CN109058413A - A kind of endless-track vehicle shifting control method - Google Patents
A kind of endless-track vehicle shifting control method Download PDFInfo
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- CN109058413A CN109058413A CN201811038989.XA CN201811038989A CN109058413A CN 109058413 A CN109058413 A CN 109058413A CN 201811038989 A CN201811038989 A CN 201811038989A CN 109058413 A CN109058413 A CN 109058413A
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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
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
- F16H48/22—Arrangements for suppressing or influencing the differential action, e.g. locking devices using friction clutches or brakes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
A kind of endless-track vehicle shifting control method, speed Control is implemented using endless-track vehicle speed change gear, endless-track vehicle speed change gear includes the power input module being mounted in box assembly, gear component, positive and negative rotation component and driving assembly, power input module is connect with gear component, gear component is connect with positive and negative rotation component, and positive and negative rotation component is connect with driving assembly；Using control differential planetary gear pedestal revolving speed, to realize tooth sector speed change and be driven in the reverse direction, so that endless-track vehicle is reliably steering to turn to positive and negative rotation, turns to and operated with positive and negative rotation using single alternative, do not increase operating procedure, structure is simple, and it is convenient to operate；The turning radius of endless-track vehicle is proportional to the operational stroke of steering operation mechanism simultaneously, and steering accuracy is good, high-efficient.
Description
Technical field
The present invention relates to gear technical field more particularly to a kind of endless-track vehicle shifting control methods.
Background technique
The transmission system of endless-track vehicle is divided into two class of single power flow and double power flow according to power transfer stream, in single power
It flows in transmission system, since gear is connected with steering mechanism, generallys use interruption and brake the mode of unilateral power and realize
Power utilization is low when turning to, but turning to, and turning radius is big.In the main rice cultivation in paddy fields in south china region, since rice is whole
In a growth cycle, water requirement is big, be with the long-term waterflooding of rice root it is easy, if rice field out-of-flatness, the low place in position, rice
Root waterflooding is too deep, will affect rice eupnea, and the higher place in position is difficult waterflooding, causes insufficient water, influences water
Rice output and quality, therefore have saying for " very little water only field ", i.e. the smooth precision in paddy field will guarantee within one-inch, could be preferable
It supplies water to rice；In order to enable paddy field is more easily smooth, south rice is often divided into small field or terraced fields, in small field or
In terraced fields for the endless-track vehicle of operation, raising endless-track vehicle steering is high-efficient, and it is particularly significant to reduce endless-track vehicle turning radius.
Summary of the invention
Technical problem solved by the invention is to provide a kind of endless-track vehicle shifting control method, to solve above-mentioned background
Disadvantage in technology.
Technical problem solved by the invention is realized using following technical scheme:
A kind of endless-track vehicle shifting control method implements speed Control using endless-track vehicle speed change gear, and endless-track vehicle becomes
Speed variator includes the power input module being mounted in box assembly, gear component, positive and negative rotation component and driving assembly, is moved
Power input module is connect with gear component, and gear component is connect with positive and negative rotation component, positive and negative rotation component and driving group
Part connection, specific structure are as follows:
In power input module, power input shaft, reversing shaft are mounted on cabinet, and drive bevel gear is mounted on power input
Axis, the driven wheel of differential engaged with drive bevel gear, the reversing shaft driving gear engaged with driven gear are separately mounted to commutate
On axis；
In gear component, an axis is mounted on cabinet, and power is inputted by transmission device from left side, and an axis is equipped with
Driven gear, three gear driving gears, No. two splined hubs, two gear driving gear, a gear driving gear, No.1 splined hub and master of reversing gear
Moving gear, an axis and No. two splined hubs, the affixed transmission of No.1 splined hub are provided with No. two combined covers, No.1 in No. two splined hubs
No.1 combined cover is provided in splined hub；
Two axis are mounted on cabinet, be disposed on two axis with three gear driving gears often engage three gear driven gears,
The second gear driven gear that is often engaged with two gear driving gear, the gear driven gear often engaged with a gear driving gear and reverse gear from
Moving gear, power are exported from a gear driven gear of two axis, and reverse gear shaft is mounted on cabinet, and centre of reversing gear is provided on reverse gear shaft
Gear, reverse idler gear side are often engaged with the driving gear that reverses gear, and the reverse idler gear other side and the driven gear that reverses gear are normal
Engagement；
In positive and negative rotation component, two axle steer gears are connected on two axis, and connecting shaft is mounted on cabinet, and connecting shaft empty set exists
In steering shaft, one end of the connecting shaft, the installation of the connecting shaft other end are mounted on the steering driven gear that two axle steer gears often engage
There is steering drive bevel gear；Planetary gear is mounted on the inside of planet wheel carrier by planetary gear shaft, planetary gear shaft empty set
In steering shaft, planetary gear side is engaged with driven wheel of differential is turned to, and the planetary gear other side is nibbled with drive bevel gear is turned to
It closes, friction plate is equipped with by spline on the outside of planet wheel carrier, friction plate can be along the spline on planet wheel carrier certain
It is moved axially in range；It turns to and steel disc is equipped with by spline on end cap, steel disc can be along the spline turned on end cap one
Determine to move axially in range, platen setting compresses for operating or loosens by steel disc and friction plate in steel disc side, platen
The friction catch mechanism of composition；Steering shaft one end, which is mounted on, to be turned on end cap, is turned to end cap and is mounted on cabinet, steering shaft is another
End is mounted on cabinet, and the intermediate drive gear empty set engaged with a gear driven gear is in steering shaft, left steering gear and the right side
Tooth sector is mounted in steering shaft by spline；
In driving assembly, left driving assembly and right driving assembly are symmetrical arranged about the driving gear for being drivingly connected component,
Gear shaft is mounted on cabinet, and the driving gear engaged with intermediate drive gear is mounted in the middle part of gear shaft, driving
Left driving gear is installed in the gear shaft of gear side, drives and right drive is installed in the gear shaft of the gear other side
Moving gear drives and is provided with left outside soldered tooth and right outer engagement tooth on gear, and left driving gear can drive with right driving gear
It is moved axially on gear shaft；Left output shaft is mounted on cabinet, and left output shaft gear is mounted on left output shaft by spline, right
Output shaft is mounted on cabinet, and right output shaft gear is mounted on right output shaft by spline；Left driving gear, right driving gear
It is engaged respectively with driving gear, left driving output gear is arranged on the outside of left driving gear, and right driving output gear is arranged in right driving
On the outside of gear, left driving output gear is often engaged with left output shaft gear, and right driving output gear is often engaged with right output shaft gear；It is left
Driving gear engages after moving to left with left steering gear, and right driving gear engages after moving to right with right turn gear；
Box assembly includes cabinet and steering end cap；
Power transmission line:
One gear: No.1 combined cover moves to left, and power keeps off driving gear through No.1 splined hub, No.1 combined cover, one by an axis, from
One gear driven gear output；
Second gear: No. two combined covers move to right, and power is by an axis through No. two splined hubs, No. two combined covers, two gear driving gear, two
Gear driven gear is transferred to two axis, from a gear driven gear output；
Three gears: No. two combined covers move to left, and power is by an axis through No. two splined hubs, No. two combined covers, three gear driving gears, three
Gear driven gear is transferred to two axis, from a gear driven gear output；
Reverse gear: No.1 combined cover moves to right, power by an axis through No.1 splined hub, No.1 combined cover, the driving gear that reverses gear, fall
Gear intermediate gear, the driven gear that reverses gear are transferred to two axis, from a gear driven gear output；
When endless-track vehicle positive and negative rotation turn to when, steering power is transferred to from two axle steer gears turn to driven gear after lead to again
It crosses connecting shaft and is transferred to steering drive bevel gear, turn to drive bevel gear by planetary gear and be transferred to steering driven wheel of differential,
When platen compresses steel disc and friction plate, planet wheel carrier is braked, as the pressing force of platen incrementally increases, planetary gear
Pedestal changes to complete braking from partial brake, when planet wheel carrier is by partial brake, turns to the revolving speed of driven wheel of differential
Less than drive bevel gear is turned to, direction of rotation is opposite；When planet wheel carrier is braked completely, turning for driven wheel of differential is turned to
Speed, which is equal to, turns to drive bevel gear, and direction of rotation is on the contrary, turning to driven wheel of differential and turning to the absolute rotational speed difference of drive bevel gear
The steering angular velocity variation for determining endless-track vehicle, when absolute rotational speed difference maximum, endless-track vehicle realizes that positive and negative rotation turns to；When absolute
When rotational speed difference changes, the synchronous variation of the steering angular velocity of endless-track vehicle；
No external force operates left driving gear, right driving gear and platen, and the power exported from first speed driven gear is through centre
Transmission gear is transferred to driving gear, since left driving gear is in left return spring, the right work for driving gear in right return spring
Slide to sliding tooth wheel under, the left inside soldered tooth and left outside engagement indented joint on left driving gear, in the right side on right driving gear
Soldered tooth and right outer engagement indented joint, left side power are transferred to left output shaft gear from left driving output gear and are transferred to left output again
Axis, is then transferred to left track, and right side power is transferred to right output shaft gear from right driving output gear and is transferred to right output again
Axis is then transferred to right side track, due to left output shaft and the equidirectional constant speed of right output shaft, endless-track vehicle straight-line travelling；
Positive and negative rotation turns to, and turn left: under the action of leftward steering force, the first step, left driving gear is moved to left, on left driving gear
Left inside soldered tooth and left outside soldered tooth separate, left driving gear stops operating；Second step, left driving gear continue to move to left, left
Driving gear is engaged with left steering gear；Third step, leftward steering force make platen gradually compress steel disc and friction plate, with friction
The increase of power, planet wheel carrier from being partially braked to complete braking, the revolving speed of left steering gear from rotating forward be changed stepwise for
Braking, then variation is reversion, to drive left driving gear shift or reversion, is turned on the left of left track positive and negative rotation with realizing
To；
Turn right: under the action of right turn power, the first step, right driving gear is moved to right, engagement in the right side on right driving gear
Tooth is separated with right outer engagement tooth, and right driving gear stops operating；Second step, right driving gear continue to move to right, right driving gear with
The engagement of right turn gear；Third step, right turn power make platen gradually compress steel disc and friction plate, with the increase of frictional force,
Planet wheel carrier is changed stepwise to brake, then from complete braking, the revolving speed of right turn gear is partially braked to from rotating forward
Variation is reversion, to drive right driving gear shift or reversion, realizes right side track positive and negative rotation right hand steering.
In the present invention, No. two splined hubs are located on the axis between three gear driving gears and two gear driving gear.
In the present invention, No.1 splined hub is located on the axis between a gear driving gear and the driving gear that reverses gear.
In the present invention, multi-plate friction plate is equipped with by spline on the outside of planet wheel carrier, turns to and passes through flower on end cap
Key is equipped with multiple pieces of steel, and friction plate and steel disc are in arranged crosswise.
In the present invention, it is additionally provided in gear shaft for driving left driving gear, right driving gear to sliding tooth
Wheel often engages the spring assembly of trend, and spring assembly includes left return spring and right return spring, and left return spring is sleeved on drive
Movable gear shaft one end, and left return spring one end and left driving output gear inner end face contact, the left return spring other end is by pushing away
Power bearing is mounted on cabinet, so that left driving gear is had the trend often engaged with driving gear, right return spring is sleeved on drive
The movable gear shaft other end, and right return spring one end and right driving output gear inner end face contact, the right return spring other end pass through
Thrust bearing is mounted on cabinet, and right driving gear is made to have the trend often engaged with driving gear.
In the present invention, be provided on the inside of left driving gear for the left outside left inside soldered tooth for engaging indented joint.
In the present invention, be provided on the inside of right driving gear for soldered tooth in the right side of right outer engagement indented joint.
In the present invention, it is provided with and is operated by external force so that the left side that right driving gear moves left and right is dialled on the outside of left driving gear
Fork pockets, right driving gear outside are provided with the right fork slot operated by external force so that right driving gear moves left and right.
The utility model has the advantages that
1) present invention uses control differential planetary gear pedestal revolving speed using endless-track vehicle speed change gear, to realize steering tooth
It takes turns speed change and is driven in the reverse direction, so that endless-track vehicle is reliably steering to and positive and negative rotation turns to；
2) present invention is turned to using endless-track vehicle speed change gear and is operated with positive and negative rotation using single alternative, does not increase operation step
Suddenly, structure is simple, and it is convenient to operate；
3) present invention is using the turning radius of endless-track vehicle in endless-track vehicle speed change gear and the operation of steering operation mechanism
Stroke is proportional, and steering accuracy is good, high-efficient.
Detailed description of the invention
Fig. 1 is the structure connection diagram of presently preferred embodiments of the present invention.
Fig. 2 is the power input module structure connection diagram in presently preferred embodiments of the present invention.
Fig. 3 is the gear modular construction connection schematic diagram in presently preferred embodiments of the present invention.
Fig. 4 is the positive and negative rotation modular construction connection schematic diagram in presently preferred embodiments of the present invention.
Fig. 5 is the driving assembly connection schematic diagram in presently preferred embodiments of the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
Referring to a kind of endless-track vehicle shifting control method of FIG. 1 to FIG. 5, speed change control is implemented using endless-track vehicle speed change gear
System, endless-track vehicle speed change gear includes the power input module A being mounted in box assembly E, gear component B, positive and negative rotation
Component C and driving assembly D, power input module A are connect with gear component B, gear component B and positive and negative rotation component C
Connection, positive and negative rotation component C are connect with driving assembly D, and specific structure is as follows:
Power input module A includes power input shaft A1, drive bevel gear A2, reversing shaft A3, driven wheel of differential A4, commutation
Axis driving gear A5 and driven gear A6, power input shaft A1 are mounted on cabinet E1, and it is defeated that drive bevel gear A2 is mounted on power
Enter axis A1, reversing shaft A3 is mounted on cabinet E1 by bearing E2, the driven wheel of differential A4 that is engaged with drive bevel gear A2, with from
The reversing shaft driving gear A5 of moving gear A6 engagement is separately mounted on reversing shaft A3；Power input: it for longitudinal engine, moves
Power is inputted after arrangement of clutch by power input shaft A1, after drive bevel gear A2 and driven wheel of differential A4 commutation, is transferred to
Reversing shaft A3, then driven gear A6 is transferred to by reversing shaft driving gear A5 and is exported to an axis B11；For transverse engine, move
Power can be inputted directly by an axis B11 after arrangement of clutch；
Gear component B includes an axis B11, three gear driving gear B12, No. two combined cover B13, two gear driving gears
B14, No. two splined hub B15, gear a driving gear B16, No.1 combined cover B17, the driving gear B18 that reverses gear, No.1 splined hub
B19, two axis B21, three gear driven gear B22, second gear driven gear B23, one gear driven gear B24, the driven gear B25 that reverses gear,
Reverse gear shaft B31 and reverse idler gear B32, wherein an axis B11 is mounted on cabinet E1 by bearing E2, and power passes through transmission
Device is inputted from left side, and an axis B11 is equipped with driven gear A6, three gear driving gear B12, two gear driving gear B14, a gear master
The moving gear B16 and driving gear B18 that reverses gear, in the axis being located between three gear driving gear B12 and two gear driving gear B14
No. two splined hub B15 are equipped with by spline fitted on B11, be located at one gear driving gear B16 and reverse gear driving gear B18 it
Between an axis B11 on No.1 splined hub B19, an axis B11 and No. two splined hub B15, No.1 spline are equipped with by spline fitted
The affixed transmission of hub B19 is provided with No. two combined cover B13 on No. two splined hub B15, is provided with No.1 knot on No.1 splined hub B19
Trap B17；
Two axis B21 are mounted on cabinet E1 by bearing E2, are disposed with three gears actively on two axis B21 by spline
Three gear driven gear B22, the second gear driven gear B23 and one often engaged with two gear driving gear B14 that gear B 12 often engages
The gear driven gear B24 and driven gear B25 that reverses gear that gear driving gear B16 is often engaged, a gear of power from two axis B21 are driven
Gear B 24 exports, and reverse gear shaft B31 is mounted on cabinet E1 by bearing E2, is provided with reverse idler gear on reverse gear shaft B31
B32, the side reverse idler gear B32 are often engaged with the driving gear B18 that reverses gear, the other side reverse idler gear B32 and reverse gear from
Moving gear B25 is often engaged；
Positive and negative rotation component C includes two axle steer gear Cs 11, turns to driven gear C12, connecting shaft C13, turns to active conical tooth
It takes turns C21, steel disc C22, friction plate C23, planetary gear shaft C24, turn to driven wheel of differential C25, planetary gear C26, planetary gear
Pedestal C27, platen C28, left steering gear C 31, intermediate drive gear C32, right turn gear C 33 and steering shaft C34, wherein
Two axle steer gear Cs 11 are connected on two axis B21 by spline, and connecting shaft C13 is mounted on cabinet E1 by bearing E2, connection
Axis C13 empty set is pacified with the steering driven gear C12 that two axle steer gear Cs 11 often engage by spline fitted on steering shaft C34
Mounted in the one end connecting shaft C13, the connecting shaft C13 other end is equipped with by spline fitted and turns to drive bevel gear C21；Planetary gear
C26 is mounted on the inside of planet wheel carrier C27 by planetary gear shaft C24, and planet wheel carrier C27 is existed by bearing E2 empty set
On steering shaft C34, the side planetary gear C26 is engaged with driven wheel of differential C25 is turned to, and the other side planetary gear C26 and steering are led
Dynamic bevel gear C21 engagement turns to drive bevel gear C21 by planetary gear C26 and steering driven wheel of differential C25 and forms positive and negative rotation
Transmission mechanism, the outside planet wheel carrier C27 are equipped with multi-plate friction plate C23 by spline, and friction plate C23 can be along planetary gear
Spline on pedestal C27 moves axially in a certain range；It turns to and multiple pieces of steel is equipped with by spline on end cap E3
C22, steel disc C22 can be moved axially in a certain range along the spline turned on end cap E3, and platen C28 is arranged in steel disc
The side C22, platen C28 is for operating compression or loosening the friction catch mechanism being made of steel disc C22 and friction plate C23；It turns to
The one end axis C34 is mounted on by bearing E2 and is turned on end cap E3, is turned to end cap E3 and is mounted on cabinet E1 by bolt E4, is turned to
The axis C34 other end is mounted on cabinet E1 by bearing E2, and the intermediate drive gear C32 engaged with a gear driven gear B24 is empty
It covers on steering shaft C34, left steering gear C 31 and right turn gear C 33 are mounted on steering shaft C34 by spline；
Driving assembly D is made of left driving assembly D1, right driving assembly D2 and drive connection component D3, left driving assembly D1
It is symmetrical arranged with right driving assembly D2 about component D3 is drivingly connected, left driving assembly D1 includes left driving gear D11, left return
Spring D12, left output shaft D13, left output shaft gear D14, left fork slot D15, left inside soldered tooth D16 and left driving output gear
D17；Right driving assembly D2 include right driving gear D21, right return spring D22, right output shaft D23, right output shaft gear D24,
Soldered tooth D26 and right driving output gear D27 in right fork slot D25, the right side；Component D3 is drivingly connected to include driving gear D31 and drive
Movable gear shaft D32, gear shaft D32 are mounted on cabinet E1 by bearing E2, the driving engaged with intermediate drive gear C32
Gear D 31 is mounted in the middle part of gear shaft D32, is driven and is provided with left outside soldered tooth D33 and right outer engagement tooth on gear D31
D34；It drives and left driving gear D11 is equipped with by axle sleeve E5 or bearing E2 on the gear shaft D32 of the side gear D31, drive
Right driving gear D21, left driving are equipped with by axle sleeve E5 or bearing E2 on the gear shaft D32 of the other side moving gear D31
Gear D 11 can be moved axially with right driving gear D21 on gear shaft D32；Left return spring D12 is sleeved on driving gear
The one end axis D32, and the one end left return spring D12 and the inner end left driving output gear D17 face contact, the left return spring D12 other end
It is mounted on cabinet E1 by thrust bearing, makes left driving gear D11 that there is the trend often engaged with driving gear D31, the right side is returned
Position spring D22 is sleeved on the gear shaft D32 other end, and the one end right return spring D22 and right driving output gear D27 inner face
Contact, the right return spring D22 other end are mounted on cabinet E1 by thrust bearing, have right driving gear D21 and driving
The trend that gear D 31 often engages；Left output shaft D13 is mounted on cabinet E1 by bearing E2, and left output shaft gear D14 passes through flower
Key is mounted on left output shaft D13, and right output shaft D23 is mounted on cabinet E1 by bearing E2, and right output shaft gear D24 passes through
Spline is mounted on right output shaft D23；It is provided on the inside of left driving gear D11 left inside for being engaged with left outside soldered tooth D33
It is provided with left fork slot D15 and left driving output gear D17 on the outside of soldered tooth D16, left driving gear D11, left dial is operated by external force
Fork pockets D15 moves left and right left driving gear D11, and left driving output gear D17 is often engaged with left output shaft gear D14；Right drive
It is provided with soldered tooth D26 in the right side for engaging with right outer engagement tooth D34 on the inside of moving gear D21, is set on the outside of right driving gear D21
It is equipped with right fork slot D25 and right driving output gear D27, right fork slot D25 is operated by external force, left driving gear D11 or so is moved
Dynamic, right driving output gear D27 is often engaged with right output shaft gear D24；Left driving gear D11 is engaged with left steering gear C 31, right
Driving gear D21 is engaged with right turn gear C 33；
Box assembly E includes cabinet E1, bearing E2, turns to end cap E3, bolt E4 and axle sleeve E5.
1) power transmission route:
One gear: No.1 combined cover B17 is moved to left, and power is by an axis B11 through No.1 splined hub B18, No.1 combined cover B17, one
Driving gear B16 is kept off, from a gear driven gear B24 output；
Second gear: No. two combined cover B13 are moved to right, and power is by an axis B11 through No. two splined hub A25, No. two combined cover B13, two
Gear driving gear B14, second gear driven gear B23 are transferred to two axis B21, from a gear driven gear B24 output；
Three gears: No. two combined cover B13 are moved to left, and power is by an axis B11 through No. two splined hub A25, No. two combined cover B13, three
Gear driving gear A22, three gear driven gear B22 are transferred to two axis B21, from a gear driven gear B24 output；
Reverse gear: No.1 combined cover B17 is moved to right, power by an axis B11 through No.1 splined hub B18, No.1 combined cover B17, fall
Gear driving gear B18, reverse idler gear B32, the driven gear B25 that reverses gear are transferred to two axis B21, from a gear driven gear B24
Output；
One gear driven gear B24 serves not only as the driven gear of two axis, the also active as two axis B21 in power transmitting
Power is transferred to driving gear D31 from a gear driven gear B24 by gear；
2) endless-track vehicle positive and negative rotation turns to
Steering power is transferred to from two axle steer gear Cs 11 turn to driven gear C12 after be transferred to again by connecting shaft C13
Drive bevel gear C21 is turned to, drive bevel gear C21 is turned to by planetary gear C26 and is transferred to steering driven wheel of differential C25, when
Platen C28 compresses steel disc C22 and when friction plate C23, and planet wheel carrier C27 is braked, with platen C28 pressing force gradually
Increase, planet wheel carrier C27 changes to complete braking from partial brake, when planet wheel carrier C27 is by partial brake, turns
It is less than to the revolving speed of driven wheel of differential C25 and turns to drive bevel gear C21, direction of rotation is opposite；When planet wheel carrier C27 is complete
When full application of brake, the revolving speed for turning to driven wheel of differential C25, which is equal to, turns to drive bevel gear C21, and direction of rotation is on the contrary, turn to from mantle
Gear C 25 and the absolute rotational speed difference for turning to drive bevel gear C21 determine that the steering angular velocity of endless-track vehicle changes, when absolute revolving speed
(steering driven wheel of differential C25 is identical as drive bevel gear C21 revolving speed is turned to, direction of rotation is opposite), creeper truck when poor maximum
Realize positive and negative rotation turn to；When the variation of absolute rotational speed difference, the synchronous variation of the steering angular velocity of endless-track vehicle；
3) straight-line travelling
No external force operates left driving gear D11, right driving gear D21 and platen C28, from one grade of gear component B
The power of driven gear B24 output is transferred to driving gear D31 through intermediate drive gear C32, since left driving gear D11 is on a left side
Return spring D12, right driving gear D21 slide to driving gear D31, left driving gear D11 under the action of right return spring D22
On left inside soldered tooth D16 engaged with left outside soldered tooth D33, soldered tooth D26 and right outer engagement in the right side on right driving gear D21
Tooth D34 engagement, left side power are transferred to left output shaft gear D14 from left driving output gear D17 and are transferred to left output shaft D13 again,
Then be transferred to left track, right side power from right driving output gear D27 be transferred to right output shaft gear D24 be transferred to again it is right defeated
Shaft D23, is then transferred to right side track, and due to left output shaft D13 and the right equidirectional constant speed of output shaft D23, endless-track vehicle is straight
Line traveling；
4) positive and negative rotation turns to
Turn left: under the action of leftward steering force, the first step, left driving gear D11 is moved to left, the left side on left driving gear D11
Interior soldered tooth D16 is separated with left outside soldered tooth D33, and left driving gear D11 stops operating；Second step, left driving gear D11 continue
It moves to left, left driving gear D11 is engaged with left steering gear C 31；Third step, leftward steering force make platen C28 gradually compress steel disc
C22 and friction plate C23, with the increase of frictional force, planet wheel carrier C27 is from being partially braked to complete braking, left steering
The revolving speed of gear C 31 from rotating forward be changed stepwise for braking, then variation for reversion, thus drive left driving gear D11 speed change or
Reversion is turned on the left of left track positive and negative rotation with realizing；
Turn right: under the action of right turn power, the first step, right driving gear D21 is moved to right, the right side on right driving gear D21
Interior soldered tooth D26 is separated with right outer engagement tooth D34, and right driving gear D21 stops operating；Second step, right driving gear D21 continue
It moves to right, right driving gear D21 is engaged with right turn gear C 33；Third step, right turn power make platen C28 gradually compress steel disc
C22 and friction plate C23, with the increase of frictional force, planet wheel carrier C27 is from being partially braked to complete braking, right turn
The revolving speed of gear C 33 from rotating forward be changed stepwise for braking, then variation for reversion, thus drive right driving gear D21 speed change or
Right side track positive and negative rotation right hand steering is realized in reversion；
Left driving gear D11 mobile operation external force can be integrated with the external force for compressing platen C28, and left driving is first moved in realization
Gear D 11 operates platen C28 after left driving gear D11 and left steering gear C 31 are completely combined again and compresses；
Right driving gear D21 mobile operation external force can be integrated with the external force for compressing platen C28, and right driving is first moved in realization
Gear D 21 operates platen C28 after right driving gear D21 and right turn gear C 33 are completely combined again and compresses.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, 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 endless-track vehicle shifting control method, which is characterized in that implement speed Control using endless-track vehicle speed change gear, carry out
It include the power input module being mounted in box assembly, gear component, positive and negative rotation component and drive with transmission of vehicle
Dynamic component, power input module are connect with gear component, and gear component is connect with positive and negative rotation component, positive and negative rotation component
It is connect with driving assembly, specific structure is as follows:
In power input module, power input shaft, reversing shaft are mounted on cabinet, and drive bevel gear is mounted on power input shaft,
The driven wheel of differential engaged with drive bevel gear, the reversing shaft driving gear engaged with driven gear are separately mounted to reversing shaft
On；
In gear component, an axis is mounted on cabinet, and power is inputted by transmission device from left side, and an axis is equipped with driven
Gear, three gear driving gears, No. two splined hubs, two gear driving gear, a gear driving gear, No.1 splined hub and the driving tooth that reverses gear
It takes turns, an axis and No. two splined hubs, the affixed transmission of No.1 splined hub, is provided with No. two combined covers, No.1 spline in No. two splined hubs
No.1 combined cover is provided on hub；
Two axis are mounted on cabinet, and the three gear driven gears and two often engaged with three gear driving gears are disposed on two axis
Second gear driven gear that gear driving gear often engages, with a gear driving gear often engages one keeps off driven gear and driven tooth of reversing gear
Wheel, reverse gear shaft are mounted on cabinet, and reverse idler gear, reverse idler gear side and the driving tooth that reverses gear are provided on reverse gear shaft
Wheel often engagement, the reverse idler gear other side is often engaged with the driven gear that reverses gear；
In positive and negative rotation component, two axle steer gears are connected on two axis, and connecting shaft is mounted on cabinet, and connecting shaft empty set is turning to
On axis, it is mounted on one end of the connecting shaft with the steering driven gear that two axle steer gears often engage, the connecting shaft other end, which is equipped with, to be turned
To drive bevel gear；Planetary gear is mounted on the inside of planet wheel carrier by planetary gear shaft, and planetary gear shaft empty set is turning
To on axis, planetary gear side is engaged with driven wheel of differential is turned to, and the planetary gear other side is engaged with drive bevel gear is turned to, row
The friction plate that can be moved axially is equipped with by spline on the outside of star gear pedestal；Being equipped on steering end cap by spline can
The steel disc moved axially, platen are arranged in steel disc side；Steering shaft one end, which is mounted on, to be turned on end cap, and end cap installation is turned to
On cabinet, the steering shaft other end is mounted on cabinet, and the intermediate drive gear empty set engaged with a gear driven gear is turning to
On axis, left steering gear and right turn gear are mounted in steering shaft by spline；
In driving assembly, left driving assembly and right driving assembly are symmetrical arranged about the driving gear for being drivingly connected component, driving
Gear shaft is mounted on cabinet, and the driving gear engaged with intermediate drive gear is mounted in the middle part of gear shaft, drives gear
Left driving gear is installed in the gear shaft of side, drives and right sliding tooth is installed in the gear shaft of the gear other side
Wheel drives and is provided with left outside soldered tooth and right outer engagement tooth on gear；Left output shaft is mounted on cabinet, and left output shaft gear is logical
It crosses spline to be mounted on left output shaft, right output shaft is mounted on cabinet, and right output shaft gear is mounted on right output by spline
On axis；Left driving gear, right driving gear are engaged with driving gear respectively, and left driving output gear is arranged outside left driving gear
Side, right driving output gear are arranged on the outside of right driving gear, and left driving output gear is often engaged with left output shaft gear, and right driving is defeated
Tooth is often engaged with right output shaft gear out；Left driving gear move to left after engage with left steering gear, right driving gear move to right afterwards and
The engagement of right turn gear；
Box assembly includes cabinet and steering end cap；
Power transmission line:
One gear: No.1 combined cover moves to left, and power, through No.1 splined hub, No.1 combined cover, a gear driving gear, is kept off by an axis from one
Driven gear output；
Second gear: No. two combined covers move to right, power by an axis through No. two splined hubs, No. two combined covers, two gear driving gear, second gear from
Moving gear is transferred to two axis, from a gear driven gear output；
Three gear: No. two combined covers move to left, power by an axis through No. two splined hubs, No. two combined covers, three gear driving gears, three gear from
Moving gear is transferred to two axis, from a gear driven gear output；
Reverse gear: No.1 combined cover moves to right, power by an axis through No.1 splined hub, No.1 combined cover, the driving gear that reverses gear, reverse gear
Between gear, the driven gear that reverses gear be transferred to two axis, from a gear driven gear output；
Steering power is transferred to from two axle steer gears turn to driven gear after be transferred to by connecting shaft turn to active conical tooth again
Wheel turns to drive bevel gear by planetary gear and is transferred to steering driven wheel of differential, when platen compresses steel disc and friction plate, row
Star gear pedestal is braked, and as the pressing force of platen incrementally increases, planet wheel carrier changes to complete system from partial brake
Dynamic, when planet wheel carrier is by partial brake, the revolving speed for turning to driven wheel of differential, which is less than, turns to drive bevel gear, direction of rotation
On the contrary；When planet wheel carrier is braked completely, the revolving speed for turning to driven wheel of differential, which is equal to, turns to drive bevel gear, rotation side
To on the contrary, the absolute rotational speed difference for turning to driven wheel of differential and steering drive bevel gear determines that the steering angular velocity of endless-track vehicle becomes
Change, when absolute rotational speed difference maximum, endless-track vehicle realizes that positive and negative rotation turns to；When the variation of absolute rotational speed difference, endless-track vehicle turns
Change to angular speed is synchronous；
No external force operates left driving gear, right driving gear and platen, and the power exported from first speed driven gear is through intermediate transmission
Gear is transferred to driving gear, due to left driving gear in left return spring, right driving gear under the action of right return spring
Slide to driving gear, left inside soldered tooth and left outside engagement indented joint on left driving gear, the right interior engagement in the right side driven on gear
Tooth and right outer engagement indented joint, left side power are transferred to left output shaft gear from left driving output gear and are transferred to left output shaft again,
It is then transferred to left track, right side power is transferred to right output shaft gear from right driving output gear and is transferred to right output shaft again,
It is then transferred to right side track, due to left output shaft and the equidirectional constant speed of right output shaft, endless-track vehicle straight-line travelling；
When being turned left, under the action of leftward steering force, the first step, left driving gear is moved to left, left inside connecing on left driving gear
It closes tooth to separate with left outside soldered tooth, left driving gear stops operating；Second step, left driving gear continue to move to left, left driving gear
It is engaged with left steering gear；Third step, leftward steering force make platen gradually compress steel disc and friction plate, with the increasing of frictional force
Adding, planet wheel carrier is changed stepwise from complete braking, the revolving speed of left steering gear is partially braked to from rotating forward to brake, and
Variation is reversion afterwards, to drive left driving gear shift or reversion, is turned on the left of left track positive and negative rotation with realizing；
When being turned right, under the action of right turn power, the first step, right driving gear is moved to right, and the right side on right driving gear is inscribed
It closes tooth to separate with right outer engagement tooth, right driving gear stops operating；Second step, right driving gear continue to move to right, right driving gear
It is engaged with right turn gear；Third step, right turn power make platen gradually compress steel disc and friction plate, with the increasing of frictional force
Adding, planet wheel carrier is changed stepwise from complete braking, the revolving speed of right turn gear is partially braked to from rotating forward to brake, and
Variation is reversion afterwards, to drive right driving gear shift or reversion, realizes right side track positive and negative rotation right hand steering.
2. a kind of endless-track vehicle shifting control method according to claim 1, which is characterized in that No. two splined hubs are located at three
It keeps off on the axis between driving gear and two gear driving gear.
3. a kind of endless-track vehicle shifting control method according to claim 1, which is characterized in that No.1 splined hub is located at one
It keeps off on the axis between driving gear and the driving gear that reverses gear.
4. a kind of endless-track vehicle shifting control method according to claim 1, which is characterized in that on the outside of planet wheel carrier
Multi-plate friction plate is installed by spline, turns to and multiple pieces of steel is equipped with by spline on end cap, and friction plate and steel disc are submitted
Fork arrangement.
5. a kind of endless-track vehicle shifting control method according to claim 1, which is characterized in that also set in gear shaft
It is equipped with for driving left driving gear, right driving gear to the spring assembly for driving gear often to engage trend, spring assembly includes
Left return spring and right return spring.
6. a kind of endless-track vehicle shifting control method according to claim 5, which is characterized in that left return spring is sleeved on
Gear shaft one end, and left return spring one end and left driving output gear inner end face contact, the left return spring other end pass through
Thrust bearing is mounted on cabinet, and right return spring is sleeved on the gear shaft other end, and right return spring one end and right drive
Dynamic output gear inner end face contact, the right return spring other end are mounted on cabinet by thrust bearing.
7. a kind of endless-track vehicle shifting control method according to claim 1, which is characterized in that set on the inside of left driving gear
Be equipped with for the left outside left inside soldered tooth for engaging indented joint.
8. a kind of endless-track vehicle shifting control method according to claim 1, which is characterized in that set on the inside of right driving gear
Be equipped with for soldered tooth in the right side of right outer engagement indented joint.
9. a kind of endless-track vehicle shifting control method according to claim 1, which is characterized in that set on the outside of left driving gear
It is equipped with the left fork slot operated by external force so that right driving gear moves left and right.
10. a kind of endless-track vehicle shifting control method according to claim 1, which is characterized in that on the outside of right driving gear
It is provided with the right fork slot operated by external force so that right driving gear moves left and right.
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| CN201811038989.XA CN109058413B (en) | 2018-09-06 | 2018-09-06 | Variable speed control method for tracked vehicle |
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| CN201811038989.XA CN109058413B (en) | 2018-09-06 | 2018-09-06 | Variable speed control method for tracked vehicle |
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| CN114396462A (en) * | 2022-01-21 | 2022-04-26 | 浙江云洲科技有限公司 | Novel mechanical flexible steering stepless gearbox |
| CN116816889A (en) * | 2023-08-30 | 2023-09-29 | 成都博森数智科技有限公司 | Reciprocating structure and massage device comprising same |
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