21 is installed in right inner end cap G5；Right planet carrier shaft driving gear G3 is sleeved on right planet carrier shaft G1,
Right planet carrier shaft driving gear G3 sides are provided with back-up ring G4 simultaneously, opposite side is provided with snap ring G2；
The sun wheel shaft G22 other end is machined with left sun gear G34 and stretches out left gear ring support frame by flange bearing G31
G37 is arranged in left outside end cap G35, and left outside end cap G35 is provided with deep groove ball bearing G32, left lateral star-wheel G29 and left sun gear
G34 is engaged, and left lateral star-wheel G29 supports left lateral star-wheel supporting pin G27 by left lateral star-wheel axle sleeve G28, and surrounds left lateral star-wheel branch
Support pin G27 rotations, left lateral star-wheel G29 are arranged on left lateral carrier support G30, and left gear ring G39 internal tooths engage with left lateral star-wheel G29
Transmission, and left gear ring G39 sides are arranged on left inside end cap G41 by deep groove ball bearing G26, opposite side is tight by bolt G36
Gu in left gear ring support G 37, left inside end cap G41 is arranged on casing 51 by bolt G40, is installed in left inside end cap G41
There is deep groove ball bearing G25；Left planet carrier shaft driving gear G43 is sleeved on left planet carrier shaft G45, while in left planet carrier shaft master
Moving gear G43 sides are provided with back-up ring G42, and opposite side is provided with snap ring G44；
Reverse gear mechanism J includes bolt (J1, J10), the upper end cover J2 that reverses gear, reverse gear bottom end cover J8, deep groove ball bearing
(J3, J9), reverse gear shaft J4, snap ring J5, reverse gear idle pulley gear J6 and cover baffle J7；Reverse gear shaft J4 one end passes through deep groove ball bearing
J3 is arranged on and reversed gear in upper end cover J2, and the other end is arranged on by deep groove ball bearing J9 and reversed gear in bottom end cover J8, and reverse gear upper end cover
J2 is arranged on casing 51 by bolt J1, the bottom end cover J8 that reverses gear by bolt J10, and that is engaged with the driven gear E23 that reverses gear falls
Keep off idle pulley gear J6 to be arranged on reverse gear shaft J4, and idle pulley gear J6 sides of reversing gear are provided with snap ring J5, reverse gear bottom end cover J8
On cover baffle J7 is installed；
Casing assembly 5 includes casing 51.
Referring to shown in Figure 11~Figure 12, steering power drive assembly 3 includes hydrostatic stepless speed change device H and is driven with turning to
Mechanism K；
Hydrostatic stepless speed change device H includes hydrostatic stepless speed change device input shaft H1, hydrostatic stepless speed change device
Output shaft H2, hydrostatic stepless speed change device output gear H3, snap ring H4 and hydrostatic variable speed H5；Hydrostatic variable speed
Device H is securedly mounted on casing 51 by screw, and is provided with hydrostatic variable speed on hydrostatic stepless speed change device H5
Device input shaft H1, hydrostatic stepless speed change device output shaft H2, the hydrostatic stepless change engaged with jackshaft tooth sector F7
Speed variator output gear H3 is sleeved on hydrostatic stepless speed change device output shaft H2, and is exported in hydrostatic stepless speed change device
Gear H3 sides are provided with snap ring H4；Hydrostatic stepless speed change device input shaft H1 is used to external impetus passing to hydrostatic nothing
Level speed change H5, hydrostatic stepless speed change device output shaft H2 are used for hydrostatic variable speed H5 power output；
Steering gear K includes bolt (K1, K13, K25), jackshaft upper end cover K2, jackshaft bottom end cover K8, steering
Axle bottom end cover K13, steering spindle upper end cover K24, deep groove ball bearing (K3, K7, K14, K23), steering intermediate shaft K4, steering intermediate shaft
Gear K5, snap ring (K6, K10, K19), steering spindle right side gear K9, cover baffle K11, right turn idle pulley gear K15, flange shaft
Hold (K16, K18), back-up ring K17, steering spindle driven gear K20, steering spindle K21 and steering spindle left side gear K22, steering intermediate shaft
K4 one end is arranged in jackshaft upper end cover K2 by deep groove ball bearing K3, and the other end is arranged on centre by deep groove ball bearing K7
On axle bottom end cover K8, jackshaft upper end cover K2 is arranged on casing 51 by bolt K1, is exported with hydrostatic stepless speed change device
The steering intermediate shaft gear K5 of gear H3 engagements is sleeved on steering intermediate shaft K4, and steering intermediate shaft gear K5 sides are provided with card
Ring K6；Steering spindle K21 one end is arranged in steering spindle upper end cover K24 by deep groove ball bearing K23, and the other end passes through flange bearing
K18 is set with steering spindle right side gear K9, flange bearing K18 on casing 51, is spatially engaged with left gear ring G39
Steering spindle left side gear K22, the steering spindle driven gear K20 engaged with steering intermediate shaft gear K5 are sleeved on steering spindle successively
On K21, and steering spindle driven gear K20 sides are provided with snap ring K19；Right turn idle pulley gear K15 one end passes through flange shaft
K16 is held on casing 51, the other end is arranged in steering spindle bottom end cover K13 by deep groove ball bearing K14, steering spindle upper end
K24 is covered to be arranged on casing 51 by bolt K12 by bolt K25, steering spindle bottom end cover K13, and right turn idle pulley gear K15
Engaged with steering spindle right side gear K9；
K0 represents that this two gears spatially engage.
It is shown in Figure 9, Athey wheel drive assembly 4 include (snap ring 41,411), right-hand track chiain live axle driven gear 42,
Flange bearing (43,419), right-hand track chiain live axle 44, bottom end cover 45, driving upper end cover 417 are driven, is covered with dust (46,416), is close
Seal (47,415), bolt (48,414), deep groove ball bearing (49,412,413), back-up ring (410,419), left track sprocket shaft
418 and left track sprocket shaft driven gear 420；Left one end of track sprocket shaft 418 is arranged on case by deep groove ball bearing 412
On body 51 and stretch out casing 51, the other end by the installation casing 51 of deep groove ball bearing 413 and stretch out be arranged on casing 51 on
Drive outside upper end cover 417, drive and sealing ring 415 is installed in upper end cover 417, and be arranged on by bolt 414 on casing 51；It is left
Track sprocket shaft driven gear 420 is sleeved on the position that left track sprocket shaft 418 is stretched out outside casing 51, and snap ring 411 is set
In the left side of track sprocket shaft driven gear 420, being covered with dust 416 is installed in driving upper end cover 417 and is set in left crawler belt and drive
On the axis of a movable block 418, sealing ring 415 is arranged at deep groove ball bearing 413 and is covered with dust between 416；
The one end of right-hand track chiain live axle 44 is arranged on casing 51 by deep groove ball bearing 43 and stretches out casing 51, the other end
By in the installation casing 51 of deep groove ball bearing 49 and stretch out be arranged on casing 51 on driving bottom end cover 45 outside, drive bottom end cover 45
Sealing ring 47 is installed, and is arranged on by bolt 48 on casing 51；Right-hand track chiain live axle driven gear 42 is sleeved on right shoe
The position stretched out with live axle 44 outside casing 51, snap ring 41 are arranged on the side of right-hand track chiain live axle driven gear 42, are covered with dust
46 are installed in driving bottom end cover 45 and are set on right-hand track chiain live axle 44, and sealing ring 47 is arranged at the He of deep groove ball bearing 49
It is covered with dust between 46.
Gearshift principle：
1 gear
Clutch C → transmission input shaft E4 → 1 is kept off-reverses gear driving gear E5, and → 1 gear driven gear E28 → 1 is kept off-reverses gear
Combined cover E25 → 1 keeps off-reversed gear the gear driven gear E22 of the axle E21 of splined hub E27 → second → 2 → middle shaft transmission gear F5 → too
Positive wheel shaft driven gear G23；
2 gears
Clutch C → transmission input shaft E4 → 2-3 gear splined hub E8 → 2-3 gear combined covers E9 → 2 keep off driving gear E7
→ 2 gear driven gear E22 → middle shaft transmission gear F5 → sun wheel shaft driven gear G23；
3 gears
Clutch C → transmission input shaft E4 → 2-3 gear splined hub E8 → 2-3 gear combined covers E9 → 3 keep off driving gear E11
The gear driven gear E22 of the axle E21 of → 3 gear driven gear E20 → second → 2 → middle shaft transmission gear F5 → sun wheel shaft driven tooth
Take turns G23；
Reverse gear
1 gear：Clutch C → transmission input shaft E4 → 1 is kept off-the driving gear E5 → reverse gear idle pulley gear J6 → that reverse gear reverse gear
The gear driven gear E22 of the axle E21 of driven gear E23 → 1 is kept off-combined cover E25 → 1 of reversing gear is kept off-splined hub of reversing gear E27 → second → 2
→ middle shaft transmission gear F5 → sun wheel shaft driven gear G23.
Linear motor principle
Power is transferred to sun wheel shaft G21 by sun wheel shaft driven gear G23, and power is then divided into two to be transferred to respectively
Left sun gear G34 and right sun gear G10, wherein, left sun gear G34 drives left lateral star-wheel G29, because left gear ring G39 is diverted
Transmission mechanism locking (both sides gear ring is diverted power locking equal in magnitude, in opposite direction on axle K21), left gear ring G39 can not revolve
Turn, according to Planetary Gear Transmission principle, left planet carrier shaft G45 is driven by left sun gear G34, and power is transferred to left planet carrier shaft
G45, it is being transferred to left planet carrier shaft driving gear G43；Similarly, right sun gear G10 drives right planet carrier shaft G1 rotations, and then drives
Right planet carrier shaft driving gear G3 is moved, because when being inputted without steering power, left gear ring G39 is locked out with right gear ring G6, both sides
Power at constant speed exports, crawler-type harvester straight-line travelling.
Steering power transfer route：1 gear, 2 gear, 3 gear, 4 gear power be transferred to respectively the second axle E21, the second axle E21 →
Hydrostatic stepless speed change device input shaft H1 → hydrostatic stepless speed change device output shaft H2 → hydrostatic stepless speed change device is defeated
Go out gear H3 → jackshaft tooth sector K5 → steering spindle driven gear K20, then power is divided into two,
1 tunnel：Steering spindle left side gear K22 → left gear ring G39 → left planet carrier shaft G45 → left planet carrier shaft driving gear
G43；
2 tunnels：Steering spindle right side gear K9 → right turn idle pulley gear K15 → right gear ring G6 → right planet carrier shaft G1 → left lateral
Carrier axle driving gear G3.
Ratio steering principle
As described in steering power transfer route, it is that steering spindle left side gear K22 drives left gear ring G39 that left side, which turns to, and right
It is steering spindle right side gear K9 driving right turn idle pulley gear K15 that side, which turns to, then drives right gear ring G6 to turn to, hydrostatic stepless
Speed change gear H is rotated forward, and shaft transmission gear F5 is rotated among hydrostatic stepless speed change device output gear H3 drivings, jackshaft
Travelling gear F5 driving jackshafts F4 is rotated, and jackshaft F4 driving steering intermediate shaft gears K5 is rotated, steering intermediate shaft gear K5
Steering spindle driven gear K20 is driven to rotate, steering spindle driven gear K20 driving steering spindles K21 is rotated, and steering spindle K21 drivings turn
Rotated to axle left side gear K22 and steering spindle right side gear K9, steering spindle left side gear K22 drives left gear ring G39 to rotate, and turns to
Axle right side gear K9 driving right turn idle pulley gears K15 is rotated, and right turn idle pulley gear K15 drives right gear ring G6 to rotate；Due to
Steering spindle left side gear K22 drives left gear ring G39 to rotate, and steering spindle right side gear K9 is driven by right turn idle pulley gear K15
Dynamic right gear ring G6 is rotated so that left and right sides gear ring constant speed opposite direction rotates, and both sides gear ring is diverted mechanism lock during straight-line travelling
Only, because hydrostatic stepless speed change device H drives, the dynamic balance of both sides gear ring is destroyed, both sides gear ring is in hydrostatic stepless change
Constant speed reversely rotates in the presence of speed variator H, after this rotary speed synthesizes with sun gear input speed so that left planet carrier shaft
G45 and right planet carrier shaft G1 exports unequal rotating speed, so as to promote driving wheel both ends to export different rotating speeds, and then realizes to side
Turn to；Similarly, when hydrostatic stepless speed change device H is rotated backward, crawler equipment turns to opposite side；Turn to the angle speed of output
Degree and hydrostatic stepless speed change device H output speed proportion relations, hydrostatic stepless speed change device H can by steering wheel or
Steering linkage operates, therefore turns to the angular speed of output and hydrostatic stepless speed change device H speed governing amplitude proportion relation, from
And realize accurate ratio and turn to.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. a kind of crawler-type harvester ratio steering-type speed changer, including clutch assembly, speed changing assembly, steering power transmission
Assembly, Athey wheel drive assembly and casing assembly, it is characterised in that speed changing assembly is installed, steering power passes in casing assembly
Dynamic assembly and Athey wheel drive assembly, clutch assembly are connected with speed changing assembly, and speed changing assembly connects with steering power drive assembly
Connect, steering power drive assembly is connected with Athey wheel drive assembly, and each mechanism concrete structure is as follows：
Casing assembly includes casing；
Speed changing assembly includes gear, intermediate transmission mechanism, planetary gear mechanism and reverse gear mechanism；
In gear, clutch is arranged on casing, and transmission input shaft both ends are separately mounted on casing, speed changer input
1 gear-the driving gear that reverses gear, 2 gear driving gears and 3 gear driving gears are set with axle successively, and in 2 gear driving gears and 3 gears
2-3 gear splined hubs are provided with transmission input shaft between driving gear, 2-3 gear splined hubs pass through flower with transmission input shaft
Key coordinates installation, and 2-3 gear combined covers are provided with 2-3 gear splined hubs, and 2-3 keeps off shift fork and is set in 2-3 gear flowers by spline slide
On key hub, transmission input shaft inputs axis connection by spline and hydrostatic stepless speed change device and coordinates passing power；Second axle
Both ends are separately mounted on casing, and the driving gear 1 gear driven gear engaged, the driven gear that reverses gear are kept off-reversed gear with 1, is led with 2 gears
2 gear driven gears of moving gear engagement, the 3 gear driven gears engaged with 3 gear driving gears are sleeved on the second axle successively, 1
1 gear-splined hub of reversing gear is provided with the second axle between gear driven gear and the driven gear that reverses gear, and 1 keeps off-reverses gear and pacifies in splined hub
Combined cover is kept off-reverses gear equipped with 1,1 gear-back fork is inserted into 1 gear-reverses gear in splined hub；
In intermediate transmission mechanism, jackshaft both ends are separately mounted on casing, the jackshaft driving cog engaged with 2 gear driven gears
Wheel is sleeved on jackshaft；
In planetary gear mechanism, left planet carrier shaft is set with the inside of sun wheel shaft one end, outside is machined with left sun gear simultaneously
Left gear ring support frame is stretched out in left outside end cap by flange bearing, right lateral carrier is set with the inside of the sun wheel shaft other end
Axle, outside is machined with right sun gear and stretches out right gear ring support frame in right outer end cap by flange bearing, with jackshaft
The sun wheel shaft driven gear of travelling gear engagement is sleeved in sun wheel shaft；Left planet carrier shaft one end is provided with left planet carrier shaft
Driving gear, the other end are provided with the left lateral star-wheel engaged with left sun gear, and left lateral star-wheel is installed by left lateral star-wheel supporting pin
On left lateral carrier support, the left lateral for supporting left lateral star-wheel to surround the rotation of left lateral star-wheel supporting pin is provided with left lateral star-wheel
Star-wheel axle sleeve, while back-up ring is provided with left planet carrier shaft driving gear side, opposite side are provided with snap ring, left gear ring internal tooth with
Left lateral star-wheel engaged transmission, left gear ring side are arranged on left inside end cap, and opposite side is fastened on left gear ring support frame, left inside end
Lid, left outside end cap are separately mounted on casing；Right planet carrier shaft one end is provided with right planet carrier shaft driving gear, and the other end is set
There is the right lateral star-wheel engaged with right sun gear, right lateral star-wheel is arranged on right lateral carrier support by planetary gear supporting pin, right lateral
The right lateral star-wheel axle sleeve that the rotation of right lateral star-wheel supporting pin is surrounded for supports right planetary gear is provided with star-wheel, while in right lateral star
Frame axle driving gear side is provided with back-up ring, and opposite side is provided with snap ring, right gear ring internal tooth and right lateral star-wheel engaged transmission, right tooth
Circle external tooth engages with right turn idle pulley gear；Right gear ring side is arranged in right inner end cap, and opposite side is fastened on right gear ring support
On frame, right inner end cap, right outer end cap are separately mounted on casing；
In reverse gear mechanism, reverse gear shaft both ends are separately mounted on casing, the idler gear that reverses gear engaged with the driven gear that reverses gear
Wheel is arranged on reverse gear shaft；
Steering power drive assembly includes hydrostatic stepless speed change device and steering gear；Hydrostatic stepless speed change device is tight
Guan County is provided with hydrostatic stepless speed change device input shaft and hydrostatic nothing on casing on hydrostatic stepless speed change device
Level transmission output shaft, the hydrostatic stepless speed change device output gear engaged with jackshaft tooth sector is sleeved on hydrostatic
On stepless speed change device output shaft, hydrostatic stepless speed change device, hydrostatic are driven by hydrostatic stepless speed change device input shaft
Pressure stepless speed change device output shaft is used to drive steering gear；
In steering gear, steering intermediate shaft both ends are separately mounted on casing, with hydrostatic stepless speed change device output gear
The steering intermediate shaft gear set of engagement is taken turns on steering intermediate shaft；Steering spindle one end is arranged in steering spindle upper end cover, another
End is set with steering spindle right side gear through flange bearing, and flange bearing is arranged on casing, spatially engaged with left gear ring
Steering spindle left side gear, the steering spindle driven gear that is engaged with steering intermediate shaft gear is sleeved in steering spindle successively；Turn right
It is arranged on to idle pulley gear one end by flange bearing on casing, the other end is arranged in steering spindle bottom end cover, steering spindle upper end
Lid, steering spindle bottom end cover are arranged on casing, and right turn idle pulley gear engages with steering spindle right side gear；
In Athey wheel drive assembly, left track sprocket shaft one end is arranged on casing and stretches out casing, and the other end is arranged on case
On body and stretch out outside the driving upper end cover being arranged on casing, driving upper end cover is arranged on casing, left track sprocket shaft flower
Left track sprocket shaft driven gear is set with key；Right-hand track chiain live axle one end is arranged on casing and stretches out casing, separately
One end is arranged on casing and stretched out outside the driving bottom end cover being arranged on casing, and right-hand track chiain live axle driven gear is sleeved on
On right-hand track chiain live axle；
When crawler-type harvester carries out linear drives, power is transferred to sun wheel shaft by sun wheel shaft driven gear, then power
It is divided into two, is transferred to left sun gear and right sun gear respectively, wherein, left sun wheel drive left lateral star-wheel rotation, due to left tooth
Circle is diverted power locking equal in magnitude, in opposite direction in the steering spindle of transmission mechanism, and left gear ring can not rotate, left planet carrier shaft
By left sun wheel drive, power is transferred to left planet carrier shaft, then is transferred to left planet carrier shaft driving gear；Similarly, right sun gear
Drive right planet carrier shaft to rotate, and then drive right planet carrier shaft driving gear, due to when being inputted without steering power, left gear ring with
Right gear ring is locked out, the output of both sides power at constant speed, crawler-type harvester straight-line travelling；
When crawler-type harvester needs to turn to, hydrostatic stepless speed change device rotates forward, hydrostatic stepless speed change device output
Shaft transmission gear rotates among gear driving, and middle shaft transmission gear driving jackshaft rotates, jackshaft driving steering intermediate shaft
Pinion rotation, steering intermediate shaft gear driving steering spindle driven gear rotate, and steering spindle driven gear driving steering axes, turn
Steering spindle left side gear and steering spindle right side gear is driven to rotate to axle, steering spindle left side gear drives left ring gear against rotation, turns to
Axle right side gear drives right turn idle pulley pinion rotation, the right ring gear against rotation of right turn idler gear wheel drive；Due on the left of steering spindle
Gear drives left ring gear against rotation, and steering spindle right side gear passes through the right ring gear against rotation of right turn idler gear wheel drive so that left and right
The rotation of both sides gear ring constant speed opposite directions, both sides gear ring is diverted mechanism locking during straight-line travelling, because hydrostatic variable speed fills
Driving is put, destroys the dynamic balance of both sides gear ring, gear ring constant speed in the presence of hydrostatic stepless speed change device in both sides is reversely revolved
Turn, after this rotary speed synthesizes with sun gear input speed so that left planet carrier shaft exports unequal turn with right planet carrier shaft
Speed, so as to promote driving wheel both ends to export different rotating speeds, and then realize and turned to side；Similarly, when hydrostatic variable speed fills
Put when rotating backward, crawler equipment turns to opposite side.
A kind of 2. crawler-type harvester according to claim 1 ratio steering-type speed changer, it is characterised in that 2 gear masters
Moving gear is by 2 gear driving gear axle sleeve empty sets on transmission input shaft.
A kind of 3. crawler-type harvester according to claim 1 ratio steering-type speed changer, it is characterised in that 3 gear masters
Moving gear is by 3 gear driving gear axle sleeve empty sets on transmission input shaft.
A kind of 4. crawler-type harvester according to claim 1 ratio steering-type speed changer, it is characterised in that 1 gear from
For moving gear by 1 gear driven gear axle sleeve empty set on the second axle, the driven gear that reverses gear passes through driven gear axle sleeve empty set of reversing gear
On the second axle.
A kind of 5. crawler-type harvester according to claim 1 ratio steering-type speed changer, it is characterised in that jackshaft
Travelling gear side is provided with snap ring.
A kind of 6. crawler-type harvester according to claim 1 ratio steering-type speed changer, it is characterised in that right lateral star
Frame axle is arranged on sun wheel shaft one end by right needle bearing, and left planet carrier shaft is another installed in sun wheel shaft by the needle bearing that rolls left
One end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710080540.9A CN106594221B (en) | 2017-02-15 | 2017-02-15 | A kind of crawler-type harvester ratio steering-type speed changer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710080540.9A CN106594221B (en) | 2017-02-15 | 2017-02-15 | A kind of crawler-type harvester ratio steering-type speed changer |
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| CN106594221A CN106594221A (en) | 2017-04-26 |
| CN106594221B true CN106594221B (en) | 2018-02-06 |
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| CN201710080540.9A Expired - Fee Related CN106594221B (en) | 2017-02-15 | 2017-02-15 | A kind of crawler-type harvester ratio steering-type speed changer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109058412A (en) * | 2018-09-06 | 2018-12-21 | 张祝 | A kind of variable speed drive approach that endless-track vehicle double fluid turns to |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583679A (en) * | 2018-05-29 | 2018-09-28 | 北京理工大学 | A kind of active front steering system based on angle driver |
| CN108825740B (en) * | 2018-09-06 | 2021-04-09 | 湖南农业大学 | Rear reverse gear tracked vehicle transmission |
| CN110067835B (en) * | 2019-04-29 | 2024-02-23 | 向青茂 | Gear box with two output shafts capable of reversely rotating |
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Cited By (2)
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| CN106594221A (en) | 2017-04-26 |
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