CN108825741B - Variable-speed transmission control method for tracked vehicle - Google Patents
Variable-speed transmission control method for tracked vehicle Download PDFInfo
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- CN108825741B CN108825741B CN201811038491.3A CN201811038491A CN108825741B CN 108825741 B CN108825741 B CN 108825741B CN 201811038491 A CN201811038491 A CN 201811038491A CN 108825741 B CN108825741 B CN 108825741B
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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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential 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
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
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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
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
Abstract
A variable speed transmission control method of a tracked vehicle is characterized in that a variable speed transmission device of the tracked vehicle is adopted to implement variable speed transmission control, power is transmitted to an input gear of the variable speed transmission device of the tracked vehicle through variable speed transmission, then the power is divided into two paths, one path of power is transmitted to a left driving component, the other path of power is transmitted to a right driving component, the power is converged through double flows to enable the rotating speeds of a left planetary gear carrier and a right planetary gear carrier to be increased and reduced, finally, the rotating speeds transmitted to a left driving shaft and a right driving shaft are increased and reduced, so that a rotating speed difference is generated between a left side track and a right side track, and differential steering; a hydrostatic stepless speed change transmission loop is formed by the quantitative motor and the bidirectional variable pump so as to realize the continuous change of the steering radius and improve the steering accuracy; and meanwhile, an electromagnet in the reversible hydrostatic stepless speed change loop is linked with the first shifting fork shaft, so that the operation difficulty is reduced, and the safety accidents are reduced.
Description
Technical Field
The invention relates to the technical field of variable speed transmission, in particular to a variable speed transmission control method for a tracked vehicle.
Background
In a crawler vehicle transmission using double-flow (double power flow) input power, two sets of planetary gear mechanisms are generally adopted to combine power input by a speed change mechanism and power input by a steering mechanism in parallel, the power input by the speed change mechanism is input by a gear ring or a sun gear of the planetary gear mechanism, the power input by the steering mechanism is input by the sun gear or the gear ring of the planetary gear mechanism, and the combined power is output by a planet carrier. In the double-flow transmission scheme, if the steering input power is input in a stepless speed change mode, the steering is flexible, the steering radius can be continuously changed, the steering angular speed and the rotating speed input by the steering mechanism form a certain proportional relation, the steering is accurate, and the performance is excellent; in the double-flow transmission scheme adopting the planetary gear mechanism, the steering operation direction of a steering operation mechanism (a steering wheel or a steering pull rod) is unchanged (for example, for the steering operation mechanism of the steering wheel type, the steering wheel is deviated to the left side or the right side when the steering wheel is moved forwards and backwards), taking the left operation steering mechanism as an example, when the steering mechanism is operated leftwards, after power confluence, the left track is decelerated, the right track is accelerated, the crawler vehicle is steered leftwards, when the steering mechanism is operated leftwards, the steering mechanism is also operated leftwards, when the crawler vehicle is reversed, the speed change input power is reversed, the direction of the steering input power is unchanged, although the crawler vehicle runs backwards, the change rule of the left track and the right track is unchanged because the deflection direction of the steering mechanism, namely: the left crawler belt decelerates relative to the advancing direction, the right crawler belt accelerates relative to the advancing direction (namely, the left crawler belt accelerates for reversing, the right crawler belt decelerates for reversing), and the crawler vehicle drives towards the right for reversing; when the steering mechanism deflects to the left side, the steering mechanism turns to the left when moving forwards and turns to the right when moving backwards, thereby causing difficult operation and even safety accidents.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a method for controlling the variable transmission of a tracked vehicle, so as to solve the drawbacks of the background art.
The technical problem solved by the invention is realized by adopting the following technical scheme:
a variable-speed transmission control method of a tracked vehicle is characterized in that variable-speed transmission control is implemented by the variable-speed transmission device of the tracked vehicle, power is transmitted to an input gear of the variable-speed transmission device of the tracked vehicle through variable speed transmission, then the power is divided into two paths, one path of power is transmitted to a left driving component, the other path of power is transmitted to a right driving component, at the moment, a swash plate of a bidirectional variable pump is arranged at a middle zero position, a quantitative motor does not rotate due to no hydraulic oil flowing in a hydrostatic stepless variable-speed transmission loop, all gears arranged on a steering shaft do not rotate due to the fact that the quantitative motor does not rotate, a left steering gear is meshed with a left steering driven gear, a right steering gear is meshed with a right steering driven gear, therefore, the left steering driven gear and the right; the power of the left driving assembly is transmitted to the left planet wheel from the left sun wheel, and then is transmitted to the right planet wheel from the right sun wheel, and then is transmitted to the left driving driven gear and the left driving shaft, so as to drive the left crawler belt;
forward steering driving
The variable speed transmission is arranged at a forward gear, a swash plate of the bidirectional variable pump is arranged at a non-intermediate zero position, the electromagnet is not electrified, variable speed power is transmitted to the input gear through variable speed, then the power is divided into two paths, one path of power is transmitted to the left driving component, the other path of power is transmitted to the right driving component, the swash plate of the bidirectional variable pump is arranged at the non-intermediate zero position, steering power is input by the quantitative motor, the quantitative motor rotates under the hydraulic action, the quantitative motor drives all gears arranged on a steering shaft to rotate, the left steering gear is meshed with the left steering driven gear, the right steering gear is meshed with the right steering driven gear, the rotating speeds of the left steering gear and the right steering gear are the same and opposite, the rotating speeds of the left gear ring and the right gear ring are the same and opposite, the rotating speeds of the left planetary gear carrier and the right planetary gear carrier are increased and the other rotating speed is reduced after the power is converged by double flows, finally, the rotating speeds transmitted to the left driving shaft and the right driving shaft are increased and decreased one by one, so that the rotating speed difference between the left crawler and the right crawler is generated, and differential steering is realized;
backward steering driving
The variable-speed transmission is arranged in a reverse gear, a swash plate of the bidirectional variable pump is arranged in a non-intermediate zero position, the electromagnet is electrified, the power for running in the reverse mode is transmitted to the input gear through variable speed, then the power is divided into two paths, one path of power is transmitted to the left driving assembly, the other path of power is transmitted to the right driving assembly, the swash plate of the bidirectional variable pump is arranged in the non-intermediate zero position, the electromagnet is electrified, and the two-position four-way electromagnetic reversing valve reverses a hydraulic oil path between the bidirectional variable pump and the quantitative motor, so that after the power is converged in the planetary gear mechanism, the reverse turning law of the tracked vehicle is the same as the forward turning law;
tracked vehicle variable speed transmission includes variable speed drive subassembly, differential steering assembly, double-flow drive assembly, box subassembly and hydraulic system, and wherein, variable speed drive subassembly, differential steering assembly are connected with hydraulic system respectively, and the differential steering assembly is connected with double-flow drive assembly, and variable speed drive subassembly, differential steering assembly and double-flow drive assembly install in the box subassembly, and concrete structure is as follows:
in the variable-speed transmission assembly, a gear shift lever for controlling gear shifting is arranged on a box body, the bottom end of the gear shift lever is in switching connection with a first shifting fork shaft and a second shifting fork shaft and is used for controlling the first shifting fork shaft and the second shifting fork shaft to realize gear shifting movement, a second shifting fork is arranged on the second shifting fork shaft, and a first shifting fork is arranged on the first shifting fork shaft;
a first shaft is arranged on a box body, a third-gear driving gear, a second-gear driving gear, a first-gear driving gear and a reverse-gear driving gear are sequentially sleeved on the first shaft in an empty mode, a second spline hub and a first spline hub are arranged on the first shaft, a second combination sleeve used for being combined with a second shifting fork is arranged on the second spline hub, a first combination sleeve used for being combined with the first shifting fork is arranged on the first spline hub, a shifting groove used for inserting the second shifting fork is circumferentially arranged outside the second combination sleeve, a shifting groove used for inserting the first shifting fork is circumferentially arranged outside the first combination sleeve, under the control of a gear shifting lever, the second shifting fork shaft drives the second combination sleeve to axially slide through the second shifting fork, and the first shifting fork shaft drives the first spline hub to axially slide through the first shifting fork;
the external spline hub is arranged on one side, adjacent to the second spline hub, of the third-gear driving gear, the external spline hub is arranged on one side, adjacent to the second spline hub, of the second-gear driving gear, the external spline hub is arranged on one side, adjacent to the first spline hub, of the first-gear driving gear, the external spline hub is arranged on one side, adjacent to the first spline hub, of the reverse-gear driving gear, and matched transmission of the gear and the combination sleeve and;
the second shaft is arranged on the box body, and is provided with a three-gear driven gear normally meshed with the three-gear driving gear, a two-gear driven gear normally meshed with the two-gear driving gear, a first-gear driven gear normally meshed with the first-gear driving gear and a reverse-gear driven gear;
one end of the reverse gear shaft is arranged on the box body, and the other end of the reverse gear shaft is provided with a reverse gear intermediate gear which is used for being meshed with the reverse gear driven gear and the reverse gear driving gear simultaneously;
in the differential steering assembly, one end of a connecting shaft is connected with a driven bevel gear, the other end of the connecting shaft is connected with a left steering gear, one end of the connecting shaft is arranged on a box body, and the other end of the connecting shaft is sleeved on a steering shaft in an empty mode; the planetary gear shaft is fixed on the differential steering end cover, the planetary gear is sleeved on the planetary gear shaft, one side of the planetary gear is meshed with the driving bevel gear, the other side of the planetary gear is meshed with the driven bevel gear, and the driving bevel gear and the driven bevel gear form a constant-speed reverse transmission mechanism through the planetary gear shaft and the planetary gear; a steering driving gear and a steering driven gear which are arranged on the quantitative motor are constantly meshed;
in the double-flow driving assembly, a left driving assembly and a right driving assembly are symmetrically arranged about an input gear, one end of an input shaft is arranged on a box body, the other end of the input shaft is arranged on an auxiliary box body, and the input gear which is normally meshed with a first-gear driven gear is arranged on the input shaft;
in the left driving assembly, a left sun gear is arranged on an input shaft, a plurality of left planet gears are uniformly distributed around the left sun gear through a left planet gear carrier, one end of a left gear ring carrier is arranged on the input shaft, the other end of the left gear ring carrier is arranged on a box body, a left gear ring is arranged on the inner side of the left gear ring carrier, a left steering driven gear which is normally meshed with the left steering gear is arranged on the outer side of the left gear ring carrier, a left driving gear is arranged on the left planet gear carrier, the left driving driven gear is arranged on a left driving shaft, the left driving gear and the left driving driven gear are in normally meshed transmission, one end of the left driving;
in the right driving assembly, a right sun gear is installed on an input shaft, a plurality of right planet gears are uniformly distributed around the right sun gear through a right planet gear carrier, one end of a right ring gear carrier is installed on the input shaft, the other end of the right ring gear carrier is installed on a box body, a right gear ring is arranged on the inner side of the right ring gear carrier, a right steering driven gear which is normally meshed with the right steering gear is arranged on the outer side of the right ring gear carrier, a right driving gear is installed on the right planet gear carrier, a right driving driven gear is installed on a right driving shaft, the right driving gear is in normally meshed transmission with the right driving driven gear, one end of the right driving shaft is installed;
the box body component comprises a box body, a differential steering end cover for mounting a planetary gear shaft and an auxiliary box body;
the hydraulic system is provided with a reversible hydrostatic stepless speed change loop, an oil supplement loop and a hydrostatic stepless speed change transmission loop, wherein the oil supplement loop supplements oil when the hydrostatic stepless speed change transmission loop works and unloads hydraulic oil when the hydrostatic stepless speed change transmission loop does not work, and an electromagnet in the reversible hydrostatic stepless speed change loop is interactively connected with a first shifting fork shaft so as to reduce the operation difficulty.
In the invention, the middle part of the gear shifting lever is arranged on the box body through the supporting seat.
In the invention, the second spline hub is positioned on a shaft between the third gear driving gear and the second gear driving gear.
In the present invention, the first spline hub is located on a shaft between the first gear drive gear and the reverse gear drive gear.
In the present invention, the number of the left planetary gears is any one of 2, 3, and 4.
In the present invention, the number of right planetary gears is any one of 2, 3, and 4.
The reversible hydrostatic stepless speed change loop consists of an electromagnet, a bidirectional variable pump, a one-way valve, an overflow valve, a two-position four-way electromagnetic directional valve and a quantitative motor.
In the invention, the electromagnet is arranged on the two-position four-way electromagnetic reversing valve.
In the invention, the oil supplementing loop consists of an oil tank, a filter, an oil supplementing pump, an oil pipe and an overflow valve.
In the invention, the hydrostatic stepless speed change transmission loop consists of a bidirectional variable pump and a quantitative motor, and the oil supplementing loop supplements oil when the hydrostatic stepless speed change transmission loop works and unloads hydraulic oil to an oil tank by an overflow valve when the hydrostatic stepless speed change transmission loop does not work.
In the present invention, the power transmission route:
first gear: the first shifting fork shaft moves leftwards, the first shifting fork drives the first combination sleeve to move leftwards, and power is transmitted to the first combination sleeve through the first spline hub and then transmitted to the first-gear driven gear through the first-gear driving gear and output from the first-gear driven gear;
and (2) second: the second shifting fork shaft moves rightwards, the second shifting fork drives the second combination sleeve to move rightwards, power is transmitted to the second combination sleeve from the first shaft through the second and third spline hubs, then transmitted to the second driven gear through the second driving gear, transmitted to the second shaft through the second driven gear and output from the first driven gear;
and (3) third gear: the second shifting fork shaft moves leftwards, the second shifting fork drives the second combination sleeve to move leftwards, power is transmitted to the second combination sleeve from the first shaft through the second and third gear spline hubs, then transmitted to the third gear driven gear through the third gear driving gear, transmitted to the second shaft through the third gear driven gear and output from the first gear driven gear;
reversing gear: the first shifting fork shaft moves rightwards, the first shifting fork drives the first combination sleeve to move rightwards, power is transmitted to the first combination sleeve through the first spline hub by the first shaft, then transmitted to the reverse gear intermediate gear through the reverse gear driving gear, transmitted to the reverse gear driven gear by the reverse gear intermediate gear, and transmitted to the second shaft to be output from the first gear driven gear.
Has the advantages that:
1) the variable-speed transmission device of the tracked vehicle adopts the hydrostatic stepless variable-speed transmission loop consisting of the fixed-displacement motor and the bidirectional variable-displacement pump to carry out variable-speed transmission control, so that the continuous change of the steering radius of the tracked vehicle is realized, and the steering accuracy is improved;
2) the variable speed transmission device of the tracked vehicle adopts coaxial transmission to transmit steering power to the planetary gear mechanism, has compact structure and simplifies the manufacturing process;
3) the variable speed transmission device of the tracked vehicle is provided with the reversing valve between the fixed-displacement motor and the bidirectional variable pump, and after the reverse gear is changed, the hydraulic system automatically switches the hydraulic loop to realize the same steering characteristic of forward and backward movement;
4) the electromagnet in the reversible hydrostatic stepless speed change loop is linked with the first shifting fork shaft, so that the operation difficulty is reduced, and the safety accidents are reduced.
Drawings
FIG. 1 is a schematic structural connection diagram of a preferred embodiment of the present invention.
FIG. 2 is a schematic view of the structural connection of the variable speed drive assembly in the preferred embodiment of the present invention.
FIG. 3 is a schematic structural connection diagram of the differential steering assembly in the preferred embodiment of the present invention.
FIG. 4 is a schematic structural connection diagram of a dual-flow driving assembly in a preferred embodiment of the present invention.
Fig. 5 is a schematic structural connection diagram of a hydraulic system according to a preferred embodiment of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
Referring to fig. 1 to 5, a variable-speed transmission control method of a tracked vehicle is implemented by using a variable-speed transmission device of the tracked vehicle, the variable-speed transmission device of the tracked vehicle comprises a variable-speed transmission assembly a, a differential steering assembly B, a double-flow driving assembly C, a box body assembly D and a hydraulic system E, the variable-speed transmission assembly a and the differential steering assembly B are respectively connected with the hydraulic system E, the differential steering assembly B is connected with the double-flow driving assembly C, and the variable-speed transmission assembly a, the differential steering assembly B and the double-flow driving assembly C are installed in the box body assembly D, and the variable-speed transmission control method of the tracked vehicle specifically has the:
the speed change transmission assembly A comprises a shift lever A11, a support seat A12, a first shift fork shaft A13, a second shift fork shaft A14, a second shift fork A15, a first shift fork A16, a shaft A21, a third gear driving gear A22, a second combination sleeve A23, a second gear driving gear A24, a second spline hub A25, a first gear driving gear A26, a first combination sleeve A27, a reverse gear driving gear A28, a first spline hub A29, a second shaft A31, a third gear driven gear A32, a second gear driven gear A33, a first gear driven gear A34, a reverse gear driven gear A35, a reverse gear shaft A41 and a reverse gear intermediate gear A42; one end of a gear shifting rod A11 is used for controlling gear shifting, the middle part of the gear shifting rod A11 is installed on a box body D1 through a supporting seat A12, the other end of the gear shifting rod A11 is in switching connection with a first shifting fork shaft A13 and a second shifting fork shaft A14 and is used for controlling the first shifting fork shaft A13 and the second shifting fork shaft A14 to realize gear shifting movement, a second shifting fork A15 is arranged on the second shifting fork shaft A14, and a first shifting fork A16 is arranged on the first shifting fork shaft A13;
two ends of a shaft A21 are mounted on a box body D1 through a bearing D2, a third-gear driving gear A22, a second-gear driving gear A24, a first-gear driving gear A26 and a reverse-gear driving gear A28 are sequentially sleeved on the shaft A21 in an empty manner, the four gears are axially limited relative to the shaft A21, a second-gear spline hub A22 is mounted on the shaft A22 between the third-gear driving gear A22 and the second-gear driving gear A22, the shaft A22 is fixedly connected with the second-gear spline hub A22 for transmission, the first-gear spline hub A22 is mounted on the shaft A22 between the first-gear driving gear A22 and the reverse-gear driving gear A22, the shaft A22 is fixedly connected with the first-gear spline hub A22 for transmission, a second-gear spline hub A22 is provided with a second-gear shift sleeve A22 for circumferential insertion of the second-gear shift sleeve 22 for limiting the axial-gear shift sleeve 22. Under the operation of a gear shift lever A11, a second shift fork shaft A14 drives a second combination sleeve A23 to slide axially through a second shift fork A15, a first combination sleeve A27 used for being combined with a first shift fork A16 is arranged on a first spline hub A29, the first spline hub A29 and the first combination sleeve A27 are in fit transmission through internal and external splines, a shifting groove is formed in the outer circumferential direction of a first combination sleeve A27, the first shift fork A16 is inserted into the shifting groove of the first combination sleeve A27 to limit the axial position of the first combination sleeve A27, and under the operation of a gear shift lever A11, the first shift fork shaft A13 drives the first spline hub A27 to slide axially through the first shift fork A16;
when the second shifting fork A15 shifts the second combination sleeve A23 to move axially towards the third gear driving gear A22, the external spline hub arranged on one side of the third gear driving gear A22 is in matched transmission with the internal spline of the second combination sleeve A23, meanwhile, the internal spline of the second combination sleeve A23 is in matched transmission with the second spline hub A25, and the power of the first shaft A21 is transmitted to the third gear driving gear A22 from the second spline hub A25 through the second combination sleeve A23;
when the second shift fork A15 shifts the second combination sleeve A23 to move axially towards the second driving gear A24, the external spline hub arranged on one side of the second driving gear A24 is in matched transmission with the internal spline of the second combination sleeve A23, meanwhile, the internal spline of the second combination sleeve A23 is in matched transmission with the second spline hub A25, and the power of the shaft A21 is transmitted to the second driving gear A24 from the second spline hub A25 through the second combination sleeve A23;
when the first shift fork A16 shifts the first combination sleeve A27 to move axially towards the first gear driving gear A26, the external spline hub arranged on one side of the first gear driving gear A26 is in matched transmission with the internal spline of the first combination sleeve A27, meanwhile, the internal spline of the first combination sleeve A27 is in matched transmission with the first spline hub A29, and the power of a shaft A21 is transmitted to the first gear driving gear A26 from the first spline hub A29 through the first combination sleeve A27;
when the first shifting fork A16 shifts the first combination sleeve A27 to move axially towards the reverse driving gear A28, the external spline hub arranged on one side of the reverse driving gear A28 is in matched transmission with the internal spline of the first combination sleeve A27, meanwhile, the internal spline of the first combination sleeve A27 is in matched transmission with the first spline hub A29, and the power of a shaft A21 is transmitted to the reverse driving gear A28 from the first spline hub A29 through the first combination sleeve A27;
two ends of a secondary shaft A31 are mounted on a box body D1 through bearings D2, a three-gear driven gear A32 in constant meshing with a three-gear driving gear A22, a two-gear driven gear A33 in constant meshing with a two-gear driving gear A24, a first-gear driven gear A34 in constant meshing with the first-gear driving gear A26 and a reverse-gear driven gear A35 in constant meshing with a reverse-gear intermediate gear A42 are sequentially arranged on the secondary shaft A31 through splines, the axial positions of the three-gear driven gear A32, the two-gear driven gear A33, the first-gear driven gear A34 and the reverse-gear driven gear A35 relative to the secondary shaft A31 are limited, the three-gear driven gear A32, the two-gear driven gear A33 and the reverse-gear driven gear A35 are power input gears relative to the power transmission of the secondary shaft A31, and the first-gear A34 is a power input gear and a power output gear;
one end of the reverse gear shaft A41 is mounted on the box body D1 through a bearing D2, and the other end is provided with a reverse gear intermediate gear A42 which is used for being simultaneously meshed with the reverse gear driven gear A35 and the reverse gear driving gear A28;
the differential steering assembly B comprises a steering shaft B11, a connecting shaft B12, a left steering gear B13, a right steering gear B14, a steering driven gear B15, a steering driving gear B16, a driving bevel gear B21, a planetary gear shaft B22, a driven bevel gear B23 and a planetary gear B24, wherein two ends of the steering shaft B11 are mounted on a box body D1 through bearings D2, a driving bevel gear B21, a right steering gear B14 and a steering driven gear B15 are mounted on a steering shaft B11 through splines, one end of the connecting shaft B12 is connected with the driven bevel gear B23 through splines, the other end of the connecting shaft B23 is connected with the left steering gear B23 through splines, one end of the connecting shaft B23 is mounted on the box body D23 through a bearing D23, the other end of the connecting shaft B23 is sleeved on the steering shaft B23 in a vacant mode, and the bearing D23 axially limits; the planetary gear shaft B22 is fixed on the differential steering end cover D3, the planetary gear B24 is sleeved on the planetary gear shaft B22, one side of the planetary gear B24 is in meshing transmission with the driving bevel gear B21, the other side of the planetary gear B24 is in meshing transmission with the driven bevel gear B23, and the driving bevel gear B21 and the driven bevel gear B23 form a constant-speed reverse transmission mechanism through the planetary gear shaft B22 and the planetary gear B24; a steering driving gear B16 arranged on the quantitative motor E11 is in constant mesh transmission with a steering driven gear B15;
the dual current driving assembly C includes a left driving assembly C1, a right driving assembly C2, an input gear C3 and an input shaft C4, the left driving assembly C1 includes a left carrier C11, a left planetary gear C12, a left carrier C12, a left driving gear C12, a left sun gear C12, a left driving shaft C12, a left driving driven gear C12, a left ring gear C12 and a left steering driven gear C12, the right driving assembly C12 includes a right carrier C12, a right planetary gear C12, a right carrier C12, a right driving gear C12, a right sun gear C12, a right driving shaft C12, a right driving driven gear C12, a right ring gear C12 and a right steering driven gear C12, the left driving assembly C12 and the right driving assembly C12 are symmetrically arranged with respect to the input shaft C12 and the sub-housing C12 through a bearing D12 and a sub-housing 12, an input gear C3 which is constantly meshed with the first gear driven gear A34 is mounted on the input shaft C4 through spline fit;
in the left driving assembly C1, a left sun gear C15 is spline-fitted on an input shaft C4, a left planetary gear C12 is uniformly distributed around a left sun gear C15 by a left planetary carrier C13, the number of left planetary gears C12 is n (n is any one of 2, 3 and 4), a left ring gear carrier C11 is mounted on the input shaft C4 by a bearing D2 at one end, and mounted on a case D1 by a bearing D2 at the other end, the bearing D2 limits the axial freedom of the left ring gear carrier C11, a left ring gear C18 is provided inside the left ring gear carrier C11, a left steering driven gear C19 constantly meshed with a left steering gear B13 is provided outside, a left driving gear C14 is spline-mounted on the left planetary carrier C14, a left driving driven gear C14 is spline-mounted on the left C14, a left driving gear C14 is constantly meshed with the left driving driven gear C14, and one end of the left driving gear C14 is mounted on the case 14 by a driving shaft 14, the other end is arranged on an auxiliary box body D5 through a bearing D2, the bearing D2 limits the axial degree of freedom of the left driving shaft C16, the axial position of the left driving gear C14 on the left planet carrier C13 is limited, and the axial position of the left driving driven gear C17 on the left driving shaft C16 is limited;
in the right driving assembly C2, a right sun gear C25 is spline-mounted on an input shaft C4, right planet gears C22 are uniformly distributed around a right sun gear C25 by a right planet carrier C23, the number of the right planet gears C22 is n (n is any one of 2, 3, 4), one end of a right ring gear C21 is mounted on the input shaft C4 by a bearing D2, the other end is mounted on a case D1 by a bearing D2, the bearing D2 limits the axial freedom of the left ring gear C11, a right ring gear C21 is provided inside with a right ring gear C28, a right steering driven gear C29 constantly meshed with a right steering gear B14 is provided outside, a right driving pinion C24 is spline-mounted on the planet carrier C24, the right driving driven gear C24 is spline-mounted on a right driving shaft C24, the right driving pinion C24 is constantly meshed with the right driving driven gear C24, one end of the right driving gear C24 is constantly mounted on the case 24 by a bearing D24, the other end is arranged on an auxiliary box body D5 through a bearing D2, the bearing D2 limits the axial degree of freedom of the left driving shaft C16, the axial position of the left driving gear C14 on the left planet carrier C13 is limited, and the axial position of the left driving driven gear C17 on the left driving shaft C16 is limited;
the box body assembly D comprises a box body D1, a bearing D2, a differential steering end cover D3, a bolt D4 and an auxiliary box body D5;
the hydraulic system comprises a fixed-displacement motor E11, an oil tank E12, a bidirectional variable pump E13, an oil pipe E14, a one-way valve E15, an overflow valve E16, a filter E21, an oil supplementing pump E22, a two-position four-way electromagnetic directional valve E31 and an electromagnet E32, wherein, the electromagnet E32, the bidirectional variable pump E13, the one-way valve E15, the overflow valve E16, the two-position four-way electromagnetic directional valve E31 and the quantitative motor E11 form a reversible hydrostatic stepless speed change loop, the oil tank E12, the filter E21, the oil supplement pump E22, the oil pipe E14 and the overflow valve E16 form an oil supplement loop, the bidirectional variable pump E13 and the quantitative motor E11 form a hydrostatic stepless speed change transmission loop, the oil supplement loop supplements oil when the hydrostatic stepless speed change transmission loop works, when the hydraulic oil pump is in a non-working state, the overflow valve E16 unloads the hydraulic oil to the oil tank E12, the electromagnet E32 is installed on the two-position four-way electromagnetic directional valve E31, and the electromagnet E32 is interactively connected with the first shifting fork shaft A13, so that the operation difficulty is reduced.
1) A power transmission route:
first gear: the first shifting fork shaft A13 moves leftwards, the first shifting fork A15 drives the first combination sleeve A27 to move leftwards, power is transmitted to the first combination sleeve A27 through a first spline hub A28 by a shaft A21, then transmitted to the first gear driven gear A34 through a first gear driving gear A26, and output from the first gear driven gear A34;
and (2) second: the second shifting fork shaft A14 moves rightwards, the second shifting fork A15 drives the second combination sleeve A23 to move rightwards, power is transmitted to the second combination sleeve A23 through the second third-gear spline hub A25 by the first shaft A21, then transmitted to the second driven gear A33 through the second driving gear A24, transmitted to the second shaft A31 by the second driven gear A33, and output from the first driven gear A34;
and (3) third gear: the second shifting fork shaft A14 moves leftwards, the second shifting fork A15 drives the second combination sleeve A23 to move leftwards, power is transmitted to the second combination sleeve A23 through the second-third spline hub A25 by the first shaft A21, then is transmitted to the third driven gear A32 through the third driving gear A22, is transmitted to the second shaft A31 by the third driven gear A32, and is output from the first driven gear A34;
reversing gear: the first shifting fork shaft A13 moves rightwards, the first shifting fork A15 drives the first combination sleeve A27 to move rightwards, power is transmitted to the first combination sleeve A27 through a first spline hub A29 by a first shaft A21, then is transmitted to the reverse gear intermediate gear A42 through a reverse gear driving gear A28, is transmitted to the reverse gear driven gear A35 through the reverse gear intermediate gear A42, and is transmitted to a second shaft A31 by the reverse gear driven gear A35 and is output from the first gear driven gear A34;
2) power double flow afflux
Main driving power
In terms of space, the first-gear driven gear A34 is constantly meshed with the input gear C3, power transmitted by variable speed is transmitted to the input shaft C4 through the input gear C3, and then is respectively transmitted to the left sun gear C15 and the right sun gear C25;
hydraulically controlled power
The power input by the hydraulic system E is transmitted from the left steering gear B13 to the left steering driven gear C19, and then transmitted to the left gear ring C18, and from the right steering gear B14 to the right steering driven gear C29, and then transmitted to the right gear ring C28;
the power of the left sun gear C15 and the left gear ring C18 is merged and then transmitted to the left planet gear carrier C13 through the left planet gear C12, and finally is output by the left driving shaft C16;
the power of the right sun gear C25 and the right ring gear C28 is merged and then transmitted to the right planet gear carrier C23 through the right planet gear C22, and finally output by the right driving shaft C26;
3) working principle of straight line running
The power is transmitted to an input gear C3 through variable speed, and then the power is divided into two paths, one path is transmitted to a left driving component C1, and the other path is transmitted to a right driving component C2; at this time, the swash plate of the bidirectional variable pump E13 is set to a neutral position, the constant-displacement motor E11 does not rotate because no hydraulic oil flows in the hydrostatic continuously variable transmission circuit, the constant-displacement motor E11 does not rotate, all gears on the steering shaft B11 do not rotate, the left steering gear B13 is engaged with the left steering driven gear C19, the right steering gear B14 is engaged with the right steering driven gear C29, the left steering driven gear C19 and the right steering driven gear C29 do not rotate, the left ring gear C18 and the right ring gear C28 do not rotate, the power of the left driving assembly C1 is driven by the left sun gear C15 to the left planetary wheel C12, the left driving assembly C13, the left driving gear C14, the left driving driven gear C17 and the left driving shaft C16, the left driving assembly C2 is driven by the right sun gear C25 to the right planetary wheel C22, the right driving gear C22 and the right driving shaft 22, the left steering gear B13 and the right steering gear B14 have the rotation characteristics of the same rotating speed and the opposite direction, so that the forces acting on the steering shaft B11 through the left steering gear B13 and the right steering gear B14 are the same in magnitude and opposite in direction, the steering shaft B11 is self-locked, the driving power cannot be output to the quantitative motor E11 from the steering shaft B11, and the tracked vehicle can run linearly;
4) forward steering driving
When the variable speed drive is placed in forward gear, the swash plate of the bidirectional variable pump E13 is placed in a non-neutral zero position, and electromagnet E32 is not energized:
the variable speed power is transmitted to an input gear C3 through variable speed, and then the power is divided into two paths, wherein one path is transmitted to a left driving component C1, and the other path is transmitted to a right driving component C2; because the swash plate of the bidirectional variable pump E13 is placed in a non-intermediate zero position, the steering power is input by the fixed-displacement motor E11, the fixed-displacement motor E11 rotates under the hydraulic action, the fixed-displacement motor E11 drives all the gears on the steering shaft B11 to rotate, the left steering gear B13 is meshed with the left steering driven gear C19, the right steering gear B14 is meshed with the right steering driven gear C29, the left steering gear B13 and the right steering gear B14 rotate at the same speed and in opposite directions, so that the left steering driven gear C19 and the right steering driven gear C29 rotate at the same speed and in opposite directions, the left gear ring C18 and the right gear ring C28 rotate at the same speed and in opposite directions, the power is converged by two gears, so that the rotating speeds of the left gear carrier C13 and the right gear carrier C23 are increased and the other driving shaft is decreased, and finally the rotating speeds transmitted to the left C16 and right 686C 8 are increased and the other driving shaft is decreased, so that the rotating speed of the left track is, thereby realizing differential steering; the steering direction is in a certain relation with the deflection direction of a swash plate of the bidirectional variable pump E13, and the steering angular speed is in a certain proportion relation with the deflection angle of the swash plate of the bidirectional variable pump E13;
5) backward steering driving
It can be known from the forward steering driving that, when the input gear C3 rotates in the opposite direction, because the rotating direction of the quantitative motor E11 for steering is unchanged, the motion law of the steering system is unchanged, and after the power is converged, the law of the rotating speed change of the left-side crawler belt and the right-side crawler belt is unchanged, so that under the same steering operation condition, the forward and reverse driving directions are reversed, which brings great inconvenience to the driving and even affects the driving safety, in order to solve the above problems, the two-position four-way electromagnetic directional valve E31 is synchronously opened under the reverse condition:
when the variable speed transmission is set in a reverse gear, the swash plate of the bidirectional variable pump E13 is set in a non-middle zero position, the electromagnet E32 is electrified, the power for running in a reverse mode is transmitted to the input gear C3 through variable speed, then the power is divided into two paths, one path is transmitted to the left driving assembly C1, the other path is transmitted to the right driving assembly C2, because the swash plate of the bidirectional variable pump E13 is set in the non-middle zero position, the electromagnet E32 is electrified, and the two-position four-way electromagnetic reversing valve E31 reverses the hydraulic oil path between the bidirectional variable pump E13 and the quantitative motor E11, the reverse turning rule of the tracked vehicle is the same as the forward turning rule after the power is converged in the planetary gear mechanism, so that the reverse turning driving; to reduce the difficulty of operation, the electromagnet E32 is directly controlled by the first fork shaft A13.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A variable-speed transmission control method of a tracked vehicle is characterized in that variable-speed transmission control is implemented by a variable-speed transmission device of the tracked vehicle, power is transmitted to an input gear of the variable-speed transmission device of the tracked vehicle through variable speed, then the power is divided into two paths, one path of power is transmitted to a left driving assembly, the other path of power is transmitted to a right driving assembly, at the moment, a swash plate of a bidirectional variable pump is placed in a middle zero position, a fixed-quantity motor does not rotate because no hydraulic oil flows in a hydrostatic stepless variable-speed transmission loop, all gears arranged on a steering shaft do not rotate because the fixed-quantity motor does not rotate, a left steering gear is meshed with a left steering driven gear, a right steering gear is meshed with a right steering driven gear, therefore, the left steering driven gear and the right steering driven gear do not rotate; the power of the left driving assembly is transmitted to the left planet wheel from the left sun wheel, and then drives the left crawler belt through the left planet wheel carrier, the left driving gear, the left driving driven gear and the left driving shaft; the power of the right driving assembly is transmitted to the right planet wheel from the right sun wheel, and then drives the right crawler belt through the right planet wheel carrier, the right driving gear, the right driving driven gear and the right driving shaft, and because the left steering gear and the right steering gear have the same rotating speed and opposite directions, the forces acting on the steering shaft through the left steering gear and the right steering gear have the same magnitude and opposite directions, the steering shaft is self-locked, and the crawler vehicle runs linearly;
when the variable-speed transmission is arranged at a forward gear, a swash plate of the bidirectional variable pump is arranged at a non-intermediate zero position, an electromagnet is not electrified, variable-speed power is transmitted to an input gear through variable speed, then the power is divided into two paths, one path of power is transmitted to a left driving component, the other path of power is transmitted to a right driving component, the swash plate of the bidirectional variable pump is arranged at the non-intermediate zero position, steering power is input by a quantitative motor, the quantitative motor rotates under the hydraulic action, the quantitative motor drives all gears arranged on a steering shaft to rotate, a left steering gear is meshed with a left steering driven gear, a right steering gear is meshed with a right steering driven gear, the rotating speeds of the left steering gear and the right steering gear are the same and opposite, so that the rotating speeds of the left steering driven gear and the right steering driven gear are the same and opposite, the rotating speeds of the left gear ring and the right gear ring are the same and opposite, the rotating speeds of the left gear carrier and the right gear carrier are increased, finally, the rotating speeds transmitted to the left driving shaft and the right driving shaft are increased and decreased one by one, so that the rotating speed difference between the left crawler and the right crawler is generated, and differential steering is realized;
when the variable-speed transmission is arranged in a reverse gear, the swash plate of the bidirectional variable pump is arranged in a non-middle zero position, the electromagnet is electrified, the power for running in reverse is transmitted to the input gear through variable speed, then the power is divided into two paths, one path of power is transmitted to the left driving component, the other path of power is transmitted to the right driving component, the swash plate of the bidirectional variable pump is arranged in the non-middle zero position, the electromagnet is electrified, and the two-position four-way electromagnetic reversing valve reverses the hydraulic oil path between the bidirectional variable pump and the quantitative motor, so that after the power is converged in the planetary gear mechanism, the reverse turning law of the tracked vehicle is the same as the forward turning law, and;
tracked vehicle variable speed transmission includes variable speed drive subassembly, differential steering assembly, double-flow drive assembly, box subassembly and hydraulic system, and variable speed drive subassembly, differential steering assembly are connected with hydraulic system respectively, and the differential steering assembly is connected with double-flow drive assembly, and variable speed drive subassembly, differential steering assembly and double-flow drive assembly install in the box subassembly, and concrete structure is as follows:
in the variable-speed transmission assembly, a gear shift lever for controlling gear shifting is arranged on a box body, the bottom end of the gear shift lever is in switching connection with a first shifting fork shaft and a second shifting fork shaft and is used for controlling the first shifting fork shaft and the second shifting fork shaft to realize gear shifting movement, a second shifting fork is arranged on the second shifting fork shaft, and a first shifting fork is arranged on the first shifting fork shaft;
a first shaft is arranged on a box body, a third-gear driving gear, a second-gear driving gear, a first-gear driving gear and a reverse-gear driving gear are sequentially sleeved on the first shaft in an empty mode, a second spline hub and a first spline hub are arranged on the first shaft, a second combination sleeve used for being combined with a second shifting fork is arranged on the second spline hub, a first combination sleeve used for being combined with the first shifting fork is arranged on the first spline hub, a shifting groove used for inserting the second shifting fork is circumferentially arranged outside the second combination sleeve, a shifting groove used for inserting the first shifting fork is circumferentially arranged outside the first combination sleeve, under the control of a gear shifting lever, the second shifting fork shaft drives the second combination sleeve to axially slide through the second shifting fork, and the first shifting fork shaft drives the first spline hub to axially slide through the first shifting fork;
the external spline hub is arranged on one side, adjacent to the second spline hub, of the third-gear driving gear, the external spline hub is arranged on one side, adjacent to the second spline hub, of the second-gear driving gear, the external spline hub is arranged on one side, adjacent to the first spline hub, of the first-gear driving gear, and the external spline hub is arranged on one side, adjacent to the first spline hub, of the reverse-gear driving gear;
the second shaft is arranged on the box body, and is provided with a three-gear driven gear normally meshed with the three-gear driving gear, a two-gear driven gear normally meshed with the two-gear driving gear, a first-gear driven gear normally meshed with the first-gear driving gear and a reverse-gear driven gear;
one end of the reverse gear shaft is arranged on the box body, and the other end of the reverse gear shaft is provided with a reverse gear intermediate gear which is used for being meshed with the reverse gear driven gear and the reverse gear driving gear simultaneously;
in the differential steering assembly, one end of a connecting shaft is connected with a driven bevel gear, the other end of the connecting shaft is connected with a left steering gear, one end of the connecting shaft is arranged on a box body, and the other end of the connecting shaft is sleeved on a steering shaft in an empty mode; the planetary gear shaft is fixed on the differential steering end cover, the planetary gear is sleeved on the planetary gear shaft, one side of the planetary gear is meshed with the driving bevel gear, and the other side of the planetary gear is meshed with the driven bevel gear; a steering driving gear and a steering driven gear which are arranged on the quantitative motor are constantly meshed;
in the double-flow driving assembly, a left driving assembly and a right driving assembly are symmetrically arranged about an input gear, one end of an input shaft is arranged on a box body, the other end of the input shaft is arranged on an auxiliary box body, and the input gear which is normally meshed with a first-gear driven gear is arranged on the input shaft;
in the left driving assembly, a left sun gear is arranged on an input shaft, a plurality of left planet gears are uniformly distributed around the left sun gear through a left planet gear carrier, one end of a left gear ring carrier is arranged on the input shaft, the other end of the left gear ring carrier is arranged on a box body, a left gear ring is arranged on the inner side of the left gear ring carrier, a left steering driven gear which is normally meshed with the left steering gear is arranged on the outer side of the left gear ring carrier, a left driving gear is arranged on the left planet gear carrier, the left driving driven gear is arranged on a left driving shaft, the left driving gear and the left driving driven gear are in normally meshed transmission, one end of the left driving;
in the right driving assembly, a right sun gear is installed on an input shaft, a plurality of right planet gears are uniformly distributed around the right sun gear through a right planet gear carrier, one end of a right ring gear carrier is installed on the input shaft, the other end of the right ring gear carrier is installed on a box body, a right gear ring is arranged on the inner side of the right ring gear carrier, a right steering driven gear which is normally meshed with the right steering gear is arranged on the outer side of the right ring gear carrier, a right driving gear is installed on the right planet gear carrier, a right driving driven gear is installed on a right driving shaft, the right driving gear is in normally meshed transmission with the right driving driven gear, one end of the right driving shaft is installed;
the box body component comprises a box body, a differential steering end cover for mounting a planetary gear shaft and an auxiliary box body;
the hydraulic system is provided with a reversible hydrostatic stepless speed change loop, an oil supplement loop and a hydrostatic stepless speed change transmission loop, wherein the oil supplement loop supplements oil when the hydrostatic stepless speed change transmission loop works and unloads hydraulic oil when the hydrostatic stepless speed change transmission loop does not work, the reversible hydrostatic stepless speed change loop consists of an electromagnet, a bidirectional variable pump, a one-way valve, an overflow valve, a two-position four-way electromagnetic reversing valve and a quantitative motor, and the electromagnet is in interactive connection with a first shifting fork shaft.
2. The method of claim 1, wherein the second splined hub is located on a shaft between the third drive gear and the second drive gear.
3. The method of claim 1, wherein the first splined hub is located on a shaft between the first drive gear and the reverse drive gear.
4. A method of controlling variable speed drive of a tracked vehicle according to claim 1, wherein the number of left planet gears is any one of 2, 3 and 4.
5. A method of controlling variable speed drive of a tracked vehicle according to claim 1, wherein the number of right planet gears is any one of 2, 3 and 4.
6. The method of claim 1, wherein the electromagnets are mounted on a two-position four-way electromagnetic directional valve.
7. The method as claimed in claim 1, wherein the oil-replenishing circuit comprises an oil tank, a filter, an oil-replenishing pump, an oil pipe and an overflow valve.
8. A method for controlling the variable-speed transmission of a tracked vehicle as claimed in claim 1, wherein the hydrostatic continuously variable transmission circuit is constituted by a bidirectional variable pump and a fixed-displacement motor.
9. A method for controlling the variable speed drive of a tracked vehicle as claimed in claim 1, wherein the intermediate portion of the gear shift lever is mounted on the casing by means of a support.
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| CN109854699A (en) * | 2019-01-26 | 2019-06-07 | 傅江标 | A kind of vehicle variable speed steering mechanism |
| CN110239638A (en) * | 2019-04-30 | 2019-09-17 | 长沙桑铼特农业机械设备有限公司 | A kind of two track drive tractor proportion expressions steering drive method |
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| JP2001260679A (en) * | 2000-03-23 | 2001-09-26 | Iseki & Co Ltd | Travel transmission device for moving agricultural machine |
| JP4513174B2 (en) * | 2000-06-07 | 2010-07-28 | 井関農機株式会社 | Combine steering device |
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