CN106697089B - A kind of multichannel crawler equipment remote control equipment - Google Patents
A kind of multichannel crawler equipment remote control equipment Download PDFInfo
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- CN106697089B CN106697089B CN201710080562.5A CN201710080562A CN106697089B CN 106697089 B CN106697089 B CN 106697089B CN 201710080562 A CN201710080562 A CN 201710080562A CN 106697089 B CN106697089 B CN 106697089B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
- B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
- B62D11/10—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears
Abstract
A kind of multichannel crawler equipment remote control equipment, including engine, driver's cabin, crawler belt, work mechanism, transmission system, vehicle frame, controller and remote control, engine is arranged on vehicle frame front end, work mechanism is arranged on vehicle frame rear end, transmission system is provided with the middle part of vehicle frame, crawler belt is sleeved in transmission system, and driver's cabin is arranged on above engine, controller is arranged in driver's cabin, and remote control is used for operator's remote operation；And transmission system includes clutch assembly, speed changing assembly, differential steering and drive assembly, brake assembly, power output transmission assembly and casing.The present invention uses electric-controlled type transmission system, steering and brakes, in the presence of controller, realizes remote driving, is advantageous to lower tractor mass, reduces tractor sagging degree in paddy field, improves the flatness in paddy field after operation；Optimize mechanical fabric simultaneously, be allowed to be easier to realize that automatically controlledization operates, effectively reduce complete machine complexity, improve practicality.
Description
Technical field
The present invention relates to crawler belt machinery technical field of power transmission, more particularly to a kind of remote control of multichannel crawler equipment to set
It is standby.
Background technology
Paddy fields in south china is because quality is soft, and machinery easily sink in farm work, crawler tractor, crawler belt rotary cultivator and crawler belt
For the crawler equipments such as harvester because contact area is big, grounding pressure is small, is relatively adapted to southern paddy-field-working.Even however,
The ratio pressure of crawler equipment is small, but due to the long-term waterflooding in rice field, rice field topsoil is very soft, and crawler equipment sink in operation
Amount is big, and the planarization in paddy field is destroyed greatly.If main screw lift can be reduced further, grounding pressure can be reduced, to reduce
To the influence of paddy-field flattening during crawler equipment operation；Method for remotely controlling is used, though unmanned, reduction complete machine work can be realized
Weight when making, but make it that the chassis system of crawler equipment and control method are excessively complicated, increase main screw lift on the contrary.
The content of the invention
Technical problem solved by the invention is to provide a kind of multichannel crawler equipment remote control equipment, to solve the above-mentioned back of the body
The shortcomings that in scape technology.
Technical problem solved by the invention is realized using following technical scheme：
A kind of multichannel crawler equipment remote control equipment, including engine, driver's cabin, crawler belt, work mechanism, transmission system,
Vehicle frame, controller and remote control, engine are arranged on vehicle frame front end, and work mechanism is arranged on vehicle frame rear end, and engine rear end connects
Transmission system is connected to, crawler belt is sleeved in transmission system, and driver's cabin is arranged on engine rear, and controller is arranged on driver's cabin
Interior, remote control is used for operator's remote operation；And transmission system includes clutch assembly, speed changing assembly, differential steering and transmission
Assembly, brake assembly, power output transmission assembly and casing, each mechanism concrete structure are as follows：
In clutch assembly, clutch outer member is fixed on engine flywheel, is inserted with the internal spline of clutch disk
Transmission input shaft, the external splines of transmission input shaft and the internal spline of clutch disk coordinate；Diaphragm spring outer end rivets
On platen, centre is supported on clutch outer member by boss, and the inner contacts with release bearing, in the effect of release bearing
Under, promote platen to combine and separate with clutch disk, separation lever is connected with release rod；When release rod rise it is long, point
Strong point rotate counterclockwise is surrounded from lever, moves up release bearing, release bearing compression diaphragm spring makes platen, clutch rub
Wipe and produce gap between disk, engine flywheel, clutch disk loses pressure, to interrupt power transmission；When release rod shorten,
Separation lever is turned clockwise around the strong point, and release bearing moves down, and diaphragm spring is acted on clutch disk pressure in elastic force
Tightly on engine flywheel, clutch disk and engine flywheel constant speed rotating Vortex, clutch disk transmit power
To transmission input shaft；
Speed changing assembly includes main speed changing assembly and secondary speed changing assembly, in main speed changing assembly, transmission input shaft both ends difference
On casing, and it is set with 1 gear driving gear, 2 gear driving gears, 3 gear driving gears successively on transmission input shaft
And 4 gear driving gear, 3 gear driving gears and 4 gear driving gears between transmission input shafts on be provided with 3-4 gear spline
Hub, 3-4, which is kept off in splined hub, is provided with 3-4 gear combined covers, and 3-4 selector forks are set in 3-4 gear shift fork axles；Covered successively on second axle
Equipped with the 1 gear driven gear engaged with 1 gear driving gear, the 2 gear driven gears and 3 gear driving tooths that are engaged with 2 gear driving gears
3 gear driven gears of wheel engagement and the 4 gear driven gears engaged with 4 gear driving gears, in 1 gear driven gear and 2 gear driven tooths
1-2 gear splined hubs are provided with the second axle between wheel, 1-2 gear combined covers, 1-2 selector forks are installed in 1-2 gear splined hubs
It is set in 1-2 and keeps off shift fork axle, 1-2 gear shift fork axles is fast with basic transmission gearshift chute axis connection, main transformer respectively with 3-4 gears shift fork axle
Device gearshift gate shafts are connected with basic transmission shift motor；
It is slow-to reverse gear input shaft empty set on transmission input shaft in secondary speed changing assembly, by the internal spline of 4 gear driving gears
Driving, it is slow keep off driving gear be arranged on it is slow-reverse gear on input shaft, driving gear empty set of reversing gear it is slow-reverse gear on input shaft, and
Reverse gear and be provided with fast-slow gear splined hub, fast-slow gear flower on the slow-input shaft that reverses gear between driving gear and slow gear driving gear
The fast-slow combined for fast-slow gear splined hub, fast gear splined hub is installed on key hub and keeps off combined cover, fast-slow gear shift fork is set in
Fast-slow keeps off shift fork axle；Output shaft docks with the second axle；Reverse gear shaft driving gear is sleeved on reverse gear shaft with reverse gear shaft driven gear
On, splined hub of reversing gear is provided with output shaft, back fork is set in back fork axle；Reverse gear shaft driven gear and active of reversing gear
Gear engage, back fork axle, fast-slow gear shift fork axle respectively with secondary gear shift chute axis connection, secondary gear shift gate shafts
It is connected with auxiliary transmission shift motor；
Differential steering and drive assembly include hydrostatic stepless speed change device, turn to deceleration device, left side ratio turning machine
Structure, right side ratio steering mechanism and hydrostatic stepless speed change device speed regulating control motor；Hydrostatic stepless speed change device speed governing control
Motor processed is connected with hydrostatic stepless speed change device, and hydrostatic stepless speed change device is connected with turning to deceleration device, is turned to and is slowed down
Device is connected with left side ratio steering mechanism, right side ratio steering mechanism respectively；
Turn in deceleration device, turn to drive bevel gear be sleeved on it is slow-reverse gear on input shaft, turn to driven wheel of differential suit
Engaged on hydrostatic stepless speed change device input shaft, and with turning to drive bevel gear；Hydrostatic stepless speed change device output gear
Wheel is sleeved on hydrostatic stepless speed change device output shaft, and jackshaft both ends are separately mounted on casing, counter shaft driven gear
It is sleeved on jackshaft drive pinion on jackshaft, hydrostatic stepless speed change device output gear is nibbled with counter shaft driven gear
Close；Left steering gear, steering spindle driven gear and right turn gear, steering spindle driven gear and jackshaft are set with steering spindle
Driving gear engages；Right turn idle pulley geared sleeve engages on right turn idler shaft with right turn gear；
In the ratio steering mechanism of left side, drive bevel gear is sleeved on output shaft, and left sun gear is sleeved on sun wheel shaft one
End, sun wheel shaft driven wheel of differential is sleeved in the middle part of sun wheel shaft, and is engaged with drive bevel gear, and is also set with sun wheel shaft
There is left planet carrier shaft, the left planet carrier shaft driving gear engaged with left driving wheel axle driven gear be set with left planet carrier shaft,
Left lateral star-wheel engages with left sun gear, and the internal tooth of left gear ring engages with left planetary gear, external tooth and the left steering gear of left gear ring
Engagement, left driving wheel axle driven gear are sleeved on left driving output shaft；
In the ratio steering mechanism of right side, right sun gear is sleeved on the sun wheel shaft other end, and the right side is also set with sun wheel shaft
Planet carrier shaft, the right planet carrier shaft driving gear engaged with right driving wheel axle driven gear, right lateral are set with right planet carrier shaft
Star-wheel is engaged with right sun gear, and the internal tooth of right gear ring engages with right lateral star-wheel, and external tooth and the right turn idle pulley gear of right gear ring are nibbled
Close, right driving wheel axle driven gear is sleeved on right driving output shaft；
In brake assembly, left hand brake gear set is on left hand brake axle, and right side brake gear set is in right side system
On moving axis, and brake drum is provided between left hand brake axle and right side brake axle, multi-disc braking steel disc is installed in brake drum,
The braking steel disc is parallel to each other and is in arranged for interval, and distinguishes in brake drum on corresponding left hand brake axle and right side brake axle
Multi-disc brake strip is installed, the brake strip is all parallel to each other and is in arranged for interval, and every brake strip coordinates
It is arranged between adjacent two panels braking steel disc；Left hand brake platen is additionally provided with left hand brake axle, is also set on right side brake axle
Right side brake platen is equipped with, left side shifting fork bar is provided with left hand brake platen, right side shift fork is provided with right side brake platen
Bar, left side shifting fork bar, right side shifting fork bar are connected with braking motor；Left hand brake gear engages with left driving wheel axle driven gear,
Right side brake gear engages with right driving wheel axle driven gear；
In power output transmission assembly, connecting shaft connects as one with transmission input shaft, and power output shaft speed is only
Stand on speed changing assembly, differential steering and drive assembly, brake assembly；Connecting shaft low gear driving tooth is set with connecting shaft successively
Driving gear, connecting shaft reduction driven gear and connecting shaft high gear driving gear, power output shaft is kept off in wheel, connecting shaft to be arranged on
Connecting shaft side, and power output shaft be set with successively with the power output shaft low gear that connecting shaft low gear driving gear engages from
Driven gear and connecting shaft reduction driven gear are kept off in moving gear, the power output shaft engaged with keeping off driving gear in connecting shaft
The power output shaft deceleration driving gear of engagement and the power output shaft high gear driven tooth engaged with connecting shaft high gear driving gear
Take turns, low gear splined hub in being provided with the connecting shaft kept off in connecting shaft low gear driving gear and connecting shaft between driving gear,
Middle low gear combined cover is installed, middle low gear shift fork is inserted into middle low gear shift fork axle in middle low gear splined hub；Kept off in connecting shaft
Power output shaft high gear splined hub, high gear shift fork are installed in the connecting shaft between driving gear and connecting shaft reduction driven gear
It is inserted into high gear shift fork axle, middle low gear shift fork axle, high gear shift fork axle are defeated with power output gearshift chute axis connection, power respectively
The gate shafts that go out to shift gears are connected with power output shift motor；
In controller, wireless transport module, signal input apparatus, mode conversion switch, video module and several motor controls
Molding block is connected with central control unit respectively, and mode conversion switch is used to switch manual mode and remote control mode, motor control
Module with corresponding motor connection, and is provided with position feedback device on each motor control module respectively, to form closed loop
Control system；
Remote control includes remote control housing, and remote control case top is provided with antenna, and remote control housing upper front is set
Have a LCDs, be provided with below LCDs directional lever, basic transmission shift switch, auxiliary transmission shift switch,
Power output shift of transmission switch, hand throttle, remote control switch and clutch control switch.
In the present invention, 1-2 keeps off in splined hub and is provided with synchronizer.
In the present invention, 3-4 keeps off in splined hub and is provided with synchronizer.
In the present invention, eight braking steel discs are installed, braking steel disc is circular ring structure, and this eight are braked in brake drum
Steel disc is parallel to each other and is in arranged for interval.
In the present invention, three are provided with by spline respectively on corresponding left hand brake axle and right side brake axle in brake drum
Piece brake strip.
In the present invention, left side shifting fork bar passes through left side shift fork supporting pin by left side shift fork supporting pin, right side shifting fork bar
It is connected with braking motor.
In the present invention, it is provided with emergency button on remote control housing.
In the present invention, hook is provided with remote control housing.
In the present invention, when multichannel crawler equipment remote control equipment carries out linear drives, power is transferred to through shift transformation
Output shaft, then sun wheel shaft driven wheel of differential is transferred to, sun wheel shaft driven wheel of differential drives sun wheel shaft by internal spline, and
Power is divided into two afterwards, is transferred to left sun gear and right sun gear respectively, left gear ring is by ratio steering mechanism locking, left sun gear
Left lateral star-wheel is driven to rotate, left planet carrier shaft does deceleration output, and drives left planet carrier shaft driving gear to rotate, so as to drive a left side
Live axle driven gear rotates, left side output power；Similarly, right sun wheel drive right lateral star-wheel is rotated, and right planet carrier shaft is done
Slow down and export, and drive right planet carrier shaft driving gear to rotate, so as to drive right driving wheel axle driven gear to rotate, right side output
Power；Because when being inputted without steering power, left gear ring is locked out with right gear ring, both sides power at constant speed exports, and crawler equipment is straight
Line travels.
In the present invention, when multichannel crawler equipment remote control equipment needs to turn to, hydrostatic stepless speed change device is positive to be turned
Dynamic, hydrostatic stepless speed change device output gear driving counter shaft driven gear rotates, counter shaft driven gear driving jackshaft
Rotate, jackshaft driving jackshaft drive pinion rotates, and jackshaft drive pinion driving steering spindle driven gear rotates, steering spindle
Driven gear drives steering axes, steering spindle driving left steering gear and right turn pinion rotation, a left steering gear driving left side
Ring gear against rotation, right turn gear driving right turn idle pulley pinion rotation, the right ring gear against rotation of right turn idler gear wheel drive；Due to a left side
Tooth sector drives left ring gear against rotation, and right turn 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；The angular speed and the output of hydrostatic stepless speed change device for turning to output turn
Fast proportion relation, hydrostatic stepless speed change device can be operated by steering wheel or steering linkage, therefore, turn to the angle of output
Speed can be with steering operation mechanism proportion relation, and so as to realize, accurately ratio turns to.
Beneficial effect：The present invention uses electric-controlled type transmission system, steering and brakes, in the center control of controller
In the presence of unit processed, remote driving is realized；Optimize mechanical fabric simultaneously, be allowed to be easier to realize that automatically controlledization operates, have
Effect reduces complete machine complexity, improves practicality；And remote driving tractor, not only contribute to lower tractor mass, subtract
Few tractor sagging degree in paddy field, the flatness in paddy field after operation is improved, be also beneficial to reduce driving labor intensity, also may be used
Self-navigation is realized by technical foundation, realized unmanned.
Brief description of the drawings
Fig. 1 is the side view of presently preferred embodiments of the present invention.
Fig. 2 is the transmission system schematic diagram of presently preferred embodiments of the present invention.
Fig. 3 is the electric control clutch schematic diagram in presently preferred embodiments of the present invention.
Fig. 4 is the automatically controlled gearshift schematic diagram of speed changer in presently preferred embodiments of the present invention.
Fig. 5 is differential steering and drive assembly schematic diagram in presently preferred embodiments of the present invention.
Fig. 6 is transmission power transmission and its automatically controlled steering principle figure in presently preferred embodiments of the present invention.
Fig. 7 is the electric control braking schematic diagram in presently preferred embodiments of the present invention.
Fig. 8 is the automatically controlled gearshift schematic diagram of power output in presently preferred embodiments of the present invention.
Fig. 9 is the electric drawings figure in presently preferred embodiments of the present invention.
Figure 10 is the remote control structural representation 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 ~ Fig. 2 multichannel crawler equipment remote control equipment, including engine I, driver's cabin II, crawler belt III,
Work mechanism IV, transmission system V, vehicle frame VI, controller VII, remote control VIII, engine I are arranged on the front end of vehicle frame VI, working machine
Tool IV is arranged on the rear end of vehicle frame VI, and the rear end of engine I is connected with transmission system V, and crawler belt III is sleeved in transmission system V, driven
Sail room II and be arranged on the rear of engine I, controller VII is arranged in driver's cabin II, and remote control VIII is used for operator's remote operation；
Transmission system V includes clutch assembly 1, speed changing assembly 2, differential steering and drive assembly 3, brake assembly 4, power output
Transmission assembly 5 and casing 6, each mechanism concrete structure are as follows：
It is shown in Figure 3, clutch assembly 1 include engine flywheel 10, clutch disk 11, clutch outer member 12,
Platen 13, diaphragm spring 14, release bearing 15, separation lever 16, transmission input shaft V11 and release rod M1, outside clutch
Shell 12 is fixed on engine flywheel 10, and transmission input shaft V11 external splines coordinates with the internal spline of clutch disk 11；
The outer end of diaphragm spring 14 is riveted on platen 13, and centre is supported on clutch outer member 12 by boss, and the inner is in release bearing
In the presence of 15, platen 13 is promoted to be combined with clutch disk 11 with separating；Operation principle：Release rod M1 rises long, separation
Lever 16 surrounds strong point rotate counterclockwise, moves up release bearing 15, release bearing 15 compress diaphragm spring 14 make platen 13,
Gap is produced between clutch disk 11, engine flywheel 10, clutch disk 11 loses pressure, to interrupt power transmission；
Release rod M1 shortens, and separation lever 16 turns clockwise around the strong point, and release bearing 15 moves down, and diaphragm spring 14 is in elastic force
Clutch disk 11 is pressed on engine flywheel 10 by effect, and clutch disk 11 and the constant speed of engine flywheel 10 are in the same direction
Power is transferred to transmission input shaft V11 by rotation, clutch disk 11；
Shown in Figure 4, speed changing assembly 2 includes main speed changing assembly V and secondary speed changing assembly U, and main speed changing assembly V includes speed change
Device input shaft V11, the second axle V12,1 gear driving gear V24,2 gear driving gear V23,3 gear driving gear V22,4 gear driving tooths
Take turns V21,1 gear driven gear V25,2 gear driven gear V26,3 gear driven gear V27,4 gear driven gear V28, synchronizer V30,
3-4 gear combined cover V31,3-4 selector fork V32,3-4 gear splined hub V33,1-2 gear combined cover V34,1-2 selector forks V35,1-
2 gear splined hub V36, basic transmission gearshift gate shafts V37,1-2 gear shift fork axle V38,3-4 gear shift fork axle V39 and basic transmission change
Keep off motor M2；
Transmission input shaft V11 both ends are separately mounted on casing, and are set with 1 successively on transmission input shaft V11
Driving gear V24,2 gear driving gear V23,3 gear driving gear V22 and 4 gear driving gear V21 are kept off, in 3 gear driving gear V22
It is provided with transmission input shaft V11 between 4 gear driving gear V21 on 3-4 gear splined hub V33,3-4 gear splined hubs V33
3-4 gears combined cover V31,3-4 selector fork V32 is installed and is set in 3-4 gear shift fork axles V39；It is set with successively on second axle V12
1 gear driven gear V25,2 gear driven gear V26,3 gear driven gear V27 and 4 gear driven gear V28, in 1 gear driven gear V25
It is provided with 1-2 gear splined hub V36,1-2 gear splined hubs V36 and is provided with the second axle V12 between 2 gear driven gear V26
1-2 gears combined cover V34,1-2 selector fork V35 is set in 1-2 gear shift fork axle V38, and 1 gear driving gear V24 and 1 gear driven tooth
V25 engagements are taken turns, 2 gear driving gear V23 engage with 2 gear driven gear V26, and 3 gear driving gear V22 nibble with 3 gear driven gear V27
Close, 4 gear driving gear V21 engages with 4 gear driven gear V28,1-2 gear shift fork axle V38 and 3-4 keep off shift fork axle V39 respectively with master
The V37 connections of shift of transmission gate shafts, basic transmission gearshift gate shafts V37 are connected with basic transmission shift motor M2, while
1-2 keeps off on splined hub V36 and 3-4 gear splined hubs V33 and is separately installed with synchronizer V30；
Secondary speed changing assembly U include the slow-input shaft U11 that reverses gear, output shaft U12, reverse gear shaft U13, the driving gear U21 that reverses gear,
Slow gear driving gear U22, slow gear driven gear U23, reverse gear shaft driven gear U24, reverse gear shaft driving gear U25, fast-slow gear knot
Trap U26, fast-slow gear shift fork U31, back fork U32, fast-slow gear splined hub U33, fast gear splined hub U34, back fork axle
U35, fast-slow gear shift fork axle U36, secondary gear shift gate shafts U37 and auxiliary transmission shift motor M3；
Slowly-and input shaft U11 empty sets are reversed gear on transmission input shaft V11, driven by 4 gear driving gear V21 internal spline,
And slow gear driving gear U22 is installed on the slow-input shaft U11 that reverses gear, driving gear U21 empty sets of reversing gear are in slow-input of reversing gear
On axle U11, fast-slow is provided with the slow-input shaft U11 that reverses gear to reverse gear between driving gear U21 and slow gear driving gear U22
Splined hub U33 is kept off, is provided with fast-slow gear splined hub U33 and is combined for fast-slow gear splined hub U33, fast gear splined hub U34
Fast-slow keeps off combined cover U26, and fast-slow gear shift fork U31 is set in fast-slow gear shift fork axle U36；V12 pairs of output shaft U12 and the second axle
Connect, reverse gear shaft driving gear U25 and reverse gear shaft driven gear U24 is sleeved on reverse gear shaft U13, is provided with output shaft U12 fast
Splined hub U34 is kept off, back fork U32 is set in back fork axle U35；And reverse gear shaft driven gear U24 and the driving gear that reverses gear
U21 is engaged, and back fork axle U35, fast-slow gear shift fork axle U36 are connected with secondary gear shift gate shafts U37 respectively, and pair becomes quick change
Gear gate shafts U37 is connected with auxiliary transmission shift motor M3；
Power transmission line：
Fast 1 gear
Transmission input shaft V11 → 1 keeps off driving gear V24 → 1 and keeps off driven gear V25 → 1-2 gear combined covers V34 → 1-2
The fast gear splined hub U34 of gear splined hub V36 → the second axle V12 → → fast-slow gear combined cover U26 → fast-slow gear splined hub U33 → defeated
Shaft U12；
Combined cover state：1-2 keeps off combined cover V34 and combined with 1-2 gear splined hubs V36,1 gear driven gear V25；
Fast-slow is kept off combined cover U26 and combined with fast-slow gear splined hub U33, fast gear splined hub U34；
Fast 2 gear
Transmission input shaft V11 → 2 keep off driving gear V23 → 2 and keep off driven gear V26 → 1-2 gear combined covers V34 → 1-2
The fast gear splined hub U34 of gear splined hub V36 → the second axle V12 → → fast-slow gear combined cover U26 → fast-slow gear splined hub U33 → defeated
Shaft U12；
Combined cover state：1-2 keeps off combined cover V34 and combined with 1-2 gear splined hubs V36,2 gear driven gear V26；
Fast-slow is kept off combined cover U26 and combined with fast-slow gear splined hub U33, fast gear splined hub U34；
Fast 3 gear
The gear of the gear driving gear V22 of transmission input shaft V11 → 3-4 gears splined hub V33 → 3-4 combined covers V31 → 3 → 3 from
Moving gear V27 → the second axle V12 → keeps off splined hub U34 → fast-slow gear combined cover U26 → fast-slow gear splined hub U33 → output soon
Axle U12；
Combined cover state：3-4 combined covers V31 is combined with 3-4 gear splined hubs V33,3 gear driving gear V22；
Fast-slow is kept off combined cover U26 and combined with fast-slow gear splined hub U33, fast gear splined hub U34；
Fast 4 gear
The gear of the gear driving gear V21 of transmission input shaft V11 → 3-4 gears splined hub V33 → 3-4 combined covers V31 → 4 → 4 from
Moving gear V28 → the second axle V12 → keeps off splined hub U34 → fast-slow gear combined cover U26 → fast-slow gear splined hub U33 → output soon
Axle U12；
Combined cover state：3-4 combined covers V31 is combined with 3-4 gear splined hubs V33,4 gear driving gear V28；
Fast-slow is kept off combined cover U26 and combined with fast-slow gear splined hub U33, fast gear splined hub U34；
Slow 1 gear
Transmission input shaft V11 → 1 keeps off driving gear V24 → 1 and keeps off driven gear V25 → 1-2 gear combined covers V34 → 1-2
Keep off → slow-the input shaft U11 that reverse gear → low of gear driving gear V21 of the gear driven gear V28 of the axle V12 of splined hub V36 → second → 4 → 4
Keep off driving gear U22 → slow gear driven gear U23 → fast-slow gear combined cover U26 → fast-slow gear splined hub U33 → output shaft
U12；
Combined cover state：1-2 keeps off combined cover V34 and combined with 1-2 gear splined hubs V36,1 gear driven gear V25；
Fast-slow is kept off combined cover U26 and combined with fast-slow gear splined hub U33 and slow gear driven gear U23；
Slow 2 gear
Transmission input shaft V11 → 2 keep off driving gear V23 → 2 and keep off driven gear V26 → 1-2 gear combined covers V34 → 1-2
Keep off → slow-the input shaft U11 that reverse gear → low of gear driving gear V21 of the gear driven gear V28 of the axle V12 of splined hub V36 → second → 4 → 4
Keep off driving gear U22 → slow gear driven gear U23 → fast-slow gear combined cover U26 → fast-slow gear splined hub U33 → output shaft
U12；
Combined cover state：1-2 keeps off combined cover V34 and combined with 1-2 gear splined hubs V36,2 gear driven gear V26；
Fast-slow is kept off combined cover U26 and combined with fast-slow gear splined hub U33, slow gear driven gear U23；
Slow 3 gear
The gear of the gear driving gear V22 of transmission input shaft V11 → 3-4 gears splined hub V33 → 3-4 combined covers V31 → 3 → 3 from
Gear → slow-input shaft U11 → low gears of reversing gear of driving gear V21 of the gear driven gear V28 of the axle V12 of moving gear V27 → second → 4 → 4
Driving gear U22 → slow gear driven gear U23 → fast-slow gear combined cover U26 → fast-slow gear splined hub U33 → output shaft U12；
Combined cover state：3-4 combined covers V31 is combined with 3-4 gear splined hubs V33,3 gear driving gear V22；
Fast-slow is kept off combined cover U26 and combined with fast-slow gear splined hub U33, slow gear driven gear U23；
Slow 4 gear
Transmission input shaft V11 → 3-4 gear splined hub V33 → 3-4 combined covers V31 → 4 gear driving gear V21 are → slow-
Keep off input shaft U11 → low gear driving gear U22 → slow gear driven gear U23 → fast-slow gear combined cover U26 → fast-slow gear spline
Hub U33 → output shaft U12；
Combined cover state：3-4 combined covers V31 is combined with 3-4 gear splined hubs V33,4 gear driving gear V28；
Fast-slow is kept off combined cover U26 and combined with fast-slow gear splined hub U33, slow gear driven gear U23；
1 gear
Transmission input shaft V11 → 1 keeps off driving gear V24 → 1 and keeps off driven gear V25 → 1-2 gear combined covers V34 → 1-2
Keep off the gear driven gear V28 → 4 → slow-the input shaft U11 that reverse gear of gear driving gear V21 → of the axle V12 of splined hub V36 → second → 4
Keep off driving gear U21 → reverse gear shaft driven gear U24 → reverse gear shaft U13 → reverse gear shaft driving gear U25 → fast-slow gear combined cover
U26 → fast-slow gear splined hub U33 → output shaft U12；
Combined cover state：1-2 keeps off combined cover V34 and combined with 1-2 gear splined hubs V36,1 gear driven gear V25；
The driving gear U21 that reverses gear is combined with the slow-input shaft U11 that reverses gear；
2 gear
Transmission input shaft V11 → 2 keep off driving gear V23 → 2 and keep off driven gear V26 → 1-2 gear combined covers V34 → 1-2
Keep off the gear driven gear V28 → 4 → slow-the input shaft U11 that reverse gear of gear driving gear V21 → of the axle V12 of splined hub V36 → second → 4
Keep off driving gear U21 → reverse gear shaft driven gear U24 → reverse gear shaft U13 → reverse gear shaft driving gear U25 → fast-slow gear combined cover
U26 → fast-slow gear splined hub U33 → output shaft U12；
Combined cover state：1-2 keeps off combined cover V34 and combined with 1-2 gear splined hubs V36,2 gear driven gear V26
The driving gear U21 that reverses gear is combined with the slow-input shaft U11 that reverses gear；
3 gear：The gear driving gear V22 of transmission input shaft V11 → 3-4 gears splined hub V33 → 3-4 combined covers V31 → 3 →
→ slow-the input shaft U11 that reverse gear of gear driving gear V21 of the gear driven gear V28 of the axle V12 of 3 gear driven gear V27 → second → 4 → 4 →
Driving gear U21 → reverse gear shaft driven gear U24 → reverse gear shaft U13 → reverse gear shaft driving gear U25 → fast-slow the gear that reverses gear combines
Cover U26 → fast-slow gear splined hub U33 → output shaft U12；
Combined cover state：3-4 combined covers V31 is combined with 3-4 gear splined hubs V33,3 gear driving gear V22；
The driving gear U21 that reverses gear is combined with the slow-input shaft U11 that reverses gear；
4 gear
Transmission input shaft V11 → 3-4 gear splined hub V33 → 3-4 combined covers V31 → 4 gear driving gear V21 are → slow-
Keep off the input shaft U11 → driving gear U21 that reverses gear → reverse gear shaft driven gear U24 → reverse gear shaft U13 → reverse gear shaft driving gear U25
→ fast-slow gear combined cover U26 → fast-slow gear splined hub U33 → output shaft U12；
Combined cover state：3-4 combined covers V31 is combined with 3-4 gear splined hubs V33,4 gear driving gear V28；
The driving gear U21 that reverses gear is combined with the slow-input shaft U11 that reverses gear；
Referring to shown in Fig. 5 ~ Fig. 6, differential steering includes hydrostatic stepless speed change device H with drive assembly 3, turns to the dress that slows down
Put D, left side ratio steering mechanism T, right side ratio steering mechanism S and hydrostatic stepless speed change device speed regulating control motor M4；It is quiet
Hydraulic variable speed unit speed regulating control motor M4 is connected with hydrostatic stepless speed change device H, hydrostatic stepless speed change device H with
Deceleration device D connections are turned to, deceleration device D is turned to and is connected respectively with left side ratio steering mechanism T, right side ratio steering mechanism S；
Turning to deceleration device D includes turning to drive bevel gear V1, turns to driven wheel of differential D21, jackshaft D12, steering spindle
D13, right turn idler shaft D14, hydrostatic stepless speed change device output gear D22, counter shaft driven gear D23, jackshaft master
Moving gear D24, steering spindle driven gear D25, left steering gear D 26, right turn gear D 27 and right turn idle pulley gear D28；Turn
To drive bevel gear V1 be sleeved on it is slow-reverse gear on input shaft U11, turn to driven wheel of differential D21 and be sleeved on hydrostatic variable speed
On device H input shafts, and engaged with turning to drive bevel gear V1；Hydrostatic stepless speed change device output gear D22 is sleeved on quiet
On hydraulic variable speed unit H output shafts, jackshaft D12 both ends are separately mounted on casing, and counter shaft driven gear D23 is with
Countershaft driving gear D24 is sleeved on jackshaft D12, hydrostatic stepless speed change device output gear D22 and jackshaft driven tooth
Take turns D23 engagements；Left steering gear D 26, steering spindle driven gear D25 and right turn gear D 27 are set with steering spindle D13, is turned
Engaged to axle driven gear D25 with jackshaft drive pinion D24；Right turn idler shaft D14 is arranged on steering spindle D13 sides, right
Turn to idle pulley gear D28 to be sleeved on right turn idler shaft D14, while engaged with right turn gear D 27；
Left side ratio steering mechanism T includes drive bevel gear V2, sun wheel shaft driven wheel of differential V3, sun wheel shaft T11, a left side
Planet carrier shaft T12, left driving output shaft T13, left sun gear T21, left lateral star-wheel T22, left gear ring T23, left planet carrier shaft are actively
Gear T24 and left driving wheel axle driven gear T25；Drive bevel gear V2 is sleeved on output shaft U12, left sun gear T21 suits
In sun wheel shaft T11 one end, sun wheel shaft driven wheel of differential V3 is sleeved in the middle part of sun wheel shaft T11, and with drive bevel gear V2
Engagement, and is also set with left planet carrier shaft T12 on sun wheel shaft T11, be provided with left planet carrier shaft T12 with left driving wheel axle from
The left planet carrier shaft driving gear T24 of moving gear T25 engagements, left lateral star-wheel T22 engage with left sun gear T21, left gear ring T23's
Internal tooth engages with left planetary gear T22, and left gear ring T23 external tooth engages with left steering gear D 26, left driving wheel axle driven gear
T25 is sleeved on left driving output shaft T13；
Right side ratio steering mechanism S includes right planet carrier shaft S12, right driving output shaft S13, right sun gear S21, right lateral star
Take turns S22, right gear ring S23, right planet carrier shaft driving gear S24 and right driving wheel axle driven gear S25；Right sun gear S21 suits
Right planet carrier shaft S12 is also set with the sun wheel shaft T11 other ends, sun wheel shaft T11, is set with right planet carrier shaft S12
The right planet carrier shaft driving gear S24 engaged with right driving wheel axle driven gear S25, right lateral star-wheel S22 nibble with right sun gear S21
Close, right gear ring S23 internal tooth engages with right lateral star-wheel S22, and right gear ring S23 external tooth engages with right turn idle pulley gear D28, right
Live axle driven gear S25 is sleeved on right driving output shaft S13；
Linear motor principle：Drive bevel gear V2 is arranged on output shaft U12, and power is transferred to output shaft through shift transformation
U12, then sun wheel shaft driven wheel of differential V3 is transferred to, sun wheel shaft driven wheel of differential V3 drives sun wheel shaft by internal spline
T11, sun wheel shaft T11 one end are provided with left sun gear T21, and the other end is provided with right sun gear S21, during linear drives, left tooth
T23 is enclosed by ratio steering mechanism locking（Both sides gear ring is diverted power locking equal in magnitude on axle D13, in opposite direction）, a left side is too
Sun wheel T21 driving left lateral star-wheels T22 is rotated, and left planet carrier shaft T12 does deceleration output, and drives left planet carrier shaft driving gear
T24 is rotated, and so as to drive left driving wheel axle driven gear T25 to rotate, similarly, right sun gear S21 drives right planet carrier shaft S12,
And then right planet carrier shaft driving gear S24 is driven, because when being inputted without steering power, left gear ring T23 is locked with right gear ring S23
Only, both sides power at constant speed exports, crawler equipment straight-line travelling.
Ratio steering principle：When crawler equipment needs to turn to, hydrostatic stepless speed change device H is rotated forward, hydrostatic nothing
Level speed change gear output gear D22 driving counter shaft driven gears D23 is rotated, counter shaft driven gear D23 driving jackshafts D12
Rotate, jackshaft D12 driving jackshaft drive pinions D24 is rotated, jackshaft drive pinion D24 driving steering spindle driven gears
D25 is rotated, and steering spindle driven gear D25 driving steering spindles D13 is rotated, steering spindle D13 driving left steerings gear D 26 and right turn
Gear D 27 rotates, and left steering gear D 26 drives left gear ring T23 to rotate, and right turn gear D 27 drives right turn idle pulley gear D28
Rotate, right turn idle pulley gear D28 drives right gear ring S23 to rotate；Because left steering gear D 26 drives left gear ring T23 to rotate, and
Right turn gear D 27 drives right gear ring S23 to rotate by right turn idle pulley gear D28 so that left and right sides gear ring constant speed negative side
To rotation, both sides gear ring is diverted mechanism locking during straight-line travelling, because hydrostatic stepless speed change device H drives, destroys two
The dynamic balance of side gear ring, gear ring constant speed in the presence of hydrostatic stepless speed change device H in both sides reversely rotates, in this rotary speed
After being synthesized with sun gear input speed so that left planet carrier shaft T12 and right planet carrier shaft S12 exports unequal rotating speed, so as to promote
Driving wheel both ends is exported different rotating speeds, and then realize and turned to side；Similarly, when hydrostatic stepless speed change device H reversely turns
When dynamic, crawler equipment turns to opposite side；Angular speed and the hydrostatic stepless speed change device H output speeds of output are turned into certain
Proportionate relationship, hydrostatic stepless speed change device H can be operated by steering wheel or steering linkage, therefore, turn to the angular speed energy of output
With steering operation mechanism proportion relation, so as to realize that accurate ratio turns to.
Referring to shown in Fig. 7 ~ Fig. 8, brake assembly 4 include left hand brake gear 41, left hand brake axle 42, brake drum 43,
Brake steel disc 44, right side brake gear 45, right side brake axle 46, right side brake platen 47, right side shift fork supporting pin 48, right side group
Fork arm 49, left side shifting fork bar 410, left side shift fork supporting pin 411, brake strip 412, left hand brake platen 413 and braking electricity
Machine M5；Left hand brake gear 41 is sleeved on left hand brake axle 42, and right side brake gear 45 is sleeved on right side brake axle 46, and
Brake drum 43 is provided between left hand brake axle 42 and right side brake axle 46, eight braking steel discs are installed in brake drum 43
44, eight braking steel discs 44 are parallel to each other and are in arranged for interval, and corresponding left hand brake axle 42 and the right side in brake drum 43
Three brake strips 412 are provided with by spline respectively on side brake axle 46, three brake strips 412 are all parallel to each other
And be in arranged for interval, every brake strip 412 is equipped between adjacent two panels brakes steel disc 44, on left hand brake axle 42
Left hand brake platen 413 is additionally provided with, right side brake platen 47, left hand brake platen 413 are additionally provided with right side brake axle 46
On be provided with left side shifting fork bar 410, right side shifting fork bar 49 is provided with right side brake platen 47, left side shifting fork bar 410 passes through a left side
Side shift fork supporting pin 411, right side shifting fork bar 49 are connected by left side shift fork supporting pin 411 with braking motor M5；Left hand brake tooth
Wheel 41 engages with left driving wheel axle driven gear T25, and right side brake gear 45 engages with right driving wheel axle driven gear S25；
Power output transmission assembly 5 include connecting shaft P11, power output shaft P12, connecting shaft high gear driving gear P21,
Driving gear P23, connecting shaft low gear driving gear P24, power output shaft are kept off in connecting shaft reduction driven gear P22, connecting shaft
Driven gear P26, power output shaft deceleration driving gear P27, power output are kept off in low gear driven gear P25, power output shaft
Axle high gear driven gear P28, middle low gear shift fork P31, middle low gear combined cover P32, middle low gear splined hub P33, power output shaft are high
Keep off splined hub P34, high gear shift fork P35, high gear shift fork axle P36, middle low gear shift fork axle P37, power output gearshift gate shafts P38 and
Power output shift motor M6；Connecting shaft P11 connects as one with transmission input shaft V11, and power output shaft P12 rotating speeds are independent
In speed changing assembly 2, differential steering and drive assembly 3, brake assembly 4；Connecting shaft low gear master is set with connecting shaft P11 successively
Driving gear P23, connecting shaft reduction driven gear P22 and connecting shaft high gear driving gear P21 are kept off in moving gear P24, connecting shaft,
Power output shaft P12 is arranged on connecting shaft P11 sides, and power output shaft P12 be set with successively power output shaft low gear from
Driven gear P26, power output shaft deceleration driving gear P27 and power output shaft high gear are kept off in moving gear P25, power output shaft
Pacify on driven gear P28, the connecting shaft P11 kept off in connecting shaft low gear driving gear P24 and connecting shaft between driving gear P23
Equipped with middle low gear splined hub P33, middle low gear combined cover P32, middle low gear shift fork P31 insertings are installed on middle low gear splined hub P33
On middle low gear shift fork axle P37；The connection kept off in connecting shaft between driving gear P23 and connecting shaft reduction driven gear P22
Power output shaft high gear splined hub P34 is installed, high gear shift fork P35 is inserted on high gear shift fork axle P36, middle low gear on axle P11
Shift fork axle P37, high gear shift fork axle P36 are connected with power output gearshift gate shafts P38 respectively, power output gearshift gate shafts P38
It is connected with power output shift motor M6；Connecting shaft high gear driving gear P21 and power output shaft high gear driven gear P28 simultaneously
Engagement, connecting shaft reduction driven gear P22 are engaged with power output shaft deceleration driving gear P27, and driving gear is kept off in connecting shaft
P23 engages with keeping off driven gear P26 in power output shaft, and connecting shaft low gear driving gear P24 and power output shaft low gear are driven
Gear P25 is engaged；
Transfer route and operation principle：
Low gear
Power input shaft V11 → connecting shaft P11 → middle low gear splined hub P33 → middle low gear combined cover P32 → connecting shaft is low
Gear driving gear P24 → power output shaft low gear driven gear P25 → power output shaft deceleration driving gear P27 → connecting shaft subtracts
Fast driven gear P22 → connecting shaft high gear driving gear P21 → power output shaft high gear driven gear P28 → power output shaft
P12；
Combined cover state：Middle low gear combined cover P32 ties with middle low gear splined hub P33, connecting shaft low gear driving gear P24
Close；
Middle gear
In power input shaft V11 → connecting shaft P11 → middle low gear splined hub P33 → middle low gear combined cover P32 → connecting shaft
Driven gear P26 → power output shaft deceleration driving gear P27 → connecting shaft is kept off in gear driving gear P23 → power output shaft to subtract
Fast driven gear P22 → connecting shaft high gear driving gear P21 → power output shaft high gear driven gear P28 → power output shaft
P12；
Combined cover state：Middle low gear combined cover P32 ties with keeping off driving gear P23 in middle low gear splined hub P33, connecting shaft
Close；
High gear
Power input shaft V11 → connecting shaft P11 → power output shaft high gear splined hub P34 → connecting shaft reduction driven gear
P22 → connecting shaft high gear driving gear P21 → power output shaft high gear driven gear P28 → power output shaft P12；
Combined cover state：Power output shaft high gear splined hub P34 is combined with connecting shaft reduction driven gear P22.
Referring to shown in Fig. 9 ~ Figure 10, controller VII includes central control unit（ECU）71st, wireless transport module 72, signal
Input unit 73, mode conversion switch 74, video module 75, position feedback device M0, motor control module M1 ~ M7；It is wireless to pass
Defeated module 72, signal input apparatus 73, mode conversion switch 74, video module 75 and motor control module M1 ~ M7 are respectively with
Centre control unit 71 connects, and mode conversion switch 74 is used to switch manual mode and remote control mode, M1 ~ M7 points of motor control module
Not with corresponding motor connection, while position feedback device M0 is respectively arranged with motor control module M1 ~ M7, is closed with being formed
Ring control system；
Remote control VIII includes emergency button 81, directional lever 82, basic transmission shift switch 83, auxiliary transmission shift switch
84th, power output shift of transmission switch 85, hand throttle 86, remote control housing 87, remote control switch 88, clutch control switch
89th, hook 810, LCDs 811 and antenna 812；The corresponding control basic transmission of remote control basic transmission shift switch 83 changes
Motor M2 is kept off, there are 4 positions, corresponding 1-4 gears, auxiliary transmission shift switch 84 is corresponding to control auxiliary transmission shift motor M3,
With 3 positions, it is corresponding it is fast, slow, reverse gear；The corresponding control power output shift motor of power output shift of transmission switch 85
M6, there is 3 positions, corresponding high, medium and low gear；Directional lever 82 has four direction all around, corresponds to respectively：Front, add
Subtract throttle, it is corresponding to be controlled by motor control module M7；When hand throttle 86 is located at lowest order, throttle is controlled by directional lever, when
When hand throttle 86 is located at other positions, throttle is controlled by hand throttle；Rear：Brakes is controlled, it is corresponding to control braking motor M5,
Left is corresponding with right to control hydrostatic stepless speed change device speed regulating control motor M4, for controlling vehicle heading；Clutch
Device controlling switch 89, corresponding control separation motor M1；Hook 810 is used to hang remote control, convenient to operate remote control, liquid crystal
Display screen 811 is used for the image for showing dilatory machine monitoring.Emergency button 81 is used for emergency, after emergency button 81 are pressed,
Throttle is reduced to minimum state, and clutch is kept completely separate, and speed changer is in neutral, and brake produces braking, prevents in remote control shape
State is issued outside business；Basic transmission shift switch 83, auxiliary transmission shift switch 84, the behaviour of power output shift of transmission switch 85
When making, central control unit 71 controls clutch separation, detects that clutch operates after being kept completely separate in central control unit 71
Gearshift, after central control unit 71 detects that change corresponds to gear, control clutch combines.
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 (10)
1. a kind of multichannel crawler equipment remote control equipment, including engine, driver's cabin, crawler belt, work mechanism, transmission system, car
Frame, controller and remote control, it is characterised in that engine is arranged on vehicle frame front end, and work mechanism is arranged on vehicle frame rear end, started
Machine rear end is connected with transmission system, and crawler belt is sleeved in transmission system, and driver's cabin is arranged on engine rear, and controller is arranged on
In driver's cabin, remote control is used for operator's remote operation；And transmission system includes clutch assembly, speed changing assembly, differential steering
It is as follows with drive assembly, brake assembly, power output transmission assembly and casing, each mechanism concrete structure：
In clutch assembly, clutch outer member is fixed on engine flywheel, and speed change is inserted with the internal spline of clutch disk
Device input shaft, the external splines of transmission input shaft and the internal spline of clutch disk coordinate；Diaphragm spring outer end is riveted on pressure
On disk, centre is supported on clutch outer member by boss, and the inner contacts with release bearing, in the presence of release bearing, is promoted
Platen is set to combine and separate with clutch disk, separation lever is connected with release rod；When release rod rises long, separation lever
Around strong point rotate counterclockwise, move up release bearing, release bearing compression diaphragm spring make platen, clutch disk,
Gap is produced between engine flywheel, clutch disk loses pressure, to interrupt power transmission；When release rod shortening, separation
Lever turns clockwise around the strong point, and release bearing moves down, and diaphragm spring acts in elastic force and is pressed on clutch disk
On engine flywheel, power is transferred to change by clutch disk and engine flywheel constant speed rotating Vortex, clutch disk
Fast device input shaft；
Speed changing assembly includes main speed changing assembly and secondary speed changing assembly, and in main speed changing assembly, transmission input shaft both ends are installed respectively
On casing, and it is set with 1 gear driving gear, 2 gear driving gears, 3 gear driving gears and 4 gears successively on transmission input shaft
Driving gear, 3-4 gear splined hubs, 3-4 are provided with 3 gear driving gears and 4 transmission input shafts kept off between driving gears
3-4 gear combined covers are installed, 3-4 selector forks are set in 3-4 gear shift fork axles in gear splined hub；Be set with successively on second axle with
1 gear driven gear of 1 gear driving gear engagement, 2 engaged with 2 gear driving gears keep off driven gears, engaged with 3 gear driving gears
3 gear driven gears and with 4 gear driving gears engage 4 gear driven gears, 1 gear driven gear and 2 keep off driven gears between
The second axle on be provided with 1-2 gear splined hubs, 1-2 gear combined covers are installed, 1-2 selector forks are set in 1-2 gear splined hubs
1-2 gear shift fork axles, 1-2 gear shift fork axles are shifted gears with basic transmission gearshift chute axis connection, basic transmission respectively with 3-4 gears shift fork axle
Gate shafts are connected with basic transmission shift motor；
It is slow-to reverse gear input shaft empty set on transmission input shaft in secondary speed changing assembly, it is slow keep off driving gear be arranged on it is slow-reverse gear
On input shaft, driving gear empty set of reversing gear it is slow-reverse gear on input shaft, and reversing gear between driving gear and slow gear driving gear
Slow-the input shaft that reverses gear on be provided with fast-slow gear splined hub, fast-slow gear splined hub on be provided with for fast-slow gear splined hub,
The fast-slow gear combined cover that fast gear splined hub combines, fast-slow gear shift fork are set in fast-slow gear shift fork axle；Output shaft and the second axle pair
Connect；Reverse gear shaft driving gear is sleeved on reverse gear shaft with reverse gear shaft driven gear, and splined hub of reversing gear is provided with output shaft, is reversed gear
Shift fork is set in back fork axle；Reverse gear shaft driven gear engages with the driving gear that reverses gear, back fork axle, fast-slow gear shift fork
Axle is connected with secondary gear shift chute axis connection, secondary gear shift gate shafts with auxiliary transmission shift motor respectively；
Differential steering and drive assembly include hydrostatic stepless speed change device, turn to deceleration device, left side ratio steering mechanism, the right side
Side ratio steering mechanism and hydrostatic stepless speed change device speed regulating control motor；Hydrostatic stepless speed change device speed regulating control motor
It is connected with hydrostatic stepless speed change device, hydrostatic stepless speed change device is connected with turning to deceleration device, turns to deceleration device point
It is not connected with left side ratio steering mechanism, right side ratio steering mechanism；
Turn in deceleration device, turn to drive bevel gear be sleeved on it is slow-reverse gear on input shaft, turn to driven wheel of differential be sleeved on it is quiet
On hydraulic variable speed unit input shaft, and engaged with turning to drive bevel gear；Hydrostatic stepless speed change device output gear wheel case
On hydrostatic stepless speed change device output shaft, jackshaft both ends are separately mounted on casing, and counter shaft driven gear is with
Countershaft driving gear is sleeved on jackshaft, and hydrostatic stepless speed change device output gear engages with counter shaft driven gear；Turn
Left steering gear, steering spindle driven gear and right turn gear, steering spindle driven gear and jackshaft active are set with to axle
Gear engages；Right turn idle pulley geared sleeve engages on right turn idler shaft with right turn gear；
In the ratio steering mechanism of left side, drive bevel gear is sleeved on output shaft, and left sun gear is sleeved on sun wheel shaft one end, too
Positive wheel shaft driven wheel of differential is sleeved in the middle part of sun wheel shaft, and is engaged with drive bevel gear, and a left side is also set with sun wheel shaft
Planet carrier shaft, the left planet carrier shaft driving gear engaged with left driving wheel axle driven gear, left lateral are set with left planet carrier shaft
Star-wheel engages with left sun gear, and the internal tooth of left gear ring engages with left planetary gear, and the external tooth of left gear ring engages with left steering gear,
Left driving wheel axle driven gear is sleeved on left driving output shaft；
In the ratio steering mechanism of right side, right sun gear is sleeved on the sun wheel shaft other end, and right lateral star is also set with sun wheel shaft
Frame axle, the right planet carrier shaft driving gear engaged with right driving wheel axle driven gear, right lateral star-wheel are set with right planet carrier shaft
Engaged with right sun gear, the internal tooth of right gear ring engages with right lateral star-wheel, and the external tooth of right gear ring engages with right turn idle pulley gear, right
Live axle driven gear is sleeved on right driving output shaft；
In brake assembly, left hand brake gear set is on left hand brake axle, and right side brake gear set is in right side brake axle
On, and brake drum is provided between left hand brake axle and right side brake axle, multi-disc braking steel disc, the system are installed in brake drum
Dynamic steel disc is parallel to each other and is in arranged for interval, and in brake drum corresponding left hand brake axle with being installed respectively on right side brake axle
There is multi-disc brake strip, the brake strip is all parallel to each other and is in arranged for interval, and every brake strip is equipped with
Between adjacent two panels brakes steel disc；Left hand brake platen is additionally provided with left hand brake axle, is additionally provided with right side brake axle
Right side brake platen, left side shifting fork bar is provided with left hand brake platen, right side shifting fork bar is provided with right side brake platen, it is left
Side shifting fork bar, right side shifting fork bar are connected with braking motor；Left hand brake gear engages with left driving wheel axle driven gear, right side system
Moving gear engages with right driving wheel axle driven gear；
In power output transmission assembly, connecting shaft connects as one with transmission input shaft, power output shaft speed independently of
Speed changing assembly, differential steering and drive assembly, brake assembly；Be set with successively in connecting shaft connecting shaft low gear driving gear,
Driving gear, connecting shaft reduction driven gear and connecting shaft high gear driving gear, power output shaft are kept off in connecting shaft and is arranged on company
Spindle side, and it is driven in power output shaft to be set with the power output shaft low gear that is engaged with connecting shaft low gear driving gear successively
Driven gear is kept off in gear, the power output shaft engaged with keeping off driving gear in connecting shaft, is nibbled with connecting shaft reduction driven gear
The power output shaft deceleration driving gear of conjunction and the power output shaft high gear driven gear engaged with connecting shaft high gear driving gear,
In connecting shaft low gear driving gear and connecting shaft keep off driving gear between connecting shaft on be provided with low gear splined hub, in it is low
Middle low gear combined cover is installed in gear splined hub, middle low gear shift fork is inserted into middle low gear shift fork axle；Kept off actively in connecting shaft
Power output shaft high gear splined hub, the inserting of high gear shift fork are installed in the connecting shaft between gear and connecting shaft reduction driven gear
In high gear shift fork axle, middle low gear shift fork axle, high gear shift fork axle are changed with power output gearshift chute axis connection, power output respectively
Gear gate shafts are connected with power output shift motor；
In controller, wireless transport module, signal input apparatus, mode conversion switch, video module and several motor control moulds
Block is connected with central control unit respectively, and mode conversion switch is used to switch manual mode and remote control mode, motor control module
Respectively with corresponding motor connection, and position feedback device is provided with each motor control module, to form closed-loop control
System；
Remote control includes remote control housing, and remote control case top is provided with antenna, and remote control housing upper front is provided with liquid
Crystal display screen, LCDs lower section are provided with directional lever, basic transmission shift switch, auxiliary transmission shift switch, power
Output speed changer shift switch, hand throttle, remote control switch and clutch control switch.
2. a kind of multichannel crawler equipment remote control equipment according to claim 1, it is characterised in that in 1-2 gear splined hubs
Synchronizer is installed.
3. a kind of multichannel crawler equipment remote control equipment according to claim 1, it is characterised in that in 3-4 gear splined hubs
Synchronizer is installed.
4. a kind of multichannel crawler equipment remote control equipment according to claim 1, it is characterised in that be provided with brake drum
Eight braking steel discs, braking steel disc are circular ring structure, and eight braking steel discs are parallel to each other and are in arranged for interval.
5. a kind of multichannel crawler equipment remote control equipment according to claim 1, it is characterised in that corresponding in brake drum
Left hand brake axle by spline with being provided with three brake strips respectively on right side brake axle.
6. a kind of multichannel crawler equipment remote control equipment according to claim 1, it is characterised in that left side shifting fork bar passes through
Left side shift fork supporting pin, right side shifting fork bar are connected by left side shift fork supporting pin with braking motor.
7. a kind of multichannel crawler equipment remote control equipment according to claim 1, it is characterised in that set on remote control housing
It is equipped with emergency button.
8. a kind of multichannel crawler equipment remote control equipment according to claim 1, it is characterised in that set on remote control housing
It is equipped with hook.
9. a kind of multichannel crawler equipment remote control equipment according to any one of claim 1~8, it is characterised in that more logical
When road crawler equipment remote control equipment carries out linear drives, power is transferred to output shaft through shift transformation, then is transferred to sun wheel shaft
Driven wheel of differential, sun wheel shaft driven wheel of differential drive sun wheel shaft by internal spline, and then power is divided into two, and transmits respectively
To left sun gear and right sun gear, left sun wheel drive left lateral star-wheel rotates, and left planet carrier shaft does deceleration output, and drives left lateral
Carrier axle driving gear rotates, so as to drive left driving wheel axle driven gear to rotate, left side output power；Similarly, right sun gear
Right lateral star-wheel is driven to rotate, right planet carrier shaft does deceleration output, and drives right planet carrier shaft driving gear to rotate, so as to drive the right side
Live axle driven gear rotates, right side output power；Because when being inputted without steering power, left gear ring is locked with right gear ring
Only, both sides power at constant speed exports, crawler equipment straight-line travelling.
10. a kind of multichannel crawler equipment remote control equipment according to any one of claim 1~8, it is characterised in that more logical
When road crawler equipment remote control equipment needs to turn to, hydrostatic stepless speed change device rotates forward, and hydrostatic stepless speed change device is defeated
Go out gear driving counter shaft driven gear to rotate, counter shaft driven gear driving jackshaft rotates, jackshaft driving jackshaft master
Moving gear rotates, and jackshaft drive pinion driving steering spindle driven gear rotates, steering spindle driven gear driving steering axes,
Steering spindle drives left steering gear and right turn pinion rotation, and left steering gear drives left ring gear against rotation, the driving of right turn gear
Right turn idle pulley pinion rotation, the right ring gear against rotation of right turn idler gear wheel drive；Because left steering gear drives left ring gear against rotation,
And right turn gear passes through the right ring gear against rotation of right turn idler gear wheel drive so that left and right sides gear ring constant speed opposite direction rotates,
Both sides gear ring is diverted mechanism locking during straight-line travelling, because hydrostatic stepless speed change device drives, destroys both sides gear ring
Dynamic balance, gear ring constant speed in the presence of hydrostatic stepless speed change device in both sides reversely rotates, in this rotary speed and sun gear
After input speed synthesis so that left planet carrier shaft exports unequal rotating speed with right planet carrier shaft, so as to promote driving wheel both ends defeated
Go out different rotating speeds, and then realize and turned to side；Similarly, when hydrostatic stepless speed change device rotates backward, crawler equipment to
Opposite side turns to；The angular speed of output and hydrostatic stepless speed change device output speed proportion relation are turned to, it is hydrostatic
Stepless speed change device can be operated by steering wheel or steering linkage, therefore, turn to output angular speed can with steering operation mechanism into
Certain proportion relation, so as to realize accurately ratio steering.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108340776B (en) * | 2018-03-02 | 2023-09-19 | 第一拖拉机股份有限公司 | A drive train rear box for paddy field type crawler tractor |
| CN108916346B (en) * | 2018-09-06 | 2021-02-26 | 苏州萨伯工业设计有限公司 | Variable-speed transmission method for crawler |
| CN109854699A (en) * | 2019-01-26 | 2019-06-07 | 傅江标 | A kind of vehicle variable speed steering mechanism |
| CN110145590A (en) * | 2019-04-30 | 2019-08-20 | 长沙桑铼特农业机械设备有限公司 | A kind of caterpillar tractor variable speed drive and its drive method |
| CN110816697B (en) * | 2019-10-08 | 2020-09-08 | 长沙桑铼特农业机械设备有限公司 | Crawler vehicle carrying electric control integrated pump motor driving system and driving control method |
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| US3606957A (en) * | 1969-05-07 | 1971-09-21 | Caterpillar Tractor Co | Remote control system for load manipulating vehicles |
| CN203567837U (en) * | 2013-10-13 | 2014-04-30 | 富平县悦达机械制造有限公司 | Remote control rubber belt track tractor |
| CN104584769A (en) * | 2013-12-19 | 2015-05-06 | 柳州美纳机械有限公司 | Small rice combine harvester |
| CN204335621U (en) * | 2014-09-30 | 2015-05-20 | 宁夏大学 | Self-propelled spraying machine for vine |
| CN106205086A (en) * | 2016-07-12 | 2016-12-07 | 江苏大学 | A kind of remote control unit for pure electric caterpillar band tractor and control method |
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| CN206485411U (en) * | 2017-02-15 | 2017-09-12 | 长沙桑铼特农业机械设备有限公司 | A kind of multichannel crawler equipment remote control equipment |
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| US3606957A (en) * | 1969-05-07 | 1971-09-21 | Caterpillar Tractor Co | Remote control system for load manipulating vehicles |
| CN203567837U (en) * | 2013-10-13 | 2014-04-30 | 富平县悦达机械制造有限公司 | Remote control rubber belt track tractor |
| CN104584769A (en) * | 2013-12-19 | 2015-05-06 | 柳州美纳机械有限公司 | Small rice combine harvester |
| CN204335621U (en) * | 2014-09-30 | 2015-05-20 | 宁夏大学 | Self-propelled spraying machine for vine |
| CN106205086A (en) * | 2016-07-12 | 2016-12-07 | 江苏大学 | A kind of remote control unit for pure electric caterpillar band tractor and control method |
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