CN112032275B - Mechanical four-axis differential device - Google Patents
Mechanical four-axis differential device Download PDFInfo
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- CN112032275B CN112032275B CN201910476912.9A CN201910476912A CN112032275B CN 112032275 B CN112032275 B CN 112032275B CN 201910476912 A CN201910476912 A CN 201910476912A CN 112032275 B CN112032275 B CN 112032275B
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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
- F16H48/06—Differential gearings with gears having orbital motion
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Abstract
The invention provides a mechanical four-shaft differential device, which comprises a transfer case, a closed gear, a shell and four power devices with the same structure, wherein the main rotating center of the transfer case is coaxial with the rotating center of the closed gear and is positioned in the center of a four-shaft differential transmission device; the four power devices are uniformly distributed on the periphery of the mechanical four-shaft differential transmission device; the main rotating shafts of the power devices are parallel to each other and are parallel to the main rotating center of the transfer case; the power devices I, II, III and IV have no direct transmission connection, one ends of the power devices I, II, III and IV are respectively in transmission connection with the transfer case, and the other ends of the power devices I, II, III and IV are respectively in transmission connection with the closed gear; the shell plays the roles of installation, connection and fixation. The invention provides a mechanical four-shaft differential transmission device, which is a transmission device for realizing self-adaptive transfer in single drive and power coupling in four-shaft random motion by using a mechanical structure in a complex and uncertain environment, forms power closure and can carry out precision self-calibration.
Description
Technical Field
The invention belongs to the field of mechanical transmission, and particularly relates to a mechanical four-shaft differential device.
Background
The differential device is a transmission device which utilizes a mechanical structure to realize self-adaptive transfer in single drive and power coupling in multi-shaft random motion in complex and uncertain environments; when the single power source drives, the device can decompose one path of main input motion into multi-path branch output motion with any rotating speed ratio, and all branch output moments are equal; when multiple paths of random motions are input, the device can couple the multiple paths of random motions into a single path of main output motions with a determined relation with the input motions, and synthesize the power of each path of branch motions. Therefore, the device has many applications in the field of robots, on the one hand, the number of actuators can be reduced, and on the other hand, the use of complex control systems is avoided; for example, when external constraints are unknown or complex to reconstruct, multiple execution endings may co-operate in real time as constraints change; and the force value output by each execution terminal is the output force value of the minimum resistance terminal, so that the flexibility of the operation is automatically ensured. Meanwhile, the device can greatly reduce the requirement on the maximum output capacity of the actuator, thereby reducing the technical difficulty and the cost requirement, and carrying out power synthesis on a plurality of actuators with smaller output torque to meet the requirement on large power. Currently, a differential mechanism having a differential motion function realizes at most three-axis differential, which limits the number of partial motions.
Disclosure of Invention
In view of this, the present invention is directed to a mechanical four-axis differential device, which increases the number of partial motions to a certain extent, and can realize motion conversion between one main motion and four partial motions, and the device forms a power seal and can perform precision self-calibration.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a mechanical four-shaft differential device comprises a shell, and a power device I, a power device II, a power device III, a power device IV, a transfer case V and a closed gear which are arranged in the shell, wherein the transfer case V is positioned in the center of the shell, and the power device I, the power device II, the power device III and the power device IV are arranged on the periphery of the transfer case V in a circumferential array manner;
the transfer case V comprises a first straight-tooth sun gear, a second straight-tooth sun gear, a third straight-tooth sun gear, a fourth straight-tooth sun gear, a first cross shaft and a second cross shaft, the first cross shaft of the transfer case is a main rotating shaft of the transfer case V, a first straight-tooth sun gear of the transfer case and a second straight-tooth sun gear of the transfer case are both sleeved on the first cross shaft of the transfer case, a third straight-tooth sun gear of the transfer case and a fourth straight-tooth sun gear of the transfer case are both sleeved on the second cross shaft of the transfer case, the closed gear and the main rotating shaft of the transfer case are coaxially arranged, the closed gear rotates around the main rotating shaft of the transfer case, the first transverse shaft of the transfer case and the second transverse shaft of the transfer case are coaxial and are fixedly connected with a reversing mechanism arranged in the shell, the reversing mechanism is arranged between the end parts of the first transverse shaft and the second transverse shaft of the transfer case;
the power device I comprises a power device I straight tooth power gear, a power device I straight tooth feedback gear and a power device I rotating shaft, the power device I rotating shaft is a main rotating shaft of the power device I, the power device I rotating shaft is arranged in parallel with a main rotating shaft of a transfer case V, the power device I straight tooth power gear and the power device I straight tooth feedback gear are both arranged on the power device I rotating shaft, the power device I straight tooth power gear is meshed with a closed gear, and the power device I straight tooth feedback gear is meshed with a first straight tooth sun gear of the transfer case;
the power device II comprises a power device II straight-tooth power gear, a power device II straight-tooth feedback gear and a power device II rotating shaft, the power device II rotating shaft is a main rotating shaft of the power device II, the power device II rotating shaft is arranged in parallel with a main rotating shaft of the transfer case V, the power device II straight-tooth power gear and the power device II straight-tooth feedback gear are both arranged on the power device II rotating shaft, the power device II straight-tooth power gear is meshed with the closed gear, and the power device II straight-tooth feedback gear is meshed with the second straight-tooth sun gear of the transfer case;
the power device III comprises a power device III straight tooth power gear, a power device III straight tooth feedback gear and a power device III rotating shaft, the power device III rotating shaft is a main rotating shaft of the power device III, the power device III rotating shaft is arranged in parallel with a main rotating shaft of the transfer case V, the power device III straight tooth power gear and the power device III straight tooth feedback gear are both arranged on the power device III rotating shaft, the power device III straight tooth power gear is meshed with the closed gear, and the power device III straight tooth feedback gear is meshed with a third straight tooth sun gear of the transfer case;
the power device IV comprises a power device IV straight-tooth power gear, a power device IV straight-tooth feedback gear and a power device IV rotating shaft, the power device IV rotating shaft is a main rotating shaft of the power device IV, the power device IV rotating shaft is arranged in parallel with the main rotating shaft of the transfer case V, the power device IV straight-tooth power gear and the power device IV straight-tooth feedback gear are both arranged on the power device IV rotating shaft, the power device IV straight-tooth power gear is meshed with a sealing gear, and the power device IV straight-tooth feedback gear is meshed with a transfer case fourth straight-tooth sun gear.
Further, power ware I, power ware II, power ware III and power ware IV still include power ware straight-tooth sun gear, power ware straight-tooth planet wheel, power ware planet carrier and power ware straight-tooth internal gear respectively, power ware straight-tooth sun gear, power ware planet carrier and power ware straight-tooth internal gear all suit are in corresponding power ware pivot, power ware straight-tooth sun gear links firmly with corresponding power ware pivot, power ware straight-tooth planet wheel is three altogether and just has the revolution and have the rotation around respective power ware pivot along the circumference equipartition on power ware planet carrier, power ware planet carrier and power ware straight-tooth internal gear all rotate around respective power ware pivot.
Further, a power device planet carrier in the power device I is fixedly connected with a straight-tooth power gear of the power device I, a power device planet carrier in the power device II is fixedly connected with a straight-tooth power gear of the power device II, a power device planet carrier in the power device III is fixedly connected with a straight-tooth power gear of the power device III, and a power device planet carrier in the power device IV is fixedly connected with a straight-tooth power gear of the power device IV.
Further, a straight-tooth internal gear of a power device of the power device I is fixedly connected with a straight-tooth feedback gear of the power device I, a straight-tooth internal gear of a power device of the power device II is fixedly connected with a straight-tooth feedback gear of the power device II, a straight-tooth internal gear of a power device of the power device III is fixedly connected with a straight-tooth feedback gear of the power device III, and a straight-tooth internal gear of a power device of the power device IV is fixedly connected with a straight-tooth feedback gear of the power device IV.
Furthermore, the transfer case V also comprises a first transfer case bevel gear sun wheel, a second transfer case bevel gear sun wheel, a first transfer case bevel gear planet wheel, a second transfer case bevel gear planet wheel, a third transfer case bevel gear sun wheel, a fourth transfer case bevel gear sun wheel, a third transfer case bevel gear planet wheel, a fourth transfer case bevel gear planet wheel, a first transfer case vertical shaft and a fourth transfer case vertical shaft, wherein the first transfer case bevel gear sun wheel and the second transfer case bevel gear sun wheel are sleeved on the first transfer case horizontal shaft, the middle part of the first transfer case vertical shaft is vertically and fixedly connected with the first transfer case horizontal shaft, the first transfer case vertical shaft is arranged between the first transfer case bevel gear sun wheel and the second transfer case bevel gear sun wheel, the first transfer case bevel gear planet wheel and the second transfer case bevel gear planet wheel are respectively sleeved at two ends of the first transfer case vertical shaft, rotate around the first transfer case vertical shaft and revolve around the first transfer case horizontal shaft, the first bevel gear planet wheel of the transfer case is respectively meshed with a first bevel gear sun wheel of the transfer case and a second bevel gear sun wheel of the transfer case, and the second bevel gear planet wheel of the transfer case is respectively meshed with the first bevel gear sun wheel of the transfer case and the second bevel gear sun wheel of the transfer case;
the third bevel gear planetary gear and the fourth bevel gear planetary gear are respectively meshed with the third bevel gear sun gear and the fourth bevel gear sun gear of the transfer case.
Furthermore, a first straight-tooth sun gear of the transfer case is fixedly connected with a first bevel-tooth sun gear of the transfer case, a second straight-tooth sun gear of the transfer case is fixedly connected with a second bevel-tooth sun gear of the transfer case, a third straight-tooth sun gear of the transfer case is fixedly connected with a third bevel-tooth sun gear of the transfer case, and a fourth straight-tooth sun gear of the transfer case is fixedly connected with a fourth bevel-tooth sun gear of the transfer case.
Furthermore, the reversing mechanism comprises a first transfer case reversing bevel gear, a second transfer case reversing bevel gear, a third transfer case reversing bevel gear, a fourth transfer case reversing bevel gear, a second transfer case vertical shaft and a third transfer case vertical shaft, the second transfer case vertical shaft and the third transfer case vertical shaft are coaxially arranged and are all perpendicular to the first transfer case transverse shaft, and the first transfer case reversing bevel gear and the first transfer case transverse shaft are coaxial and fixedly connected; the second reversing bevel gear of the transfer case is coaxial with and fixedly connected with a second transverse shaft of the transfer case, and the third reversing bevel gear of the transfer case is assembled on a second vertical shaft of the transfer case and rotates around the second vertical shaft of the transfer case; the fourth reversing bevel gear planet wheel of the transfer case is assembled on the third vertical shaft of the transfer case and rotates around the third vertical shaft of the transfer case, and the first reversing bevel gear and the second reversing bevel gear are respectively meshed with the third reversing bevel gear and the fourth reversing bevel gear.
Furthermore, the second vertical shaft of the transfer case and the third vertical shaft of the transfer case form an included angle of 45 degrees with the plane formed by the rotating shaft of the power device I and the rotating shaft of the power device II.
Furthermore, the first straight-tooth sun gear of the transfer case, the second straight-tooth sun gear of the transfer case, the third straight-tooth sun gear of the transfer case and the fourth straight-tooth sun gear of the transfer case have the same number of teeth.
Furthermore, a rotating shaft of the power device I, a rotating shaft of the power device II, a rotating shaft of the power device III, a rotating shaft of the power device IV, a first cross shaft of the transfer case, a second vertical shaft of the transfer case and a third vertical shaft of the transfer case are all arranged on the shell through revolute pairs.
Compared with the prior art, the mechanical four-shaft differential device has the following advantages:
the invention relates to a mechanical four-shaft differential device,
1) the mechanical four-shaft differential device realizes real-time autonomous motion conversion between single main motion and four sub-motions by utilizing a mechanical structure, and fills the blank of the field of purely mechanical four-shaft differential transmission;
2) aiming at the driving of a plurality of execution tail ends, the number of actuators is greatly reduced, the use of a complex control system is avoided, and the requirement on the maximum output capacity of the actuators is reduced, so that the technical difficulty and the cost are reduced;
3) compared with the existing differential mechanism, the differential mechanism improves the differential number, thereby allowing more execution ends to be used;
4) the mechanical four-shaft differential device forms power sealing by the matching of the transfer case and the power device, can perform precision self calibration, and has the advantages of simple structure, compact structure and convenient processing and manufacturing.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic overall structure view of a mechanical four-axis differential device according to an embodiment of the present invention;
FIG. 2 is a schematic transmission diagram of a four-axis mechanical differential device according to an embodiment of the present invention;
FIG. 3 is an axial schematic view of a four-axis differential mechanical device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of the transmission of the clutch in the mechanical four-shaft differential device according to the embodiment of the present invention.
Description of reference numerals:
1-01-straight-tooth sun gear of power device I, 1-02-first straight-tooth planetary gear of power device I, 1-03-second straight-tooth planetary gear of power device I, 1-04-third straight-tooth planetary gear of power device I, 1-05-planet carrier of power device I, 1-06A-straight-tooth internal gear of power device I, 1-06B-straight-tooth feedback gear of power device I, 1-07-straight-tooth power gear of power device I, 1-08-rotating shaft of power device I, 2-01-straight-tooth feedback gear of power device II, 2-02-straight-tooth power gear of power device II, 2-03-rotating shaft of power device II, 3-01-straight-tooth feedback gear of power device III, 3-02-straight-tooth power gear of power device III, 3-03-rotating shaft of power device III, 4-01-straight-tooth feedback gear of power device IV, 4-02-power unit IV straight-tooth power gear, 4-03-power unit IV rotating shaft, 5-01A-transfer case first straight-tooth sun gear, 5-01B-transfer case first bevel-tooth sun gear, 5-02A-transfer case second straight-tooth sun gear, 5-02B-transfer case second bevel-tooth sun gear, 5-03-transfer case first bevel-tooth planet gear, 5-04-transfer case second bevel-tooth planet gear, 5-05A-transfer case third straight-tooth sun gear, 5-05B-transfer case third bevel-tooth sun gear, 5-06A-transfer case fourth straight-tooth sun gear, 5-06B-transfer case fourth bevel-tooth sun gear, 5-07-transfer case third bevel-tooth planet gear, 5-08-transfer case fourth bevel-tooth, 5-09-transfer case first reversing bevel gear, 5-10-second reversing bevel gear of transfer case, 5-11-third reversing bevel gear of transfer case, 5-12-fourth reversing bevel gear of transfer case, 5-13-first horizontal shaft of transfer case, 5-14-second horizontal shaft of transfer case, 5-15-first vertical shaft of transfer case, 5-16-second vertical shaft of transfer case, 5-17-third vertical shaft of transfer case, 5-18-fourth vertical shaft of transfer case, 6-enclosed gear, 7-shell.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-4, a mechanical four-axis differential device comprises a housing 7, and a power device i, a power device ii, a power device iii, a power device iv, a transfer case v and a closed gear 6 which are arranged in the housing 7, wherein the transfer case v is located at the center of the housing 7, and the power device i, the power device ii, the power device iii and the power device iv are arranged on the periphery of the transfer case v in a circumferential array;
the transfer case V comprises a first transfer case straight-tooth sun gear 5-01A, a second transfer case straight-tooth sun gear 5-02A, a third transfer case straight-tooth sun gear 5-05A, a fourth transfer case straight-tooth sun gear 5-06A, a first transfer case cross shaft 5-13 and a second transfer case cross shaft 5-14, wherein the first transfer case cross shaft 5-13 is a main rotating shaft of the transfer case V, the first transfer case straight-tooth sun gear 5-01A and the second transfer case straight-tooth sun gear 5-02A are sequentially sleeved on the first transfer case cross shaft 5-13, the third transfer case straight-tooth sun gear 5-05A and the fourth transfer case straight-tooth sun gear 5-06A are sequentially sleeved on the second transfer case cross shaft 5-14, the sealing gear 6 is arranged coaxially with the main rotating shaft of the transfer case V, and the sealing gear 6 rotates around the main rotating shaft of the transfer case V, the first transverse shaft 5-13 of the transfer case is coaxial with the second transverse shaft 5-14 of the transfer case and is fixedly connected with a reversing mechanism arranged in the shell 7, and the reversing mechanism is arranged between the first transverse shaft 5-13 of the transfer case and the end part of the second transverse shaft 5-14 of the transfer case;
the power device I comprises a power device I straight tooth power gear 1-07, a power device I straight tooth feedback gear 1-06B and a power device I rotating shaft 1-08, the power device I rotating shaft 1-08 is a main rotating shaft of the power device I, the power device I rotating shaft 1-08 is arranged in parallel with a main rotating shaft of a transfer case V, the power device I straight tooth power gear 1-07 and the power device I straight tooth feedback gear 1-06B are both arranged on the power device I rotating shaft 1-08, the power device I straight tooth power gear 1-07 is meshed with a closed gear 6, and the power device I straight tooth feedback gear 1-06B is meshed with a transfer case first straight tooth sun gear 5-01A;
the power device II comprises a power device II straight tooth power gear 2-02, a power device II straight tooth feedback gear 2-01 and a power device II rotating shaft 2-03, the power device II rotating shaft 2-03 is a main rotating shaft of the power device II, the power device II rotating shaft 2-03 is arranged in parallel with a main rotating shaft of the transfer case V, the power device II straight tooth power gear 2-02 and the power device II straight tooth feedback gear 2-01 are both arranged on the power device II rotating shaft 2-03, the power device II straight tooth power gear 2-02 is meshed with the sealing gear 6, and the power device II straight tooth feedback gear 2-01 is meshed with the transfer case second straight tooth sun gear 5-02A;
the power device III comprises a power device III straight tooth power gear 3-02, a power device III straight tooth feedback gear 3-01 and a power device III rotating shaft 3-03, the power device III rotating shaft 3-03 is a main rotating shaft of the power device III, the power device III rotating shaft 3-03 is arranged in parallel with a main rotating shaft of a transfer case V, the power device III straight tooth power gear 3-02 and the power device III straight tooth feedback gear 3-01 are both arranged on the power device III rotating shaft 3-03, the power device III straight tooth power gear 3-02 is meshed with a sealing gear 6, and the power device III straight tooth feedback gear 3-01 is meshed with a third straight tooth sun gear 5-05A of the transfer case;
the power device IV comprises a power device IV straight tooth power gear 4-02, a power device IV straight tooth feedback gear 4-01 and a power device IV rotating shaft 4-03, the power device IV rotating shaft 4-03 is a main rotating shaft of the power device IV, the power device IV rotating shaft 4-03 is arranged in parallel with a main rotating shaft of a transfer case V, the power device IV straight tooth power gear 4-02 and the power device IV straight tooth feedback gear 4-01 are both arranged on the power device IV rotating shaft 4-03, the power device IV straight tooth power gear 4-02 is meshed with a sealing gear 6, and the power device IV straight tooth feedback gear 4-01 is meshed with a fourth straight tooth sun gear 5-06A of the transfer case; the power devices are not in direct transmission connection, the shell plays the roles of installation, connection and fixation, and when the single power source drives, the closed gear 6 becomes the power input of the mechanical four-shaft differential device; when four paths of random motion are input, the closed gear 6 becomes the power output of the mechanical four-shaft differential device.
Power ware I, power ware II, power ware III and power ware IV still include power ware straight-tooth sun gear, power ware straight-tooth planet wheel, power ware planet carrier and power ware straight-tooth internal gear respectively, power ware straight-tooth sun gear, power ware planet carrier and power ware straight-tooth internal gear all suit are in corresponding power ware pivot, power ware straight-tooth sun gear links firmly with corresponding power ware pivot, power ware straight-tooth planet wheel is three altogether along the circumference equipartition on power ware planet carrier and around the existing revolution of respective power ware pivot and have the rotation, power ware planet carrier and power ware straight-tooth internal gear all rotate around respective power ware pivot.
Taking a power device I as an example for explanation, the power device I comprises a straight-tooth sun gear 1-01 of the power device I, a first straight-tooth planet gear 1-02 of the power device I, a second straight-tooth planet gear 1-03 of the power device I (not shown), a third straight-tooth planet gear 1-04 of the power device I (not shown), a planet carrier 1-05 of the power device I (not shown), a straight-tooth internal gear 1-06A of the power device I, a straight-tooth feedback gear 1-06B of the power device I, a straight-tooth power gear 1-07 of the power device I and a rotating shaft 1-08 of the power device I; the rotating shafts 1-08 of the power device I are main rotating shafts of the power device I; the straight tooth sun gear 1-01 of the power device I, the straight tooth internal gear 1-06A of the power device I, the straight tooth feedback gear 1-06B of the power device I and the straight tooth power gear 1-07 of the power device I are all coaxial with the rotating shaft 1-08 of the power device I; the straight tooth sun gear 1-01 of the power device I is fixedly connected with a rotating shaft 1-08 of the power device I; the power device I comprises a power device I, a first straight-tooth planetary gear 1-02, a power device I, a second straight-tooth planetary gear 1-03 and a third straight-tooth planetary gear 1-04, wherein the first straight-tooth planetary gear 1-02, the second straight-tooth planetary gear 1-03 and the third straight-tooth planetary gear 1-04 are uniformly distributed on a power device I planetary gear rack 1-05 along the circumference, and a rotating shaft 1-08 of a rotary power device I has revolution and rotation; a planet carrier 1-05 of a power device I rotates around a rotating shaft 1-08 of the power device I; the straight tooth internal gear 1-06A of the power device I is fixedly connected with the straight tooth feedback gear 1-06B of the power device I and is mounted on a rotating shaft 1-08 of the power device I and rotates around the rotating shaft 1-08 of the power device I; and a straight tooth power gear 1-07 of the power device I is fixedly connected with a planet carrier 1-05 of the power device I. The power device I straight-tooth sun gear 1-01 is respectively meshed with a first straight-tooth planet gear 1-02, a second straight-tooth planet gear 1-03 and a third straight-tooth planet gear 1-04 of the power device I; the first straight-tooth planetary gear 1-02, the second straight-tooth planetary gear 1-03 and the third straight-tooth planetary gear 1-04 of the power device I are all meshed with a straight-tooth internal gear 1-06A of the power device I; the power device I is in external communication through a straight tooth feedback gear 1-06B of the power device I, a straight tooth power gear 1-07 of the power device I and a rotating shaft 1-08 of the power device I. When the single power source drives, the rotating shaft 1-08 of the power device I becomes one of the power outputs of the mechanical four-shaft differential device; when four paths of random motion are input, the rotating shafts 1-08 of the power device I become one of power input of the mechanical four-shaft differential device.
The structure of the power device II is the same as that of the power device I, and the number of teeth of each corresponding gear is also the same; the power device rotating shaft 2-03 is a main rotating shaft of the power device II; and the power device II is in contact with the outside through a straight tooth feedback gear 2-01 of the power device II, a straight tooth power gear 2-02 of the power device II and a rotating shaft 2-03 of the power device II. When the single power source drives, the rotating shaft 2-03 of the power device II becomes one of the power outputs of the mechanical four-shaft differential device; when four paths of random motion are input, the rotating shaft 2-03 of the power device II becomes one of power input of the mechanical four-shaft differential device.
The structure of the power device III is the same as that of the power device I, and the number of teeth of each corresponding gear is also the same; the rotating shaft 3-03 of the power device III is a main rotating shaft of the power device III; and the power device III is communicated with the outside through a straight tooth feedback gear 3-01 of the power device III, a straight tooth power gear 3-02 of the power device III and a rotating shaft 3-03 of the power device III. When the single power source drives, the rotating shaft 3-03 of the power device III becomes one of the power outputs of the mechanical four-shaft differential device; when four paths of random motion are input, the rotating shaft 3-03 of the power device III becomes one of power input of the mechanical four-shaft differential device.
The structure of the power device IV is the same as that of the power device I, and the number of teeth of each corresponding gear is also the same; the power device IV rotating shaft 4-03 is a main rotating shaft of the power device IV; and the power device IV is in contact with the outside through a power device IV straight tooth feedback gear 4-01, a power device IV straight tooth power gear 4-02 and a power device IV rotating shaft 4-03. When the single power source drives, the IV rotating shaft 4-03 of the power device becomes one of the power outputs of the mechanical four-shaft differential device; when four paths of random motion are input, the IV rotating shaft 4-03 of the power device becomes one of the power input of the mechanical four-shaft differential device.
A power device planet carrier in a power device I is fixedly connected with a straight-tooth power gear 1-07 of the power device I, a power device planet carrier in the power device II is fixedly connected with a straight-tooth power gear 2-02 of the power device II, a power device planet carrier in the power device III is fixedly connected with a straight-tooth power gear 3-02 of the power device III, and a power device planet carrier in the power device IV is fixedly connected with a straight-tooth power gear 4-02 of the power device IV.
The power device straight tooth internal gear of the power device I is fixedly connected with a straight tooth feedback gear 1-06B of the power device I, the power device straight tooth internal gear of the power device II is fixedly connected with a straight tooth feedback gear 2-01 of the power device II, the power device straight tooth internal gear of the power device III is fixedly connected with a straight tooth feedback gear 3-01 of the power device III, and the power device straight tooth internal gear of the power device IV is fixedly connected with a straight tooth feedback gear 4-01 of the power device IV.
The transfer case V further comprises a first transfer case bevel sun gear 5-01B, a second transfer case bevel sun gear 5-02B, a first transfer case bevel planet gear 5-03, a second transfer case bevel planet gear 5-04, a third transfer case bevel sun gear 5-05B, a fourth transfer case bevel sun gear 5-06B, a third transfer case bevel planet gear 5-07, a fourth transfer case bevel planet gear 5-08, a first transfer case vertical shaft 5-15 and a fourth transfer case vertical shaft 5-18, the first transfer case bevel sun gear 5-01B and the second transfer case bevel sun gear 5-02B are sleeved on a first transfer case transverse shaft 5-13, the middle part of the first transfer case vertical shaft 5-15 is vertically fixedly connected with the first transfer case transverse shaft 5-13, and the first transfer case vertical shaft 5-15 is arranged on the first transfer case bevel sun gear 5-01B and the second transfer case bevel sun gear 5-02B Between the sun wheels 5-02B, a first bevel gear planet wheel 5-03 and a second bevel gear planet wheel 5-04 of the transfer case are respectively sleeved at two ends of a first vertical shaft 5-15 of the transfer case and rotate around the first vertical shaft 5-15 of the transfer case and revolve around a first horizontal shaft 5-13 of the transfer case, the first bevel gear planet wheel 5-03 of the transfer case is respectively meshed with a first bevel gear sun wheel 5-01B of the transfer case and a second bevel gear sun wheel 5-02B of the transfer case, and the second bevel gear planet wheel 5-04 of the transfer case is respectively meshed with the first bevel gear sun wheel 5-01B of the transfer case and the second bevel gear sun wheel 5-02B of the transfer case;
the third bevel sun gear 5-05B and the fourth bevel sun gear 5-06B are sleeved on the second transverse shaft 5-14 of the transfer case, the middle part of the fourth vertical shaft 5-18 of the transfer case is vertically and fixedly connected with the second transverse shaft 5-14 of the transfer case, the fourth vertical shaft 5-18 of the transfer case is arranged between the third bevel sun gear 5-05B and the fourth bevel sun gear 5-06B of the transfer case, the third bevel planet gear 5-07 of the transfer case and the fourth bevel planet gear 5-08 of the transfer case are respectively sleeved on two ends of the fourth vertical shaft 5-18 of the transfer case, rotate around the fourth vertical shaft 5-18 of the transfer case and revolve around the second transverse shaft 5-14 of the transfer case, the third bevel planet gear 5-07 of the transfer case is respectively meshed with the third bevel sun gear 5-05B and the fourth bevel sun gear 5-06B of the transfer case, and the fourth bevel gear planet wheel 5-08 of the transfer case is respectively meshed with a third bevel gear sun wheel 5-05B of the transfer case and a fourth bevel gear sun wheel 5-06B of the transfer case.
The first straight-tooth sun gear 5-01A of the transfer case is fixedly connected with the first bevel-tooth sun gear 5-01B of the transfer case, the second straight-tooth sun gear 5-02A of the transfer case is fixedly connected with the second bevel-tooth sun gear 5-02B of the transfer case, the third straight-tooth sun gear 5-05A of the transfer case is fixedly connected with the third bevel-tooth sun gear 5-05B of the transfer case, and the fourth straight-tooth sun gear 5-06A of the transfer case is fixedly connected with the fourth bevel-tooth sun gear 5-06B of the transfer case.
The reversing mechanism comprises a transfer case first reversing bevel gear 5-09, a transfer case second reversing bevel gear 5-10, a transfer case third reversing bevel gear 5-11, a transfer case fourth reversing bevel gear 5-12, a transfer case second vertical shaft 5-16 and a transfer case third vertical shaft 5-17, wherein the transfer case second vertical shaft 5-16 and the transfer case third vertical shaft 5-17 are coaxially arranged and are vertical to a transfer case first transverse shaft 5-13, and the transfer case first reversing bevel gear 5-09 is coaxial with and fixedly connected with the transfer case first transverse shaft 5-13; the second reversing bevel gear 5-10 of the transfer case is coaxial with and fixedly connected with a second transverse shaft 5-14 of the transfer case, and a third reversing bevel gear 5-11 of the transfer case is assembled on a second vertical shaft 5-16 of the transfer case and rotates around the second vertical shaft 5-16 of the transfer case; the fourth reversing bevel gear planet wheel 5-12 of the transfer case is assembled on the third vertical shaft 5-17 of the transfer case and rotates around the third vertical shaft 5-17 of the transfer case, and the first reversing bevel gear 5-09 and the second reversing bevel gear 5-10 are respectively meshed with the third reversing bevel gear 5-11 and the fourth reversing bevel gear 5-12.
And the second vertical shaft 5-16 of the transfer case and the third vertical shaft 5-17 of the transfer case form an included angle of 45 degrees with a plane formed by a rotating shaft 1-08 of the power device I and a rotating shaft 2-03 of the power device II. This arrangement facilitates the mounting of the transfer case second vertical shaft 5-16 and the transfer case third vertical shaft 5-17 on the housing 7.
The number of teeth of the first straight-tooth sun gear 5-01A of the transfer case, the second straight-tooth sun gear 5-02A of the transfer case, the third straight-tooth sun gear 5-05A of the transfer case and the fourth straight-tooth sun gear 5-06A of the transfer case is the same.
1-08 of a rotating shaft of a power device I, 2-03 of a rotating shaft of a power device II, 3-03 of a rotating shaft of a power device III, 4-03 of a rotating shaft of a power device IV, 5-13 of a first transverse shaft of a transfer case, 5-14 of a second transverse shaft of the transfer case, 5-16 of a second vertical shaft of the transfer case and 5-17 of a third vertical shaft of the transfer case are all arranged on a shell 7 through revolute pairs.
The transmission of the mechanical four-shaft differential device has directionality, and the transmission when the single power source drives is called forward differential transmission, and the transmission when four paths of random motion are input is called reverse coupling transmission.
The invention is used for positive differential transmission or reverse four-axis power coupling, the positive differential transmission can decompose the single-path input motion of the enclosed gear into four-path output motion of a power device with any rotating speed ratio but the sum of the symbol numerical values and the single-path input motion speed numerical value of the enclosed gear have a determined relation, and the four-path output motion of the power device is equally divided by moment; the reverse coupling transmission can couple four paths of random input motions of the power device into a closed gear single-path output motion which has a determined relation with the input motion, and the power synthesis is carried out. The specific working principle is as follows:
when the mechanical four-shaft differential device of the invention is in forward differential transmission, a single power source drives a closed gear 6, the closed gear 6 distributes original power to power devices I, II, III and IV through straight-tooth power gears 1-07, 2-02, 3-02 and 4-02 of the power devices respectively, each corresponding gear except the straight-tooth power gears 1-07, 2-02, 3-02 and 4-02 in the power devices I, II, III and IV generates different rotating speeds related to constraint because the rotating shafts 1-08, 2-03, 3-03 and 4-03 of the power devices I, II, III and IV are subjected to different external constraints, and at the moment, one path to three paths of the power devices I, II, III and IV transmit the power to a transfer case through the meshing of a straight-tooth feedback gear of the corresponding power devices and a straight-tooth sun gear of the transfer case, the power transmitted into the transfer case is coordinated in the transfer case and then transmitted back to the corresponding power device through the meshing of the remaining three, two or one straight tooth power gear of the transfer case and the straight tooth feedback gear of the power device. Finally, in each power unit, part of the power transmitted by the enclosed gear 6 minus the power transmitted to the transfer case V or plus the power fed back by the transfer case is synthesized to the power unit rotating shafts 1-08, 2-03, 3-03 and 4-03, so that the power unit rotating shafts 1-08, 2-03, 3-03 and 4-03 have different rotating speeds and are used as the final output of the mechanical four-shaft differential device. Four output torques are equal during forward differential transmission of the mechanical four-shaft differential device, the amplification factor of the output torque to the input torque can be changed by the gear ratio of a straight-tooth inner gear and a straight-tooth sun gear in the power device, and the amplification factor of the torque is larger when the gear ratio is smaller.
When the mechanical four-shaft differential device of the invention is used for reverse coupling transmission, four paths of random rotating speeds are respectively transmitted into the power devices I, II, III and IV through the rotating shafts 1-08, 2-03, 3-03 and 4-03 of the power devices and input power to the power devices I, II, III and IV, because the power devices I, II, III and IV are subjected to different external constraints, one to three paths of the power devices I, II, III and IV transmit power to the transfer case through the meshing of the straight tooth feedback gear of the power device and the straight tooth sun gear of the transfer case, the power transmitted to the transfer case is coordinated in the transfer case and then transmitted back to the corresponding power device through the meshing of the straight tooth sun gear of the other three paths, two paths or one path of the transfer case and the straight tooth feedback gear of the power device, the process enables the straight tooth feedback gears 1-06B, 2-01, 3-01 and 4-01 of the power device to have different rotating speeds. Finally, under the coordination of the transfer case and the meshing constraint of the closed gear 6, four random input rotating speeds of rotating shafts 1-08, 2-03, 3-03 and 4-03 of power devices in the mechanical four-shaft differential device are coupled into one output rotating speed of the closed gear 6, and the torque synthesis is carried out.
In a mechanical four-axis differential device:
a) the relationship between the rotating speed: let ω denote the rotational speed of the corresponding member and Z denote the number of teeth of the corresponding member, then
b) Moment relation: let eta bePIndicating the efficiency, eta, of the power plantDThe efficiency of the transmission route of the gear 5-01B → 5-03/5-04 → 5-02A and the efficiency of the transmission route of 5-05B → 5-07/5-08 → 5-06A in the transfer case are shown at the same time
For moment relations, let η if neglect the effect of efficiencyP＝ηDWhen 1, then there are
The parameters q and i in the relationship between the rotating speed and the torque are respectively as follows:
as can be seen from the above equation: 1) the device divides the adaptive relation of the speed; 2) the output torque of each branch of the device is equal, the amplification factor of the torque can be changed by the gear ratio of a straight tooth internal gear and a straight tooth sun gear in the power device, and the amplification factor of the torque is larger when the gear ratio is smaller.
The mechanical four-shaft differential device of the embodiment realizes real-time autonomous driving motion conversion between single main motion and four sub-motions by using a mechanical structure, and fills the blank of the field of purely mechanical four-shaft differential transmission; aiming at the driving of a plurality of execution tail ends, the number of actuators is greatly reduced, the use of a complex control system is avoided, and the requirement on the maximum output capacity of the actuators is reduced, so that the technical difficulty and the cost are reduced; and the number of differentials is increased compared to existing differentials, allowing the use of more performing tips. In addition, the mechanical four-shaft differential device forms power seal, can perform precision self calibration, and has the advantages of simple structure, compact structure and convenient processing and manufacturing.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A mechanical four-shaft differential device is characterized in that: the power device I, the power device II, the power device III, the power device IV, the transfer case V and the closed gear (6) are arranged in the shell (7), the transfer case V is positioned in the center of the shell (7), and the power device I, the power device II, the power device III and the power device IV are arranged on the periphery of the transfer case V in a circumferential array manner;
the transfer case V comprises a first transfer case straight-tooth sun gear (5-01A), a second transfer case straight-tooth sun gear (5-02A), a third transfer case straight-tooth sun gear (5-05A), a fourth transfer case straight-tooth sun gear (5-06A), a first transfer case cross shaft (5-13) and a second transfer case cross shaft (5-14), wherein the first transfer case cross shaft (5-13) is a main rotating shaft of the transfer case V, the first transfer case straight-tooth sun gear (5-01A) and the second transfer case straight-tooth sun gear (5-02A) are both sleeved on the first transfer case cross shaft (5-13), the third transfer case straight-tooth sun gear (5-05A) and the fourth transfer case straight-tooth sun gear (5-06A) are both sleeved on the second transfer case cross shaft (5-14), and the sealing gear (6) is arranged coaxially with the main rotating shaft of the transfer case V, the closed gear (6) rotates around a main rotating shaft of the transfer case V, a first transverse shaft (5-13) and a second transverse shaft (5-14) of the transfer case are coaxial and are fixedly connected with a reversing mechanism arranged in the shell (7), and the reversing mechanism is arranged between the ends of the first transverse shaft (5-13) and the second transverse shaft (5-14) of the transfer case;
the power device I comprises a power device I straight tooth power gear (1-07), a power device I straight tooth feedback gear (1-06B) and a power device I rotating shaft (1-08), the power device I rotating shaft (1-08) is a main rotating shaft of the power device I, the power device I rotating shaft (1-08) and a transfer case V main rotating shaft are arranged in parallel, the power device I straight tooth power gear (1-07) and the power device I straight tooth feedback gear (1-06B) are both arranged on the power device I rotating shaft (1-08), the power device I straight tooth power gear (1-07) is meshed with a closed gear (6), and the power device I straight tooth feedback gear (1-06B) is meshed with a transfer case first straight tooth sun gear (5-01A);
the power device II comprises a power device II straight tooth power gear (2-02), a power device II straight tooth feedback gear (2-01) and a power device II rotating shaft (2-03), the power device II rotating shaft (2-03) is a main rotating shaft of the power device II, the power device II rotating shaft (2-03) is arranged in parallel with a main rotating shaft of the transfer case V, the power device II straight tooth power gear (2-02) and the power device II straight tooth feedback gear (2-01) are both arranged on the power device II rotating shaft (2-03), the power device II straight tooth power gear (2-02) is meshed with the closed gear (6), and the power device II straight tooth feedback gear (2-01) is meshed with the second straight tooth sun gear (5-02A);
the power device III comprises a power device III straight tooth power gear (3-02), a power device III straight tooth feedback gear (3-01) and a power device III rotating shaft (3-03), the power device III rotating shaft (3-03) is a main rotating shaft of the power device III, the power device III rotating shaft (3-03) and a transfer case V main rotating shaft are arranged in parallel, the power device III straight tooth power gear (3-02) and the power device III straight tooth feedback gear (3-01) are both arranged on the power device III rotating shaft (3-03), the power device III straight tooth power gear (3-02) is meshed with a closed gear (6), and the power device III straight tooth feedback gear (3-01) is meshed with a third straight tooth sun gear (5-05A);
the power device IV comprises a power device IV straight tooth power gear (4-02), a power device IV straight tooth feedback gear (4-01) and a power device IV rotating shaft (4-03), the power device IV rotating shaft (4-03) is a main rotating shaft of the power device IV, the power device IV rotating shaft (4-03) is arranged in parallel with the main rotating shaft of the transfer case V, the power device IV straight tooth power gear (4-02) and the power device IV straight tooth feedback gear (4-01) are both arranged on the power device IV rotating shaft (4-03), the power device IV straight tooth power gear (4-02) is meshed with the closed gear (6), and the power device IV straight tooth feedback gear (4-01) is meshed with a fourth straight tooth sun gear (5-06A);
the transfer case V also comprises a first transfer case bevel gear sun wheel (5-01B), a second transfer case bevel gear sun wheel (5-02B), a first transfer case bevel gear planet wheel (5-03), a second transfer case bevel gear planet wheel (5-04), a third transfer case bevel gear sun wheel (5-05B), a fourth transfer case bevel gear sun wheel (5-06B), a third transfer case bevel gear planet wheel (5-07), a fourth transfer case bevel gear planet wheel (5-08), a first transfer case vertical shaft (5-15) and a fourth transfer case vertical shaft (5-18), wherein the first transfer case bevel gear sun wheel (5-01B) and the second transfer case bevel gear sun wheel (5-02B) are sleeved on a first transfer case transverse shaft (5-13), the middle part of the first transfer case vertical shaft (5-15) is vertically and fixedly connected with the first transfer case transverse shaft (5-13), the first vertical shaft (5-15) of the transfer case is arranged between a first bevel gear sun gear (5-01B) of the transfer case and a second bevel gear sun gear (5-02B) of the transfer case, the transfer case first bevel gear planet wheels (5-03) and the transfer case second bevel gear planet wheels (5-04) are respectively sleeved at two ends of a transfer case first vertical shaft (5-15) and rotate around the transfer case first vertical shaft (5-15) and revolve around a transfer case first transverse shaft (5-13), the transfer case first bevel gear planet wheels (5-03) are respectively meshed with transfer case first bevel gear sun wheels (5-01B) and transfer case second bevel gear sun wheels (5-02B), and the transfer case second bevel gear planet wheels (5-04) are respectively meshed with transfer case first bevel gear sun wheels (5-01B) and transfer case second bevel gear sun wheels (5-02B);
the third bevel sun gear (5-05B) and the fourth bevel sun gear (5-06B) of the transfer case are sleeved on a second transverse shaft (5-14) of the transfer case, the middle part of a fourth vertical shaft (5-18) of the transfer case is vertically and fixedly connected with the second transverse shaft (5-14) of the transfer case, the fourth vertical shaft (5-18) of the transfer case is arranged between the third bevel sun gear (5-05B) and the fourth bevel sun gear (5-06B) of the transfer case, the third bevel planet gear (5-07) and the fourth bevel planet gear (5-08) of the transfer case are respectively sleeved at two ends of the fourth vertical shaft (5-18) of the transfer case and rotate around the fourth vertical shaft (5-18) of the transfer case and revolve around the second transverse shaft (5-14) of the transfer case, and the third bevel planet gear (5-07) of the transfer case and the third bevel sun gear (5-05B) and the fourth bevel sun gear (5-06B) of the transfer case are respectively sleeved on the second transverse shaft (5-14) of the transfer case The fourth bevel gear sun gear (5-06B) is meshed, and the fourth bevel gear planet wheel (5-08) of the transfer case is respectively meshed with the third bevel gear sun gear (5-05B) of the transfer case and the fourth bevel gear sun gear (5-06B) of the transfer case.
2. A four-axis differential mechanism of the mechanical type according to claim 1, wherein: power ware I, power ware II, power ware III and power ware IV still include power ware straight-tooth sun gear, power ware straight-tooth planet wheel, power ware planet carrier and power ware straight-tooth internal gear respectively, power ware straight-tooth sun gear, power ware planet carrier and power ware straight-tooth internal gear all suit are in corresponding power ware pivot, power ware straight-tooth sun gear links firmly with corresponding power ware pivot, power ware straight-tooth planet wheel totally three with circumference array mode equipartition on power ware planet carrier and around respective power ware pivot existing revolution and rotation, power ware planet carrier and power ware straight-tooth internal gear all rotate around respective power ware pivot.
3. A four-shaft differential mechanism of the mechanical type according to claim 2, wherein: the power device planetary frame in the power device I is fixedly connected with a straight-tooth power gear (1-07) of the power device I, the power device planetary frame in the power device II is fixedly connected with a straight-tooth power gear (2-02) of the power device II, the power device planetary frame in the power device III is fixedly connected with a straight-tooth power gear (3-02) of the power device III, and the power device planetary frame in the power device IV is fixedly connected with a straight-tooth power gear (4-02) of the power device IV.
4. A four-axis differential mechanism of the mechanical type according to claim 3, wherein: the power device straight tooth internal gear of the power device I is fixedly connected with a straight tooth feedback gear (1-06B) of the power device I, the power device straight tooth internal gear of the power device II is fixedly connected with a straight tooth feedback gear (2-01) of the power device II, the power device straight tooth internal gear of the power device III is fixedly connected with a straight tooth feedback gear (3-01) of the power device III, and the power device straight tooth internal gear of the power device IV is fixedly connected with a straight tooth feedback gear (4-01) of the power device IV.
5. A four-axis differential mechanism of the mechanical type according to claim 1, wherein: the first straight-tooth sun gear (5-01A) of the transfer case is fixedly connected with a first bevel-tooth sun gear (5-01B) of the transfer case, the second straight-tooth sun gear (5-02A) of the transfer case is fixedly connected with a second bevel-tooth sun gear (5-02B) of the transfer case, the third straight-tooth sun gear (5-05A) of the transfer case is fixedly connected with a third bevel-tooth sun gear (5-05B) of the transfer case, and the fourth straight-tooth sun gear (5-06A) of the transfer case is fixedly connected with a fourth bevel-tooth sun gear (5-06B) of the transfer case.
6. The four-shaft differential mechanical device according to claim 5, wherein: the reversing mechanism comprises a first reversing bevel gear (5-09) of the transfer case, second reversing bevel gears (5-10) of the transfer case, third reversing bevel gears (5-11) of the transfer case, fourth reversing bevel gears (5-12) of the transfer case, second vertical shafts (5-16) of the transfer case and third vertical shafts (5-17) of the transfer case, the second vertical shafts (5-16) of the transfer case and the third vertical shafts (5-17) of the transfer case are coaxially arranged and are vertical to a first transverse shaft (5-13) of the transfer case, and the first reversing bevel gears (5-09) of the transfer case and the first transverse shaft (5-13) of the transfer case are coaxially and fixedly connected; the second reversing bevel gear (5-10) of the transfer case is coaxial with and fixedly connected with a second transverse shaft (5-14) of the transfer case, and a third reversing bevel gear (5-11) of the transfer case is assembled on a second vertical shaft (5-16) of the transfer case and rotates around the second vertical shaft (5-16) of the transfer case; the fourth reversing bevel gear planet wheel (5-12) of the transfer case is assembled on a third vertical shaft (5-17) of the transfer case and rotates around the third vertical shaft (5-17) of the transfer case, and the first reversing bevel gear (5-09) and the second reversing bevel gear (5-10) are respectively meshed with the third reversing bevel gear (5-11) and the fourth reversing bevel gear (5-12).
7. The four-shaft differential mechanical device according to claim 6, wherein: and the second vertical shaft (5-16) and the third vertical shaft (5-17) of the transfer case form an included angle of 45 degrees with a plane formed by the rotating shaft (1-08) of the power device I and the rotating shaft (2-03) of the power device II.
8. A four-axis differential mechanism of the mechanical type according to claim 1, wherein: the gear box is characterized in that the gear box is provided with a first straight-tooth sun gear (5-01A), a second straight-tooth sun gear (5-02A), a third straight-tooth sun gear (5-05A) and a fourth straight-tooth sun gear (5-06A) which are the same in tooth number.
9. The four-shaft differential mechanical device according to claim 6, wherein: the power device I rotating shaft (1-08), the power device II rotating shaft (2-03), the power device III rotating shaft (3-03), the power device IV rotating shaft (4-03), the transfer case first transverse shaft (5-13), the transfer case second transverse shaft (5-14), the transfer case second vertical shaft (5-16) and the transfer case third vertical shaft (5-17) are all arranged on the shell (7) through revolute pairs.
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