CN111924004B - Driving and steering system of double-power-flow tracked vehicle - Google Patents
Driving and steering system of double-power-flow tracked vehicle Download PDFInfo
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- CN111924004B CN111924004B CN202010843240.3A CN202010843240A CN111924004B CN 111924004 B CN111924004 B CN 111924004B CN 202010843240 A CN202010843240 A CN 202010843240A CN 111924004 B CN111924004 B CN 111924004B
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- way valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/20—Endless-track steering having pivoted bogie carrying track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/063—Pump driven by vehicle engine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
Abstract
The invention discloses a driving and steering system of a double-power-flow tracked vehicle, which comprises a control system, a power system, a linear driving system, a steering driving system and a gear pair system, wherein the control system is connected with the power system through a power line; the power system provides power for the linear driving system and the steering driving system, the control system controls the linear driving system to further control the gear pair system to realize the linear driving of the vehicle, and the control system controls the steering driving system to further control the gear pair system to realize the steering driving of the vehicle; the linear driving system comprises a first hydraulic transformer, a one-way valve group I and a two-way constant delivery pump/motor, and the steering driving system comprises a second hydraulic transformer, a one-way valve group II and a two-way constant delivery motor. The invention can realize the double stepless speed regulation function of the driving and steering system of the tracked vehicle and has the advantages of compact structure and braking energy recovery.
Description
Technical Field
The invention relates to the technical field of tracked vehicles, in particular to a driving and steering system of a dual-power-flow tracked vehicle.
Background
Currently, tracked vehicle steering systems generally go through the stages of a steering clutch-brake, a mechanical dual-power flow steering system, and a hydro-mechanical dual-power flow differential steering system. The clutch-brake is realized by friction between friction elements, is difficult to obtain an accurate and stable steering radius, and has the defects of low transmission efficiency, poor working reliability, short service life, limited steering radius number and the like. The steering performance of the mechanical double-power-flow steering system is greatly improved compared with that of a single-power-flow steering mechanism, but the steering radius of the mechanical double-power-flow steering system is still graded; the steering mechanism has a dispersed and complex integral structure and large mass; the skid steering by part of the friction element and a series of problems caused by the skid cannot be eliminated.
The traditional hydraulic mechanical double-power flow differential steering system divides mechanical power flow transmitted by an engine on an input shaft of a multi-gear gearbox, and one path of mechanical power flow passes through a steering speed regulating system consisting of a hydraulic pump and a hydraulic motor. The other path flows through a multi-gear gearbox, finally merges on a planet row, and then is transmitted to a final transmission shaft of the vehicle through a certain component (such as a planet carrier) in the planet row, but the driving system of the multi-gear gearbox is still in stepped transmission. Even if both the driving and steering systems employ pump-controlled motors to implement a continuously variable transmission and a continuously variable steering system, it is common to use one variable displacement motor and one servo mechanism. But has the disadvantages of complex structure, poor steering stability, high price, short service life and the like. Therefore, a dual power flow tracked vehicle drive and steering system is needed to solve the problems of the prior art.
Disclosure of Invention
The invention aims to provide a driving and steering system of a double-power-flow tracked vehicle, which aims to solve the problems in the prior art, and both the driving and steering system of the invention adopts a hydraulic transformer control motor system, thereby realizing the double stepless speed regulation function of the driving and steering system of the tracked vehicle; the hydraulic network pressure can be adjusted to any value within the pressure change range without throttling loss, power matching can be realized, and fuel economy can be improved; the voltage transformation process can output energy to the load and can also recover energy from the load to the constant voltage network; the steering device has the advantages of compact structure, braking energy recovery, high power density, stable and reliable steering characteristic and long service life.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a driving and steering system of a double-power-flow tracked vehicle, which comprises a control system, a power system, a linear driving system, a steering driving system and a gear pair system, wherein the control system is connected with the power system through a power line;
the power system provides power for the linear driving system and the steering driving system, the control system controls the gear pair system to realize the linear driving of the vehicle by controlling the linear driving system, and the control system controls the steering driving system to realize the steering driving of the vehicle by controlling the gear pair system;
the linear driving system comprises a first hydraulic transformer, a one-way valve group I and a two-way constant delivery pump, wherein the input end of the first hydraulic transformer and the one-way valve group I are respectively communicated with the power system, a first hydraulic loop is formed between the output end of the first hydraulic transformer and the two-way constant delivery pump, the one-way valve group I is arranged between the first hydraulic loops, the control system controls the two-way constant delivery pump by controlling the first hydraulic transformer, and the power system realizes pressure compensation on the first hydraulic loop by controlling the one-way valve group I;
turn to actuating system and include second hydraulic transformer, check valve group II and two-way ration motor, second hydraulic transformer input, check valve group II respectively with driving system communicates with each other, second hydraulic transformer output with form the second hydraulic circuit between the two-way ration motor, check valve group II sets up between the second hydraulic circuit, control system passes through control second hydraulic transformer realizes control two-way ration motor, driving system passes through check valve group II realizes right the second hydraulic circuit is mended pressure.
Preferably, the first hydraulic transformer includes a working oil port D, E, F, the bidirectional fixed displacement pump includes a working oil port K, L, the working oil ports E, K are connected to form an EK pipeline, the working oil ports F, L are connected to form an FL pipeline, the EK pipeline and the FL pipeline form the first hydraulic circuit, the check valve group I comprises a third hydraulic control check valve and a fourth hydraulic control check valve, a first pressure supplementing pipeline is connected between the EK pipeline and the FL pipeline, the third hydraulic control one-way valve and the fourth hydraulic control one-way valve are arranged on the first pressure supplementing pipeline, the third pilot operated check valve is connected with the EK pipeline, the fourth pilot operated check valve is connected with the FL pipeline, and a first pressure supplementing pipeline between the third hydraulic control one-way valve and the fourth hydraulic control one-way valve is connected with the power system, and the working oil port D is connected with the power system.
Preferably, the second hydraulic transformer includes a working oil port A, B, C, the bidirectional fixed-displacement motor includes a working oil port G, H, the working oil ports C, G are connected to form a CG pipeline, the working oil ports B, H are connected to form a BH pipeline, the CG pipeline and the BH pipeline form the second hydraulic circuit, the check valve group II comprises a first hydraulic control check valve and a second hydraulic control check valve, a second pressure supplementing pipeline is connected between the CG pipeline and the BH pipeline, the first hydraulic control one-way valve and the second hydraulic control one-way valve are arranged on the second pressure supplementing pipeline, the first hydraulic control one-way valve is connected with the CG pipeline, the second hydraulic control one-way valve is connected with the BH pipeline, and a second pressure supplementing pipeline between the first hydraulic control one-way valve and the second hydraulic control one-way valve is connected with the power system, and the working oil port A is connected with the power system.
Preferably, the power system comprises an engine, a variable pump is arranged at the output end of the engine, the variable pump comprises an output oil port I and an input oil port J, the output oil port I is communicated with a first energy accumulator through a pipeline, the input oil port J is communicated with a second energy accumulator, an overflow valve is connected between the input oil port J and the output oil port I through a pipeline, and the input oil port J, the output oil port I and the overflow valve form a closed loop.
Preferably, the first accumulator is connected to the working oil port A, D through a pipeline, a second pressure compensating pipeline between the first hydraulic control check valve and the second hydraulic control check valve is connected to the second accumulator, and a first pressure compensating pipeline between the third hydraulic control check valve and the fourth hydraulic control check valve is connected to the second accumulator.
Preferably, control system includes steering wheel, gear control rod, controller, first speed sensor and second speed sensor, steering wheel, gear control rod, first speed sensor, second speed sensor respectively with controller input electric connection, first hydraulic transformer, second hydraulic transformer respectively with controller output electric connection.
Preferably, the gear pair system comprises a middle gear pair, a left gear pair, a right gear pair, a first planetary confluence mechanism and a second planetary confluence mechanism, the first planetary confluence mechanism is arranged between the left gear pair and the middle gear pair, the second planetary confluence mechanism is arranged between the right gear pair and the middle gear pair, the output shaft end of the left gear pair, the first sun gear shaft end of the first planetary confluence mechanism, the output shaft end of the middle gear pair, the second sun gear shaft end of the second planetary confluence mechanism and the output shaft end of the right gear pair are concentric and fixedly connected together, the input shaft end of the left gear pair and the input shaft end of the right gear pair are concentric and fixedly connected together, and the end part of a first gear ring of the first planetary gear confluence mechanism is fixedly connected with a left power output, and the end part of a second gear ring of the second planetary gear confluence mechanism is fixedly connected with a right power output.
Preferably, the transmission ratio of the left gear pair is different from that of the right gear pair, the input shaft end of the left gear pair is fixedly connected with the output end of the bidirectional constant displacement motor, and the input shaft end of the middle gear pair is fixedly connected with the output end of the bidirectional constant displacement pump.
Preferably, the first rotation speed sensor is arranged on one side of the input gear of the left gear pair, and the second rotation speed sensor is arranged on one side of the input gear of the middle gear pair.
The invention discloses the following technical effects:
according to the driving and steering system of the double-power-flow tracked vehicle, the driving and steering system adopts the novel hydraulic transformer and the pump/motor or the motor, so that the functions of straight driving stepless speed change and steering stepless speed change of the tracked vehicle are realized.
The novel hydraulic transformer has the characteristics of small flow pulsation, compact structure, wide transformation range, low noise, high power density and the like, and further has the advantages of compact structure, high power density, stable and reliable steering characteristic, low price, long service life and the like.
The novel hydraulic transformer can adjust any value in a pressure change range of the hydraulic network pressure without throttling loss, can realize power matching and improve fuel economy.
The voltage transformation process can output energy to the load, and can also recover energy from the load to the constant voltage network, so that the recovery of braking energy can be realized, and the energy utilization rate is improved.
Besides, the hydraulic energy recovered by the hydraulic accumulator can meet the requirement of instantaneous intermittent high power. The energy released by the hydraulic accumulator during starting of the tracked vehicle can be used to accelerate the starting process, thereby improving the working efficiency of the system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural view of a dual power flow tracked vehicle drive and steering system of the present invention.
The hydraulic control system comprises a steering wheel 1, a gear control lever 2, a controller 3, a second hydraulic transformer 4, a first hydraulic control one-way valve 5, a second hydraulic control one-way valve 6, a bidirectional quantitative motor 7, a first speed sensor 8, a first planet confluence mechanism 9, a second planet confluence mechanism 10, a second speed sensor 11, an engine 12, a bidirectional quantitative pump 13, a variable pump 14, an overflow valve 15, a second accumulator 16, a first accumulator 17, a first hydraulic transformer 18, a third one-way valve 19, a fourth hydraulic control one-way valve 20, a left power output 21, a right power output 22, a second hydraulic circuit 23, a first hydraulic circuit 24, a second pressure supplementing pipeline 25 and a first pressure supplementing pipeline 26.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, the driving and steering system of the dual power flow tracked vehicle of the present invention comprises a control system, a power system, a linear driving system, a steering driving system and a gear pair system;
the power system provides power for the linear driving system and the steering driving system, the control system controls the linear driving system to further control the gear pair system to realize the linear driving of the vehicle, and the control system controls the steering driving system to further control the gear pair system to realize the steering driving of the vehicle;
the linear driving system comprises a first hydraulic transformer 18, a one-way valve group I and a two-way constant delivery pump 13, the input end of the first hydraulic transformer 18 and the one-way valve group I are respectively communicated with the power system, a first hydraulic loop 24 is formed between the output end of the first hydraulic transformer 18 and the two-way constant delivery pump 13, the one-way valve group I is arranged between the first hydraulic loops 24, the control system controls the two-way constant delivery pump 13 by controlling the first hydraulic transformer 18, and the power system realizes pressure compensation on the first hydraulic loop 24 by the one-way valve group I;
turn to actuating system and include second hydraulic transformer 4, check valve group II and two-way ration motor 7, the 4 inputs of second hydraulic transformer, check valve group II communicates with each other with driving system respectively, form second hydraulic circuit 23 between 4 outputs of second hydraulic transformer and the two-way ration motor 7, check valve group II sets up between second hydraulic circuit 23, control system realizes controlling two-way ration motor 7 through controlling second hydraulic transformer 4, driving system realizes 23 repressing of second hydraulic circuit through check valve group II.
In a further preferred scheme, the first hydraulic transformer 18 comprises a working oil port D, E, F, the bidirectional constant displacement pump 13 comprises a working oil port K, L, the working oil ports E, K are connected to form an EK pipeline, the working oil ports F, L are connected to form an FL pipeline, the EK pipeline and the FL pipeline form a first hydraulic circuit 24, the check valve group I comprises a third hydraulic control check valve 19 and a fourth hydraulic control check valve 20, a first pressure supplementing pipeline 26 is connected between the EK pipeline and the FL pipeline, the first pressure supplementing pipeline 26 is provided with the third hydraulic control check valve 19 and the fourth hydraulic control check valve 20, the third hydraulic control check valve 19 is connected with the EK pipeline, the fourth hydraulic control check valve 20 is connected with the FL pipeline, the first pressure supplementing pipeline 26 between the third hydraulic control check valve 19 and the fourth hydraulic control check valve 20 is connected with the power system, and the working D is connected with the power system;
wherein, the driver is through controlling gear control pole 2, with signal transmission for controller 3, and controller 3 is through changing the size of first hydraulic transformer 18 port plate pivot angle, adjusts the discharge capacity of first hydraulic transformer 18 to adjust the output rotational speed of two-way constant delivery pump 13, realize infinitely variable.
The first hydraulic transformer 18 has three working oil ports D, E and F, where the port D is connected to the high pressure oil path of the constant pressure network and the ports E and F can be interchanged. When the K port of the bidirectional constant delivery pump 13 is an oil inlet, the F port of the first hydraulic transformer 18 is an oil return port, the output rotating speed of the bidirectional constant delivery pump 13 is in the direction shown in the figure, and the vehicle runs in the forward direction. When the L port of the bidirectional fixed displacement pump 13 is an oil inlet, the E port of the first hydraulic transformer 18 is an oil return port, the output rotation speed of the bidirectional fixed displacement pump 13 is opposite to the direction shown in the figure, and the vehicle runs in the reverse direction.
When the EK line is a high pressure line, it opens the fourth pilot operated check valve 20, and the second accumulator 16 replenishes oil to the FL low pressure line. When the FL pipeline is a high-pressure oil line, the FL pipeline opens the third pilot-controlled check valve 19, and the second accumulator 16 supplies oil to the EK low-pressure oil line.
In a further preferred scheme, the second hydraulic transformer 4 comprises a working oil port A, B, C, the bidirectional quantitative motor 7 comprises a working oil port G, H, the working oil ports C, G are connected to form a CG pipeline, the working oil ports B, H are connected to form a BH pipeline, the CG pipeline and the BH pipeline form a second hydraulic loop 23, the check valve group II comprises a first hydraulic control check valve 5 and a second hydraulic control check valve 6, a second pressure supplementing pipeline 25 is connected between the CG pipeline and the BH pipeline, the second pressure supplementing pipeline 25 is provided with the first hydraulic control check valve 5 and the second hydraulic control check valve 6, the first hydraulic control check valve 5 is connected with the CG pipeline, the second hydraulic control check valve 6 is connected with the BH pipeline, the second pressure supplementing pipeline 25 between the first hydraulic control check valve 5 and the second hydraulic control check valve 6 is connected with a power system, and the working oil port a is connected with the power system;
wherein, the driver passes through steering wheel 1, transmits turn signal to controller 3, and controller 3 transmits the signal to above-mentioned second hydraulic pressure transformer 4, through the pivot angle that changes second hydraulic pressure transformer 4 valve plate, adjusts its discharge capacity to adjust the output rotational speed of two-way quantitative motor 7, realize the stepless steering.
The second hydraulic transformer 4 has three working oil ports A, B and C, wherein the port A is connected with a high-pressure oil path of a constant pressure network, and the ports B and C can be interchanged. When the port G of the bidirectional quantitative motor 7 is an oil inlet, the port B of the hydraulic transformer is an oil return port, and the output rotating speed of the bidirectional quantitative motor 7 is in the direction shown in the figure. When the H port of the bidirectional fixed-displacement motor 7 is an oil inlet, the C port of the second hydraulic transformer 4 is an oil return port, and the output rotation speed of the bidirectional fixed-displacement motor 7 is opposite to the direction shown in the figure.
When the oil way CG is a high-pressure oil way, the second hydraulic control one-way valve 6 is opened, and the second energy accumulator 16 supplements oil for a BH low-pressure oil way. When the oil path BH is a high-pressure oil path, the first hydraulic control one-way valve 5 is opened, and oil is supplemented to the CG low-pressure oil path by the second energy accumulator 16.
Further preferred scheme, driving system includes engine 12, and the engine 12 output is provided with variable pump 14, and variable pump 14 includes output hydraulic fluid port I, input hydraulic fluid port J, and output hydraulic fluid port I has first energy storage ware 17 through the pipeline intercommunication, and input hydraulic fluid port J communicates with second energy storage ware 16, has overflow valve 15 through the pipe connection between input hydraulic fluid port J, the output hydraulic fluid port I, overflow valve 15 forms closed loop.
In a further preferable scheme, the first energy accumulator 17 is respectively connected with the working oil port A, D through a pipeline, the second pressure supplementing pipeline 25 between the first hydraulic control one-way valve 5 and the second hydraulic control one-way valve 6 is connected with the second energy accumulator 16, and the first pressure supplementing pipeline 26 between the third hydraulic control one-way valve 19 and the fourth hydraulic control one-way valve 20 is connected with the second energy accumulator 16;
wherein, power is output by engine 12, drives variable pump 14 work through the clutch, J is the oil inlet, I is the oil-out output high pressure medium. The low pressure medium of the variable displacement pump 14 is provided by a second accumulator 16. The high-pressure medium passes through system relief valve 15 and first accumulator 17. Relief valve 15 is used to set the maximum pressure of the system. The second accumulator 16 is used to store high pressure medium at system pressures above the accumulator set pressure and to release it to meet the system demand pressure when the pressure output by the variable displacement pump 14 is insufficient to provide the system demand pressure. The power output by the variable displacement pump 14 is split into two paths, one of which is delivered to a first hydraulic transformer 18 for driving the straight driving path. The other path transmits power to a second hydraulic transformer 4 for driving a steering path.
Further preferably, the control system comprises a steering wheel 1, a gear control lever 2, a controller 3, a first rotating speed sensor 8 and a second rotating speed sensor 11, wherein the steering wheel 1, the gear control lever 2, the first rotating speed sensor 8 and the second rotating speed sensor 11 are respectively and electrically connected with the input end of the controller 3, and a first hydraulic transformer 18 and a second hydraulic transformer 4 are respectively and electrically connected with the output end of the controller 3;
wherein, the rotating speed signals of the first rotating speed sensor 8 and the second rotating speed sensor 11 are fed back to the controller 3, and form a steering closed-loop control system together with the second hydraulic transformer 4. And then the rotating speed and the torque output by the bidirectional quantitative motor 7 are controlled, the steering requirement and the steering force of the tracked vehicle are met, the power matching is realized, and the fuel economy is improved.
In a further preferable scheme, the gear pair system comprises a middle gear pair, a left gear pair, a right gear pair, a first planet confluence mechanism 9 and a second planet confluence mechanism 10, wherein the first planet confluence mechanism 9 is arranged between the left gear pair and the middle gear pair, the second planet confluence mechanism 10 is arranged on the right gear pair, between the middle gear pairs, the output shaft end of the left gear pair, the first sun gear shaft end of the first planetary confluence mechanism 9, the output shaft end of the middle gear pair, the second sun gear shaft end of the second planetary confluence mechanism 10 and the output shaft end of the right gear pair are concentric and fixedly connected together, the input shaft end of the left gear pair and the input shaft end of the right gear pair are concentric and fixedly connected together, the end part of a first gear ring of the first planetary confluence mechanism is fixedly connected with a left power output 21, and the end part of a second gear ring of the second planetary confluence mechanism is fixedly connected with a right power output 22;
wherein, the bidirectional quantitative motor 7 transmits the output power to the left gear pair and the right gear pair; the left gear pair transmits power to a first sun gear of the first planetary confluence mechanism 9; the power of the first sun gear and the bidirectional constant displacement pump 13 is subjected to power confluence through a first gear ring of the first planetary confluence mechanism 9, and the power is output 21 from the left side; the right gear pair transmits power to a second sun gear of the second planetary confluence mechanism 10; the power of the second sun gear and the bidirectional constant displacement pump 13 is subjected to power confluence through a second gear ring of the second planetary confluence mechanism 10, and the power is output 22 from the right side;
in a further preferred scheme, the transmission ratio of the left gear pair is different from that of the right gear pair, the input shaft end of the left gear pair is fixedly connected with the output end of the bidirectional constant displacement motor 7, and the input shaft end of the middle gear pair is fixedly connected with the output end of the bidirectional constant displacement pump 13;
wherein, left side gear pair and right side gear pair difference lie in that left side gear pair is through twice meshing, and right side gear pair is through the cubic meshing for the transmission ratio of left side gear pair is different with the transmission ratio of right side gear pair, thereby realizes that left side power take off 21 rotational speed is different with right side power take off 22 rotational speed.
In a further preferred embodiment, the first speed sensor 8 is arranged on one side of the input gear of the left gear pair, and the second speed sensor 11 is arranged on one side of the input gear of the intermediate gear pair.
It is noted that, when the vehicle travels straight, the steering wheel 1 is not rotated, so that the inclination angle of the second hydraulic transformer 4 is 0 degree; the rotation speed of an output shaft of the bidirectional quantitative motor 7 is 0, the rotation speeds of the first sun gear and the second sun gear are both 0, the same power output rotation speeds of the left side and the right side are achieved, when steering is needed, a driver transmits a steering signal to the controller 3 through the steering wheel 1, the controller 3 transmits the signal to the second hydraulic transformer 4, the displacement of the second hydraulic transformer 4 is adjusted through changing the swing angle of a flow distribution plate of the second hydraulic transformer 4, the output rotation speed of the bidirectional quantitative motor 7 is adjusted, and the transmission ratio of the left gear pair is different from that of the right gear pair through meshing the left gear pair twice and meshing the right gear pair three times; therefore, the rotating speed of the left power output 21 is different from that of the right power output 22, and finally the steering of the tracked vehicle during straight running is realized.
When the variable inclination angle of the first hydraulic transformer 18 is 0 and the output rotating speed of the bidirectional constant displacement pump 13 is 0, the displacement of the valve plate of the second hydraulic transformer 4 is changed, so that the output rotating speed of the bidirectional constant displacement motor 7 is adjusted, the rotating speed output by the bidirectional constant displacement motor 7 is transmitted to the left and right side gear pairs, and speed differential steering is formed by the first sun gear of the first planetary confluence mechanism 9 and the second sun gear of the second planetary confluence mechanism 10, so that the in-situ steering of the tracked vehicle is realized.
When the second hydraulic transformer 4 does not receive a signal from the steering wheel 1 to the controller 3, the inclination angle of the second hydraulic transformer 4 is 0, the rotating speeds of the first sun gear of the first planetary confluence mechanism 9 and the second sun gear of the second planetary confluence mechanism 10 are 0, and therefore the power output rotating speeds of the left side and the right side are the same, and the crawler vehicle can run straight.
When the port E and the port F of the first hydraulic transformer 18 are interchanged, namely the output rotating speed direction of the shaft of the bidirectional constant delivery pump 13 is changed, the reverse running of the tracked vehicle is further realized.
When the tracked vehicle is in a braking working condition, the bidirectional constant delivery pump 13 is in a pump state, the output high-pressure medium is transmitted to the first hydraulic transformer 18, the high-pressure medium is output by adjusting the variable inclination angle of the first hydraulic transformer 18 and is stored in the first energy accumulator 17, and braking energy recovery is realized.
The energy recovered by the first accumulator 17 for braking can meet the need for instantaneous intermittent high power. The energy released by the first accumulator 17 during starting of the tracked vehicle can be used to accelerate the starting process, thereby increasing the operating efficiency of the system.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (9)
1. A dual power flow tracked vehicle drive and steering system which characterized in that: the system comprises a control system, a power system, a linear driving system, a steering driving system and a gear pair system;
the power system provides power for the linear driving system and the steering driving system, the control system controls the gear pair system to realize the linear driving of the vehicle by controlling the linear driving system, and the control system controls the steering driving system to realize the steering driving of the vehicle by controlling the gear pair system;
the linear driving system comprises a first hydraulic transformer (18), a check valve group I and a two-way constant delivery pump (13), wherein the input end of the first hydraulic transformer (18) and the check valve group I are respectively communicated with the power system, a first hydraulic loop (24) is formed between the output end of the first hydraulic transformer (18) and the two-way constant delivery pump (13), the check valve group I is arranged between the first hydraulic loops (24), the control system controls the two-way constant delivery pump (13) by controlling the first hydraulic transformer (18), and the power system realizes pressure compensation on the first hydraulic loop (24) through the check valve group I;
turn to actuating system and include second hydraulic pressure transformer (4), check valve group II and two-way ration motor (7), second hydraulic pressure transformer (4) input, check valve group II respectively with driving system communicates with each other, second hydraulic pressure transformer (4) output with form second hydraulic circuit (23) between two-way ration motor (7), check valve group II sets up between second hydraulic circuit (23), control system is through control second hydraulic pressure transformer (4) realize control two-way ration motor (7), driving system passes through check valve group II realizes right second hydraulic circuit (23) are mended pressure.
2. A dual power flow track vehicle drive and steering system as defined in claim 1 wherein: the first hydraulic transformer (18) comprises a working oil port D, E, F, the bidirectional fixed displacement pump (13) comprises a working oil port K, L, the working oil ports E, K are connected to form an EK pipeline, the working oil ports F, L are connected to form an FL pipeline, the EK pipeline and the FL pipeline form the first hydraulic loop (24), the check valve group I comprises a third hydraulic control one-way valve (19) and a fourth hydraulic control one-way valve (20), a first pressure supplementing pipeline (26) is connected between the EK pipeline and the FL pipeline, the third hydraulic control one-way valve (19) and the fourth hydraulic control one-way valve (20) are arranged on the first pressure supplementing pipeline (26), the third hydraulic control one-way valve (19) is connected with the EK pipeline, the fourth hydraulic control one-way valve (20) is connected with the FL pipeline, and the first pressure supplementing pipeline (26) between the third hydraulic control one-way valve (19) and the fourth hydraulic control one-way valve (20) is connected with the power system, and the working oil port D is connected with the power system.
3. A dual power flow track vehicle drive and steering system as claimed in claim 2, wherein: the second hydraulic transformer (4) comprises a working oil port A, B, C, the bidirectional quantitative motor (7) comprises a working oil port G, H, the working oil port C, G is connected to form a CG pipeline, the working oil port B, H is connected to form a BH pipeline, the CG pipeline and the BH pipeline form a second hydraulic loop (23), the check valve group II comprises a first hydraulic control one-way valve (5) and a second hydraulic control one-way valve (6), a second pressure supplementing pipeline (25) is connected between the CG pipeline and the BH pipeline, the second pressure supplementing pipeline (25) is provided with the first hydraulic control one-way valve (5) and the second hydraulic control one-way valve (6), the first hydraulic control one-way valve (5) is connected with the CG pipeline, the second hydraulic control one-way valve (6) is connected with the BH pipeline, the second pressure supplementing pipeline (25) between the first hydraulic control one-way valve (5) and the second hydraulic control one-way valve (6) is connected with the power system, and the working oil port A is connected with the power system.
4. A dual power flow track vehicle drive and steering system as claimed in claim 3, wherein: the power system comprises an engine (12), wherein a variable pump (14) is arranged at the output end of the engine (12), the variable pump (14) comprises an output oil port I and an input oil port J, the output oil port I is communicated with a first energy accumulator (17) through a pipeline, the input oil port J is communicated with a second energy accumulator (16), an overflow valve (15) is connected between the input oil port J and the output oil port I through a pipeline, and the input oil port J, the output oil port I and the overflow valve (15) form a closed loop.
5. The dual power flow track vehicle drive and steering system of claim 4, wherein: the first energy accumulator (17) is connected with the working oil port A, D through a pipeline respectively, a second pressure supplementing pipeline (25) between the first hydraulic control one-way valve (5) and the second hydraulic control one-way valve (6) is connected with the second energy accumulator (16), and a first pressure supplementing pipeline (26) between the third hydraulic control one-way valve (19) and the fourth hydraulic control one-way valve (20) is connected with the second energy accumulator (16).
6. A dual power flow track vehicle drive and steering system as defined in claim 1 wherein: control system includes steering wheel (1), gear control rod (2), controller (3), first speed sensor (8) and second speed sensor (11), steering wheel (1), gear control rod (2), first speed sensor (8), second speed sensor (11) respectively with controller (3) input electric connection, first hydraulic transformer (18), second hydraulic transformer (4) respectively with controller (3) output electric connection.
7. A dual power flow track vehicle drive and steering system as defined in claim 6 wherein: the gear pair system comprises a middle gear pair, a left gear pair, a right gear pair, a first planet converging mechanism (9) and a second planet converging mechanism (10), wherein the first planet converging mechanism (9) is arranged between the left gear pair and the middle gear pair, the second planet converging mechanism (10) is arranged between the right gear pair and the middle gear pair, the output shaft end of the left gear pair, the first sun gear shaft end of the first planet converging mechanism (9), the output shaft end of the middle gear pair, the second sun gear shaft end of the second planet converging mechanism (10) and the output shaft end of the right gear pair are concentric and fixedly connected together, the input shaft end of the left gear pair and the input shaft end of the right gear pair are concentric and fixedly connected together, and the first gear ring end of the first planet converging mechanism (9) is fixedly connected with a left power output (21), and a right power output (22) is fixedly connected to the end part of the second gear ring of the second planetary confluence mechanism (10).
8. A dual power flow track vehicle drive and steering system as defined in claim 7 wherein: the transmission ratio of the left gear pair is different from that of the right gear pair, the input shaft end of the left gear pair is fixedly connected with the output end of the bidirectional constant displacement motor (7), and the input shaft end of the middle gear pair is fixedly connected with the output end of the bidirectional constant displacement pump (13).
9. A dual power flow track vehicle drive and steering system as defined in claim 7 wherein: the first rotating speed sensor (8) is arranged on one side of the input gear of the left gear pair, and the second rotating speed sensor (11) is arranged on one side of the input gear of the middle gear pair.
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| CN111924004A (en) | 2020-11-13 |
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