CN112032276A - Six-shaft differential device based on gear transmission - Google Patents
Six-shaft differential device based on gear transmission Download PDFInfo
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- CN112032276A CN112032276A CN201910476475.0A CN201910476475A CN112032276A CN 112032276 A CN112032276 A CN 112032276A CN 201910476475 A CN201910476475 A CN 201910476475A CN 112032276 A CN112032276 A CN 112032276A
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- sun gear
- transfer case
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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
- F16H48/08—Differential gearings with gears having orbital motion comprising bevel gears
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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
- F16H48/38—Constructional details
- F16H48/42—Constructional details characterised by features of the input shafts, e.g. mounting of drive gears thereon
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Abstract
The invention provides a six-shaft differential device based on gear transmission, which comprises a transfer case, a closed gear, an idler wheel, a shell and three power devices with the same structure, wherein the main rotary center of the transfer case is coaxial with the rotary center of the closed gear and is positioned in the center of the six-shaft differential transmission device; the three 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 and III are not in direct transmission connection, one ends of the power devices I, II and III are respectively in transmission connection with the transfer case, and the other ends of the power devices I, II and III are respectively in transmission connection with the closed gear; the shell plays the roles of installation, connection and fixation. The invention relates to a transmission device which realizes self-adaptive transfer in single drive and power coupling in six-axis 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 six-shaft differential device based on gear transmission.
Background
The differential device is a mechanical transmission device with motion transmission, so as to realize the conversion between single-path main motion and multi-path branch motion. When the transmission is in the forward direction, the single-path main input motion can be decomposed into multi-path division output motion with any rotating speed ratio, and the moment is equally divided; therefore, the method can be used for driving a plurality of execution terminals by a single actuator, each execution terminal can cooperatively operate in real time along with the change of the constraint under the condition of no control system, and meanwhile, the force value output by each execution terminal is the output force value of the minimum resistance terminal, so that the method has autonomous flexibility. When the transmission is reversed, the multi-path input motion can be coupled into a single-path output motion which has a determined relation with the input motion, and the moment synthesis is carried out; therefore, the method can be used in the situation that a plurality of actuators with small output capacity are combined into an actuator with large output capacity, and the requirement on the maximum output capacity of the actuator is reduced, so that the technical difficulty and the cost are reduced. At present, the differential device can maximally realize the conversion between the single main motion and the three divided motions, i.e. the three-axis differential device, which limits the number of executing ends. To achieve more execution-end differential-like motions, multiple actuators need to be coordinated through a complex control system, which complicates the system and lacks real-time. Therefore, a six-shaft differential device based on gear transmission is needed to be provided, the number of partial motion is increased, and the blank of the mechanical six-shaft differential transmission field is filled.
Disclosure of Invention
In view of this, the present invention aims to provide a six-axis differential device based on gear transmission, which increases the number of partial motions to a certain extent, can realize motion conversion between one main motion and six partial motions, forms power closure, and can perform precision self-calibration.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a six-shaft differential device based on gear transmission comprises a shell, and a power device I, a power device II, a power device III, a transfer case IV, a closed gear and an idler wheel which are arranged in the shell, wherein the transfer case IV is positioned in the center of the shell, and the power device I, the power device II and the power device III are distributed on the periphery of the transfer case IV in a circumferential array manner;
the transfer case IV comprises a first transfer case straight-tooth sun gear, a second transfer case straight-tooth sun gear, a third transfer case straight-tooth sun gear and a transfer case transverse shaft, the transfer case transverse shaft is a main rotating shaft of the transfer case IV, the first transfer case straight-tooth sun gear and the transfer case transverse shaft are coaxial and fixedly connected, the second transfer case straight-tooth sun gear and the third transfer case straight-tooth sun gear are sleeved on the transfer case transverse shaft, the closed gear and the main rotating shaft of the transfer case IV are coaxially arranged, the closed gear rotates around the main rotating shaft of the transfer case IV, and the closed gear and the third transfer case straight-tooth sun gear are located at two ends of the transfer case transverse shaft;
the power device I comprises a first straight-tooth sun gear of the power device I, a second straight-tooth sun gear of the power device I, a third straight-tooth sun gear of the power device I, a fourth straight-tooth sun gear of the power device I, a first cross shaft of the power device I and a second cross shaft of the power device I, the first straight-tooth sun gear of the power device I and the second straight-tooth sun gear of the power device I are sleeved on the first cross shaft of the power device I, a third straight-tooth sun gear of the power device I and a fourth straight-tooth sun gear of the power device I are sleeved on a second transverse shaft of the power device I, the first transverse shaft of the power device I and the second transverse shaft of the power device I are coaxial and are fixedly connected with a first reversing mechanism arranged in the shell, the first reversing mechanism is arranged between the end parts of a first transverse shaft of the power device I and a second transverse shaft of the power device I, a first straight-tooth sun gear of the power device I is meshed with the closed gear, and a fourth straight-tooth sun gear of the power device I is meshed with a second straight-tooth sun gear of the transfer case;
the power device II comprises a power device II first straight-tooth sun gear, a power device II second straight-tooth sun gear, a power device II third straight-tooth sun gear, a power device II fourth straight-tooth sun gear, a power device II first cross shaft and a power device II second cross shaft, wherein the power device II first straight-tooth sun gear and the power device II second straight-tooth sun gear are sleeved on the power device II first cross shaft, the power device II third straight-tooth sun gear and the power device II fourth straight-tooth sun gear are sleeved on the power device II second cross shaft, the power device II first cross shaft and the power device II second cross shaft are coaxial and are fixedly connected with a second reversing mechanism arranged in a shell, the second reversing mechanism is arranged between the end parts of the power device II first cross shaft and the power device II second cross shaft, the power device II first straight-tooth sun gear is meshed with a closed gear, an idler gear is arranged between the power device II fourth straight-tooth sun gear and the transfer case first straight-tooth sun gear, a fourth straight-tooth sun gear of the power device II is meshed with an idler gear, and the idler gear is meshed with a first straight-tooth sun gear of the transfer case;
the power device III comprises a first straight-tooth sun gear of the power device III, a second straight-tooth sun gear of the power device III, a third straight-tooth sun gear of the power device III, a fourth straight-tooth sun gear of the power device III, a first cross shaft of the power device III and a second cross shaft of the power device III, the first straight-tooth sun gear of the power device III and the second straight-tooth sun gear of the power device III are sleeved on a first cross shaft of the power device III, a third straight-tooth sun gear of the power device III and a fourth straight-tooth sun gear of the power device III are sleeved on a second transverse shaft of the power device III, the first transverse shaft of the power device III and the second transverse shaft of the power device III are coaxial and are fixedly connected with a third reversing mechanism arranged in the shell, the third reversing mechanism is arranged between the end parts of the first transverse shaft of the power device III and the second transverse shaft of the power device III, and a fourth straight-tooth sun gear of the power device III is meshed with a third straight-tooth sun gear of the transfer case.
Further, the power device I, the power device II and the power device III respectively comprise a first bevel gear sun gear of the power device, a second bevel gear sun gear of the power device, a first bevel gear planet gear of the power device, a second bevel gear planet gear of the power device, a third bevel gear sun gear of the power device, a fourth bevel gear sun gear of the power device, a third bevel gear planet gear of the power device, a fourth bevel gear planet gear of the power device, a first vertical shaft of the power device and a fourth vertical shaft of the power device, wherein the first bevel gear sun gear of the power device and the second bevel gear sun gear of the power device are sleeved on the first horizontal shaft of the power device, the middle part of the first vertical shaft of the power device is vertically and fixedly connected with the first horizontal shaft of the power device, the first vertical shaft of the power device is arranged between the first bevel gear sun gear of the power device and the second bevel gear sun gear of the power device, the first bevel gear of the power device and the second bevel gear of the planet gear are sleeved on the two ends of the first vertical shaft of the power device, and revolve around the first vertical shaft of the first power The power device first bevel gear planet wheel is meshed with the power device first bevel gear sun wheel and the power device second bevel gear sun wheel respectively, and the power device second bevel gear planet wheel is meshed with the power device first bevel gear sun wheel and the power device second bevel gear sun wheel respectively;
the power device third bevel gear sun wheel and the power device fourth bevel gear sun wheel are sleeved on respective power device second cross shafts, the middle part of a power device fourth vertical shaft is fixedly connected with the corresponding power device second cross shaft in a perpendicular mode, the power device fourth vertical shaft is arranged between the third bevel gear sun wheel and the power device fourth bevel gear sun wheel, the power device third bevel gear planet wheel and the power device fourth bevel gear planet wheel are respectively sleeved at two ends of the power device fourth vertical shaft and rotate around the power device fourth vertical shaft and revolve around the corresponding power device second cross shaft, the power device third bevel gear planet wheel is respectively meshed with the power device third bevel gear sun wheel and the power device fourth bevel gear sun wheel, and the power device fourth bevel gear planet wheel is respectively meshed with the power device third bevel gear sun wheel and the power device fourth bevel gear sun wheel.
Further, a first bevel gear sun gear in the power device I is fixedly connected with a first straight gear sun gear of the power device I, a first bevel gear sun gear in the power device II is fixedly connected with a first straight gear sun gear of the power device II, a first bevel gear sun gear in the power device III is fixedly connected with a first straight gear sun gear of the power device III, a second bevel gear sun gear in the power device I is fixedly connected with a second straight gear sun gear of the power device I, a second bevel gear sun gear in the power device II is fixedly connected with a second straight gear sun gear of the power device II, a second bevel gear sun gear in the power device III is fixedly connected with a second straight gear sun gear of the power device III, a third bevel gear sun gear in the power device I is fixedly connected with a third straight gear sun gear of the power device I, a third bevel gear sun gear in the power device II is fixedly connected with a third straight gear sun gear of the power device II, and a third bevel gear sun gear in the power device III is fixedly connected with a third straight gear sun gear of the power device II, and a fourth bevel gear sun gear in the power device I is fixedly connected with a fourth straight-tooth sun gear in the power device I, a fourth bevel gear sun gear in the power device II is fixedly connected with a fourth straight-tooth sun gear in the power device II, and a fourth bevel gear sun gear in the power device III is fixedly connected with a fourth straight-tooth sun gear in the power device III.
Further, the first reversing mechanism, the second reversing mechanism and the third reversing mechanism have the same structure and respectively comprise a power device first reversing bevel gear, a power device second reversing bevel gear, a power device third reversing bevel gear, a power device fourth reversing bevel gear, a power device second vertical shaft and a power device third vertical shaft, the power device second vertical shaft and the power device third vertical shaft are coaxially arranged and are all perpendicular to the corresponding power device first cross shaft, the power device first reversing bevel gear is coaxially and fixedly connected with the corresponding power device first cross shaft, the power device second reversing bevel gear is coaxially and fixedly connected with the corresponding power device second cross shaft, the power device third reversing bevel gear is assembled on the power device second vertical shaft and rotates around the power device second vertical shaft, the power device fourth reversing bevel gear is assembled on the power device third vertical shaft and rotates around the power device third vertical shaft, and the first reversing bevel gear of the power device and the second reversing bevel gear of the power device are respectively meshed with the third reversing bevel gear of the power device and the fourth reversing bevel gear of the power device.
Furthermore, the transfer case IV also comprises a first bevel gear sun gear, a second bevel gear sun gear, a first bevel gear planet gear, a second bevel gear planet gear and a vertical shaft of the transfer case, the first bevel gear sun gear and the second bevel gear sun gear of the transfer case are sleeved on the transverse shaft of the transfer case, the middle part of the vertical shaft of the transfer case is vertically and fixedly connected with the transverse shaft of the transfer case, the transfer case vertical shaft is arranged between the first bevel gear sun gear of the transfer case and the second bevel gear sun gear of the transfer case, the first bevel gear planet wheel and the second bevel gear planet wheel of the transfer case are respectively sleeved at two ends of a vertical shaft of the transfer case, rotate around the vertical shaft of the transfer case and revolve around a transverse shaft of the transfer case, the first bevel gear planet wheel of the transfer case is respectively meshed with a first bevel gear sun wheel 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 and the second bevel gear sun wheel of the transfer case.
Furthermore, a second straight-tooth sun gear of the transfer case is fixedly connected with a first bevel-tooth sun gear of the transfer case, and a third straight-tooth sun gear of the transfer case is fixedly connected with a second bevel-tooth sun gear of the transfer case.
Further, the idler wheel is fixed on a rotating shaft, and the rotating shaft is arranged in parallel with the transverse shaft of the transfer case.
Furthermore, the first straight-tooth sun gear of the power device I, the first straight-tooth sun gear of the power device II and the first straight-tooth sun gear of the power device III have the same tooth number; the number of teeth of a second straight-tooth sun gear of the power device I, a third straight-tooth sun gear of the power device I, a second straight-tooth sun gear of the power device II, a third straight-tooth sun gear of the power device II, a second straight-tooth sun gear of the power device III and a third straight-tooth sun gear of the power device III are the same; the number of teeth of the first straight-tooth sun gear of the power device I is twice the number of teeth of the second straight-tooth sun gear of the power device II, the number of teeth of the third straight-tooth sun gear of the power device III is the same as the number of teeth of the first straight-tooth sun gear of the power device I, and the number of teeth of the other corresponding gears of the first power device I, the second power device II and the third power device III is the same.
Furthermore, the first straight-tooth sun gear of the transfer case, the second straight-tooth sun gear of the transfer case and the third straight-tooth sun gear of the transfer case have the same number of teeth.
Furthermore, a first transverse shaft of the power device I, a second vertical shaft of the power device, a third vertical shaft of the power device, a first transverse shaft of the power device II, a second transverse shaft of the power device II, a first transverse shaft of the power device III, a second transverse shaft of the power device III, a transverse shaft of the transfer case and a rotating shaft are all arranged on the shell through revolute pairs.
Compared with the prior art, the six-shaft differential device based on gear transmission has the following advantages:
the invention relates to a six-shaft differential device based on gear transmission,
1) the six-shaft differential device based on gear transmission utilizes a mechanical structure to realize real-time autonomous motion conversion between single main motion and six partial motions, and fills the blank of the field of mechanical six-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, the flexibility is independent, 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 greatly increases the differential number, thereby allowing more execution terminals to be used;
4) the six-shaft differential device based on gear transmission has the advantages that the internal power is sealed, the precision self-calibration can be carried out, the configuration is simple, the consistency of components is good, the structure is compact, the processing and the manufacturing are convenient, and the power-volume ratio is large.
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 diagram of a six-axis differential device based on gear transmission according to an embodiment of the present invention;
FIG. 2 is an axial view of a six-axis differential device based on gear transmission according to an embodiment of the present invention;
fig. 3 is a transmission schematic diagram of a transfer case in a six-shaft differential device based on gear transmission according to an embodiment of the invention.
Description of reference numerals:
1-01A-first straight-toothed sun gear of power unit I, 1-01B-first bevel-toothed sun gear of power unit I, 1-02A-second straight-toothed sun gear of power unit I, 1-02B-second bevel-toothed sun gear of power unit I, 1-03-first bevel-toothed planet gear of power unit I, 1-04-second bevel-toothed planet gear of power unit I, 1-05A-third straight-toothed sun gear of power unit I, 1-05B-third bevel-toothed sun gear of power unit I, 1-06A-fourth straight-toothed sun gear of power unit I, 1-06B-fourth bevel-toothed sun gear of power unit I, 1-07-third bevel-toothed planet gear of power unit I, 1-08-fourth bevel-toothed planet gear of power unit I, 1-09-first reverse bevel gear of power unit I, 1-10-second reverse bevel gear of power unit I, 1-11-third reverse bevel gear of power unit I, 1-12-fourth reverse bevel gear of power unit I, 1-13-first cross shaft of power unit I, 1-14-second cross shaft of power unit I, 1-15-first vertical shaft of power unit I, 1-16-second vertical shaft of power unit I, 1-17-third vertical shaft of power unit I, 1-18-fourth vertical shaft of power unit I, 2-01-first straight-tooth sun gear of power unit II, 2-02-second straight-tooth sun gear of power unit II, 2-03-third straight-tooth sun gear of power unit II, 2-04-fourth straight-tooth sun gear of power unit II, 2-05-first cross shaft of power unit II, 2-06-second cross shaft of power unit II, 3-01-first straight-tooth sun gear of power unit III, 3-02-second straight-tooth sun gear of power unit III, 3-03-third straight-tooth sun gear of power device III, 3-04-fourth straight-tooth sun gear of power device III, 3-05-first cross shaft of power device III, 3-06-second cross shaft of power device III, 4-01-first straight-tooth sun gear of transfer device, 4-02A-second straight-tooth sun gear of transfer device, 4-02B-first bevel gear of transfer device, 4-03A-third straight-tooth sun gear of transfer device, 4-03B-second bevel gear of transfer device, 4-04-first bevel gear of transfer device, 4-05-second bevel gear of transfer device, 4-06-cross shaft of transfer device, 4-07-vertical shaft of transfer device, 5-closed gear, 6-idle gear, 7-shell vertical shaft
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. 1-3, a six-axis differential device based on gear transmission comprises a housing 7, and a power device i, a power device ii, a power device iii, a transfer case iv, a closed gear 5 and an idler gear 6 which are arranged in the housing 7, wherein the transfer case iv is located at the center of the housing 7, the power device i, the power device ii and the power device iii are arranged on the periphery of the transfer case iv in a circumferential array, and the power device i, the power device ii and the power device iii have the same structure;
the transfer case IV comprises a first straight-tooth sun gear 4-01A of the transfer case, a second straight-tooth sun gear 4-02A of the transfer case, a third straight-tooth sun gear 4-03A of the transfer case and a transverse shaft 4-06 of the transfer case, the transverse shaft 4-06 of the transfer case is a main rotating shaft of the transfer case V, a first straight-tooth sun gear 4-01A of the transfer case and the transverse shaft 4-06 of the transfer case are coaxially and fixedly connected, a second straight-tooth sun gear 4-02A of the transfer case and a third straight-tooth sun gear 4-03A of the transfer case are sleeved on the transverse shaft 4-06 of the transfer case, the closed gear 5 and a main rotating shaft of the transfer case IV are coaxially arranged, the closed gear 5 rotates around the main rotating shaft of the transfer case IV, and the closed gear 5 and a third straight-tooth sun gear 4-03A of the transfer case are positioned at two ends of a transverse shaft 4-06 of the transfer case;
the power device I comprises a power device I first straight-tooth sun gear 1-01A, a power device I second straight-tooth sun gear 1-02A, a power device I third straight-tooth sun gear 1-05A, a power device I fourth straight-tooth sun gear 1-06A, a power device I first cross shaft 1-13 and a power device I second cross shaft 1-14, wherein the power device I first straight-tooth sun gear 1-01A and the power device I second straight-tooth sun gear 1-02A are sleeved on the power device I first cross shaft 1-13, the power device I third straight-tooth sun gear 1-05A and the power device I fourth straight-tooth sun gear 1-06A are sleeved on the power device I second cross shaft 1-14, the power device I first cross shaft 1-13 and the power device I second cross shaft 1-14 are coaxial and are fixedly connected with a first reversing mechanism arranged in a shell 7, the first reversing mechanism is arranged between the ends of a first transverse shaft 1-13 and a second transverse shaft 1-14 of the power device I, a first straight-tooth sun gear 1-01A of the power device I is meshed with the closed gear 5, and a fourth straight-tooth sun gear 1-06A of the power device I is meshed with a second straight-tooth sun gear 4-02A of the transfer case;
the power device II comprises a power device II first straight-tooth sun gear 2-01, a power device II second straight-tooth sun gear 2-02, a power device II third straight-tooth sun gear 2-03, a power device II fourth straight-tooth sun gear 2-04, a power device II first cross shaft 2-05 and a power device II second cross shaft 2-06, the power device II first straight-tooth sun gear 2-01 and the power device II second straight-tooth sun gear 2-02 are sleeved on the power device II first cross shaft 2-05, the power device II third straight-tooth sun gear 2-03 and the power device II fourth straight-tooth sun gear 2-04 are sleeved on the power device II second cross shaft 2-06, the power device II first cross shaft 2-05 and the power device II second cross shaft 2-06 are coaxial and are both fixedly connected with a second reversing mechanism arranged in the shell 7, the second reversing mechanism is arranged between the end parts of a first cross shaft 2-05 and a second cross shaft 2-06 of the power device II, a first straight-tooth sun gear 2-01 of the power device II is meshed with the closed gear 5, the idle gear 6 is arranged between a fourth straight-tooth sun gear 2-04 of the power device II and a first straight-tooth sun gear 4-01 of the transfer case, the fourth straight-tooth sun gear 2-04 of the power device II is meshed with the idle gear 6, and the idle gear 6 is meshed with the first straight-tooth sun gear 4-01 of the transfer case;
the power device III comprises a power device III first straight-tooth sun gear 3-01, a power device III second straight-tooth sun gear 3-02, a power device III third straight-tooth sun gear 3-03, a power device III fourth straight-tooth sun gear 3-04, a power device III first cross shaft 3-05 and a power device III second cross shaft 3-06, the power device III first straight-tooth sun gear 3-01 and the power device III second straight-tooth sun gear 3-02 are sleeved on the power device III first cross shaft 3-05, the power device III third straight-tooth sun gear 3-03 and the power device III fourth straight-tooth sun gear 3-04 are sleeved on the power device III second cross shaft 3-06, the power device III first cross shaft 3-05 and the power device III second cross shaft 3-06 are coaxial and are both fixedly connected with a third reversing mechanism arranged in the shell 7, the third reversing mechanism is arranged between the end parts of a first transverse shaft 1-13 and a second transverse shaft 1-14 of the power device III, a first straight-tooth sun gear 3-01 of the power device III is meshed with the closed gear 5, and a fourth straight-tooth sun gear 3-04 of the power device III is meshed with a third straight-tooth sun gear 4-03A 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 5 becomes the power input of the six-shaft differential device based on gear transmission; when six random motions are input, the closed gear 5 becomes the power output of the six-shaft differential device based on gear transmission;
and the idler wheel 6 realizes the auxiliary transmission and reversing between the fourth straight-tooth sun gear 2-04 of the power device II and the first straight-tooth sun gear 4-01 of the transfer case.
The power device I, the power device II and the power device III further respectively comprise a power device first bevel gear sun wheel, a power device second bevel gear sun wheel, a power device first bevel gear planet wheel, a power device second bevel gear planet wheel, a power device third bevel gear sun wheel, a power device fourth bevel gear sun wheel, a power device third bevel gear planet wheel, a power device fourth bevel gear planet wheel, a power device first vertical shaft and a power device fourth vertical shaft, the power device first bevel gear sun wheel and the power device second bevel gear sun wheel are sleeved on respective power device first transverse shaft, the middle part of the power device first vertical shaft is vertically and fixedly connected with the corresponding power device first transverse shaft, the power device first vertical shaft is arranged between the power device first bevel gear sun wheel and the power device tooth sun wheel, the power device first bevel gear planet wheel and the power device second bevel gear planet wheel are respectively sleeved on two ends of the power device first vertical shaft and orbit the first vertical shaft and the respective power device first transverse shaft, the first bevel gear planet wheel of the power device is respectively meshed with the first bevel gear sun wheel of the power device and the second bevel gear sun wheel of the power device, and the second bevel gear planet wheel of the power device is respectively meshed with the first bevel gear sun wheel of the power device and the second bevel gear sun wheel of the power device;
the power device third bevel gear sun wheel and the power device fourth bevel gear sun wheel are sleeved on respective power device second cross shafts, the middle part of a power device fourth vertical shaft is fixedly connected with the corresponding power device second cross shaft in a perpendicular mode, the power device fourth vertical shaft is arranged between the third bevel gear sun wheel and the power device fourth bevel gear sun wheel, the power device third bevel gear planet wheel and the power device fourth bevel gear planet wheel are respectively sleeved at two ends of the power device fourth vertical shaft and rotate around the power device fourth vertical shaft and revolve around the corresponding power device second cross shaft, the power device third bevel gear planet wheel is respectively meshed with the power device third bevel gear sun wheel and the power device fourth bevel gear sun wheel, and the power device fourth bevel gear planet wheel is respectively meshed with the power device third bevel gear sun wheel and the power device fourth bevel gear sun wheel.
Taking a power device I as an example, the power device I comprises a first bevel gear sun gear 1-01B of the power device I, a second bevel gear sun gear 1-02B of the power device I, a first bevel gear planet gear 1-03 of the power device I, a second bevel gear planet gear 1-04 of the power device I, a third bevel gear sun gear 1-05B of the power device I, a fourth bevel gear sun gear 1-06B of the power device I, a third bevel gear planet gear 1-07 of the power device I, a fourth bevel gear planet gear 1-08 of the power device I, a first vertical shaft 1-15 of the power device I and a fourth vertical shaft 1-18 of the power device I, the first bevel gear sun gear 1-01B of the power device I and the second bevel gear sun gear 1-02B of the power device I are sleeved on a first transverse shaft 1-13 of the power device I, the middle part of the first vertical shaft 1-15 of the power device I is vertically and fixedly connected with the first transverse shaft 1-13 of the power device I, the first vertical shaft 1-15 of the power device I is arranged between the first bevel gear sun gear 1-01B of the power device I and the second bevel gear sun gear 1-02B of the power device I, the first bevel gear planet wheel 1-03 and the second bevel gear planet wheel 1-04 of the power device I are respectively sleeved at two ends of a first vertical shaft 1-15 of the power device I, rotate around the first vertical shaft 1-15 of the power device I and revolve around a first transverse shaft 1-13 of the power device I, the first bevel gear planet wheel 1-03 of the power device I is respectively meshed with a first bevel gear sun wheel 1-01B of the power device I and a second bevel gear sun wheel 1-02B of the power device I, and the second bevel gear planet wheel 1-04 of the power device I is respectively meshed with the first bevel gear sun wheel 1-01B of the power device I and the second bevel gear sun wheel 1-02B of the power device I;
the power device I third bevel gear sun gear 1-05B and the power device I fourth bevel gear sun gear 1-06B are sleeved on the power device I second transverse shaft 1-14, the middle part of the power device I fourth vertical shaft 1-18 is vertically and fixedly connected with the power device I second transverse shaft 1-14, the power device I fourth vertical shaft 1-18 is arranged between the power device I third bevel gear sun gear 1-05B and the power device I fourth bevel gear sun gear 1-06B, the power device I third bevel gear planet gear 1-07 and the power device I fourth bevel gear planet gear 1-08 are respectively sleeved at two ends of the power device I fourth vertical shaft 1-18, the power device I fourth vertical shaft 1-18 rotates and the power device I second transverse shaft 1-14 rotates, the power device I third bevel gear planet gear 1-07 is respectively connected with the power device I third bevel gear sun gear 1-05B and the power device I fourth bevel gear sun gear 1-14B 06B, and fourth bevel gear planet wheels 1-08 of the power device I are respectively meshed with third bevel gear sun wheels 1-05B of the power device I and fourth bevel gear sun wheels 1-06B of the power device I; the power device I is communicated with the outside through a first straight-tooth sun gear 1-01A, a second straight-tooth sun gear 1-02A, a third straight-tooth sun gear 1-05A and a fourth straight-tooth sun gear 1-06A. When the single power source drives, the second straight-tooth sun gear 1-02A and the third straight-tooth sun gear 1-05A of the power device I become two paths of six paths of power output of the six-axis differential device; when six paths of random motion are input, the second straight-tooth sun gear 1-02A and the third straight-tooth sun gear 1-05A of the power device I become two paths of six paths of power input of the six-axis differential device.
The structure of the power device II is the same as that of the power device I; the power device II is in contact with the outside through a first straight-tooth sun gear 2-01, a second straight-tooth sun gear 2-02, a third straight-tooth sun gear 2-03 and a fourth straight-tooth sun gear 2-04 of the power device II; the power device II takes a transverse shaft 2-05 of the power device II as a main rotating shaft; when the single power source drives, the second straight-tooth sun gear 2-02 and the third straight-tooth sun gear 2-03 of the power device II become two paths of six paths of power output of the six-axis differential device; when six paths of random motion are input, the second straight-tooth sun gear 2-02 and the third straight-tooth sun gear 2-03 of the power device II become two paths of six paths of power input of the six-axis differential device.
The structure of the power device III is the same as that of the power device I; the power device III is connected with the outside through a first straight-tooth sun gear 3-01, a second straight-tooth sun gear 3-02, a third straight-tooth sun gear 3-03 and a fourth straight-tooth sun gear 3-04 of the power device III; the power device III takes a transverse shaft 3-05 of the power device III as a main rotating shaft; when the single power source drives, the second straight-tooth sun gear 3-02 and the third straight-tooth sun gear 3-03 of the power device III become two paths of six paths of power output of the six-axis differential device; when six paths of random motion are input, the second straight-tooth sun gear 3-02 and the third straight-tooth sun gear 3-03 of the power device III become two paths of six paths of power input of the six-shaft differential device.
The first bevel gear sun gear in the power device I is fixedly connected with a first straight gear sun gear 1-01A of the power device I, the first bevel gear sun gear in the power device II is fixedly connected with a first straight gear sun gear 2-01 of the power device II, the first bevel gear sun gear in the power device III is fixedly connected with a first straight gear sun gear 3-01 of the power device III, the second bevel gear sun gear in the power device I is fixedly connected with a second straight gear sun gear 1-02A of the power device I, the second bevel gear sun gear in the power device II is fixedly connected with a second straight gear sun gear 2-02 of the power device II, the second bevel gear sun gear in the power device III is fixedly connected with a second straight gear sun gear 3-02 of the power device III, the third bevel gear sun gear in the power device I is fixedly connected with a third straight gear sun gear 1-05A of the power device I, and the third bevel gear sun gear in the power device II is fixedly connected with a third straight gear sun gear 2-03 of the power device II, and a third bevel gear sun gear in the power device III is fixedly connected with a third straight-tooth sun gear 3-03 of the power device III, a fourth bevel gear sun gear in the power device I is fixedly connected with a fourth straight-tooth sun gear 1-06A of the power device I, a fourth bevel gear sun gear in the power device II is fixedly connected with a fourth straight-tooth sun gear 2-04 of the power device II, and a fourth bevel gear sun gear in the power device III is fixedly connected with a fourth straight-tooth sun gear 3-04 of the power device III.
The first reversing mechanism, the second reversing mechanism and the third reversing mechanism are identical in structure and respectively comprise a first power device reversing bevel gear, a second power device reversing bevel gear, a third power device reversing bevel gear, a fourth power device reversing bevel gear, a second power device vertical shaft and a third power device vertical shaft, the second power device vertical shaft and the third power device vertical shaft are coaxially arranged and are perpendicular to a corresponding first cross shaft of the power device, the first power device reversing bevel gear is coaxial and fixedly connected with the corresponding first cross shaft of the power device, the second power device reversing bevel gear is coaxial and fixedly connected with a corresponding second cross shaft of the power device, the third power device reversing bevel gear is assembled on the second power device vertical shaft and rotates around the second power device vertical shaft, the fourth power device reversing bevel gear is assembled on the third power device vertical shaft and rotates around the third vertical shaft, and the first power device reversing bevel gear and the second power device reversing bevel gear respectively and the third power device reversing bevel gear The gear is meshed with a fourth reversing bevel gear of the power device.
Taking the first reversing mechanism as an example, the following is specifically explained: the first reversing mechanism comprises a first reversing bevel gear 1-09 of a power device I, a second reversing bevel gear 1-10 of the power device I, a third reversing bevel gear 1-11 of the power device I, a fourth reversing bevel gear 1-12 of the power device I, a second vertical shaft 1-16 of the power device I and a third vertical shaft 1-17 of the power device I, wherein the second vertical shaft 1-16 of the power device I and the third vertical shaft 1-17 of the power device I are coaxially arranged and are vertical to a first horizontal shaft 1-13 of the power device I, the first reversing bevel gear 1-09 of the power device I and the first horizontal shaft 1-13 of the power device I are coaxially and fixedly connected, the second reversing bevel gear 1-10 of the power device I and the second horizontal shaft 1-14 of the power device I are coaxially and fixedly connected, the third reversing bevel gear 1-11 of the power device I is assembled on the second vertical shaft 1-16 of the power device I and rotates around the second vertical shaft 1-16 of the power device I, and the first reverse bevel gear 1-09 of the power device I and the second reverse bevel gear 1-10 of the power device I are respectively meshed with the third reverse bevel gear 1-11 of the power device I and the fourth reverse bevel gear 1-12 of the power device I.
The transfer case IV further comprises a first transfer case bevel gear sun gear 4-02B, a second transfer case bevel gear sun gear 4-03B, a first transfer case bevel gear planet wheel 4-04, a second transfer case bevel gear planet wheel 4-05 and a transfer case vertical shaft 4-07, the first transfer case bevel gear sun gear 4-02B and the second transfer case bevel gear sun gear 4-03B are sleeved on a transfer case transverse shaft 4-06, the middle part of the transfer case vertical shaft 4-07 is vertically and fixedly connected with a transfer case transverse shaft 4-06, the transfer case vertical shaft 4-07 is arranged between the first transfer case bevel gear sun gear 4-02B and the second transfer case bevel gear sun gear 4-03B, the first transfer case bevel gear planet wheel 4-04 and the transfer case bevel gear planet wheel 4-05 are respectively sleeved at two ends of the transfer case vertical shaft 4-07, rotate around the transfer case vertical shaft 4-07 and wind around the transfer case transverse shaft 4-07 And 06, revolving, wherein the transfer case first bevel gear planet wheel 4-04 is meshed with the transfer case first bevel gear sun wheel 4-02B and the transfer case second bevel gear sun wheel 4-03B respectively, and the transfer case second bevel gear planet wheel 4-05 is meshed with the transfer case first bevel gear sun wheel 4-02B and the transfer case second bevel gear sun wheel 4-03B respectively.
The second straight-tooth sun gear 4-02A of the transfer case is fixedly connected with the first bevel-tooth sun gear 4-02B of the transfer case, and the third straight-tooth sun gear 4-03A of the transfer case is fixedly connected with the second bevel-tooth sun gear 4-03B of the transfer case. The transfer case IV is communicated with the outside through a first straight-tooth sun gear 4-01 of the transfer case, a second straight-tooth sun gear 4-02A of the transfer case and a third straight-tooth sun gear 4-03A of the transfer case.
The idler 6 is located between the power device II and the transfer case IV, the idler 6 is fixed on a rotating shaft, and the rotating shaft is arranged in parallel with a transverse shaft 4-06 of the transfer case.
The first straight-tooth sun gear 1-01A of the power device I, the first straight-tooth sun gear 2-01 of the power device II and the first straight-tooth sun gear 3-01 of the power device III are identical in tooth number; the number of teeth of a second straight-tooth sun gear 1-02A of the power device I, a third straight-tooth sun gear 1-05A of the power device I, a second straight-tooth sun gear 2-02 of the power device II, a third straight-tooth sun gear 2-03 of the power device II, a second straight-tooth sun gear 3-02 of the power device III and a third straight-tooth sun gear 3-03 of the power device III are the same; the number of teeth of a fourth straight-tooth sun gear 1-06A of the power device I is twice the number of teeth of a fourth straight-tooth sun gear 2-04 of the power device II, the number of teeth of a fourth straight-tooth sun gear 3-04 of the power device III is the same as the number of teeth of the fourth straight-tooth sun gear 1-06A of the power device I, and the number of teeth of other corresponding gears of the power device I, the power device II and the power device III is the same.
The gear box comprises a gear box body, a first straight-tooth sun gear 4-01 of the gear box, a second straight-tooth sun gear 4-02A of the gear box and a third straight-tooth sun gear 4-03A of the gear box, wherein the first straight-tooth sun gear 4-01 of the gear box, the second straight-tooth sun gear 4-02A of the gear box and the third straight-.
The first transverse shaft 1-13 of the power device I, the second transverse shaft 1-14 of the power device I, the second vertical shaft of the power device of the three power devices, the third vertical shaft of the power device of the three power devices, the first transverse shaft 2-05 of the power device II, the second transverse shaft 2-06 of the power device II, the first transverse shaft 3-05 of the power device III, the second transverse shaft 3-06 of the power device III, the transverse shaft 4-06 of the transfer case and the rotating shaft of the idler 6 are all arranged on the shell 7 through revolute pairs.
The six-shaft differential device based on gear transmission has directivity in transmission, and transmission when a single power source drives is called forward differential transmission, and transmission when six paths of random motion are input is called reverse coupling transmission.
The invention is used for forward differential transmission or reverse six-shaft power coupling, the forward differential transmission can decompose single-path input motion into six-path output motion with arbitrary rotating speed ratio but definite relationship between the sum of the symbol numerical values and the speed numerical value of the single-path input motion, and performs moment equal division; during reverse coupling transmission, six paths of random input motions can be coupled into a single path of output motion which has a determined relation with the input motion, and moment synthesis is carried out. The specific working principle is as follows:
when the six-shaft differential device based on gear transmission is in forward differential transmission, a single power source drives a closed gear 5, the closed gear 5 distributes original power to power devices I, II and III through first straight-tooth sun gears 1-01A, 2-01 and 3-01 of the power devices respectively, and because six components of the power devices I, II and III, namely second straight-tooth sun gears 1-02A, 2-02 and 3-02 and third straight-tooth sun gears 1-05A, 2-03 and 3-03, are subjected to different external constraints, corresponding gears in the power devices I, II and III except the first straight-tooth sun gears 1-01A, 2-01 and 3-01 generate different rotating speeds, at the moment, one or two of the power devices I, II and III can transmit the power to a transfer case through the meshing of the fourth straight-tooth sun gear of the corresponding power devices and the 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 two or one straight-tooth sun gear of the transfer case and the fourth straight-tooth sun gear of the power device. Finally, in each power unit, partial power transmitted by the closed gear 5 minus power transmitted by the transfer unit or plus power fed back by the transfer unit is combined into total output power of the second straight-tooth sun gear of the corresponding power unit and the third straight-tooth sun gear of the power unit, so that six components of the second straight-tooth sun gear 1-02A, 2-02, 3-02 of the power unit and the third straight-tooth sun gear 1-05A, 2-03, 3-03 of the power unit have different rotating speeds and are used as final output of the six-shaft differential device. Six output torques are equal during forward differential transmission of the six-shaft differential device based on gear transmission, the amplification factor of the output torque to the input torque can be changed by the gear ratio of the first straight-tooth sun gear of the power device and the enclosed gear 5, and the amplification factor of the torque is larger when the gear ratio is larger under the condition that the overall size of the six-shaft differential device allows.
When the six-shaft differential device based on gear transmission is in reverse coupling transmission, six random rotating speeds are respectively transmitted into the power devices I, II and III through six components, namely the second straight-tooth sun gears 1-02A, 2-02 and 3-02 of the power devices and the third straight-tooth sun gears 1-05A, 2-03 and 3-03 of the power devices and input power to the power devices I, II and III, because the power devices I, II and III are subjected to different external constraints, one or two of the power devices I, II and III can transmit power into the transfer case through the meshing of the fourth straight-tooth sun gear of the corresponding power device and the 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 devices through the meshing of the other two or one straight-tooth sun gear of the transfer case and the fourth straight-tooth sun gear of the power device, and the process enables the fourth straight-tooth sun gear 1-06A, the second straight-tooth sun gear of the power device and the third straight-tooth sun gear of the power, 2-04 and 3-04 have different rotating speeds. Finally, under the coordination of the transfer case and the meshing constraint of the closed gear 5, six random input rotating speeds of the second straight-tooth sun gears 1-02A, 2-02 and 3-02 of the power device and the third straight-tooth sun gears 1-05A, 2-03 and 3-03 of the power device in the six-shaft differential gear device based on gear transmission are coupled into one output rotating speed of the closed gear 5, and moment synthesis is carried out.
In a six-axis differential gear based on a gear drive:
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 bePSimultaneously shows the transmission route efficiency of the gear 1-01B → 1-03/1-04 → 1-02A and the transmission route efficiency of the gear 1-05B → 1-07/1-08 → 1-06A in the power device I, and let etaPMeanwhile, the efficiency of the same part in the power devices II and III is shown; in addition, let ηDRepresenting the efficiency of the transfer case, then
For moment relations, let η if neglect the effect of efficiencyP＝ηDWhen 1, then:
the parameter number i in the relation between the rotating speed and the torque is 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 the first straight-tooth sun gear of the power device and the closed gear, and the amplification factor of the torque is larger when the gear ratio is larger.
The six-shaft differential device based on gear transmission of the embodiment utilizes a mechanical structure to realize real-time autonomous driving motion conversion between single main motion and six partial motions, and fills the blank of the field of purely mechanical six-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 internal power of the six-shaft differential device based on gear transmission is closed, precision self-calibration can be performed, the structure is simple, the consistency of components is good, the structure is compact, the processing and the manufacturing are convenient, and the power-volume ratio is large.
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 (10)
1. The utility model provides a six differential gear based on gear drive which characterized in that: the power device I, the power device II, the power device III, the transfer case IV, the closed gear (5) and the idle gear (6) are arranged in the shell (7), the transfer case IV is positioned in the center of the shell (7), and the power device I, the power device II and the power device III are arranged on the periphery of the transfer case IV in a circumferential array manner;
the transfer case IV comprises a first straight-tooth sun gear (4-01A), a second straight-tooth sun gear (4-02A), a third straight-tooth sun gear (4-03A) and a transverse shaft (4-06) of the transfer case, the transverse shaft (4-06) of the transfer case is a main rotating shaft of the transfer case IV, a first straight-tooth sun gear (4-01A) of the transfer case and the transverse shaft (4-06) of the transfer case are coaxial and fixedly connected, a second straight-tooth sun gear (4-02A) of the transfer case and a third straight-tooth sun gear (4-03A) of the transfer case are sleeved on the transverse shaft (4-06) of the transfer case, the closed gear (5) and a main rotating shaft of the transfer case IV are coaxially arranged, the closed gear (5) rotates around the main rotating shaft of the transfer case IV, and the closed gear (5) and a third straight-tooth sun gear (4-03A) of the transfer case are positioned at two ends of a transverse shaft (4-06) of the transfer case;
the power device I comprises a first straight-tooth sun gear (1-01A) of the power device I, a second straight-tooth sun gear (1-02A) of the power device I, a third straight-tooth sun gear (1-05A) of the power device I, a fourth straight-tooth sun gear (1-06A) of the power device I, a first cross shaft (1-13) of the power device I and a second cross shaft (1-14) of the power device I, wherein the first straight-tooth sun gear (1-01A) of the power device I and the second straight-tooth sun gear (1-02A) of the power device I are sleeved on the first cross shaft (1-13) of the power device I, the third straight-tooth sun gear (1-05A) of the power device I and the fourth straight-tooth sun gear (1-06A) of the power device I are sleeved on the second cross shaft (1-14) of the power device I, the first cross shaft (1-13) of the power device I and the second straight-tooth sun gear (1-14) of the power device I and the cross shafts are arranged on a casing ( The first reversing mechanism is fixedly connected with the inside of the power device I, the first reversing mechanism is arranged between the end parts of a first transverse shaft (1-13) and a second transverse shaft (1-14) of the power device I, a first straight-tooth sun gear (1-01A) of the power device I is meshed with a closed gear (5), and a fourth straight-tooth sun gear (1-06A) of the power device I is meshed with a second straight-tooth sun gear (4-02A) of a transfer case;
the power device II comprises a power device II first straight-tooth sun gear (2-01), a power device II second straight-tooth sun gear (2-02), a power device II third straight-tooth sun gear (2-03), a power device II fourth straight-tooth sun gear (2-04), a power device II first cross shaft (2-05) and a power device II second cross shaft (2-06), the power device II first straight-tooth sun gear (2-01) and the power device II second straight-tooth sun gear (2-02) are sleeved on the power device II first cross shaft (2-05), the power device II third straight-tooth sun gear (2-03) and the power device II fourth straight-tooth sun gear (2-04) are sleeved on the power device II second cross shaft (2-06), the power device II first cross shaft (2-05) and the power device II second cross shaft (2-06) are coaxial and are all arranged with a second reversing shaft (2-06) in the shell (7) The second reversing mechanism is arranged between the end parts of a first cross shaft (2-05) and a second cross shaft (2-06) of the power device II, the first straight-tooth sun gear (2-01) of the power device II is meshed with the closed gear (5), the idle gear (6) is arranged between a fourth straight-tooth sun gear (2-04) of the power device II and a first straight-tooth sun gear (4-01) of the transfer case, the fourth straight-tooth sun gear (2-04) of the power device II is meshed with the idle gear (6), and the idle gear (6) is meshed with the first straight-tooth sun gear (4-01) of the transfer case;
the power device III comprises a first straight-tooth sun gear (3-01) of a power device III, a second straight-tooth sun gear (3-02) of the power device III, a third straight-tooth sun gear (3-03) of the power device III, a fourth straight-tooth sun gear (3-04) of the power device III, a first cross shaft (3-05) of the power device III and a second cross shaft (3-06) of the power device III, the first straight-tooth sun gear (3-01) of the power device III and the second straight-tooth sun gear (3-02) of the power device III are sleeved on the first cross shaft (3-05) of the power device III, the third straight-tooth sun gear (3-03) of the power device III and the fourth straight-tooth sun gear (3-04) of the power device III are sleeved on the second cross shaft (3-06) of the power device III, the first cross shaft (3-05) of the power device III and the second cross shaft (3-06) of the power device III are coaxial and are all arranged with a third straight-tooth sun gear (3-01) arranged The power device is characterized by being fixedly connected, the third reversing mechanism is arranged between the end parts of a first transverse shaft (1-13) and a second transverse shaft (1-14) of the power device III, a first straight-tooth sun gear (3-01) of the power device III is meshed with the closed gear (5), and a fourth straight-tooth sun gear (3-04) of the power device III is meshed with a third straight-tooth sun gear (4-03A) of the transfer case.
2. A six-axis differential apparatus based on a geared drive as claimed in claim 1 wherein: the power device I, the power device II and the power device III further respectively comprise a power device first bevel gear sun wheel, a power device second bevel gear sun wheel, a power device first bevel gear planet wheel, a power device second bevel gear planet wheel, a power device third bevel gear sun wheel, a power device fourth bevel gear sun wheel, a power device third bevel gear planet wheel, a power device fourth bevel gear planet wheel, a power device first vertical shaft and a power device fourth vertical shaft, the power device first bevel gear sun wheel and the power device second bevel gear sun wheel are sleeved on the respective power device first transverse shaft, the middle part of the power device first vertical shaft is vertically and fixedly connected with the corresponding power device first transverse shaft, the power device first vertical shaft is arranged between the power device first bevel gear sun wheel and the power device gear sun wheel, the power device first bevel gear planet wheel and the power device second bevel gear planet wheel are respectively sleeved at two ends of the power device first vertical shaft and revolve around the first vertical shaft and around the respective power device first transverse shaft, the first bevel gear planet wheel of the power device is respectively meshed with the first bevel gear sun wheel of the power device and the second bevel gear sun wheel of the power device, and the second bevel gear planet wheel of the power device is respectively meshed with the first bevel gear sun wheel of the power device and the second bevel gear sun wheel of the power device;
the power device third bevel gear sun wheel and the power device fourth bevel gear sun wheel are sleeved on respective power device second cross shafts, the middle part of a power device fourth vertical shaft is fixedly connected with the corresponding power device second cross shaft in a perpendicular mode, the power device fourth vertical shaft is arranged between the third bevel gear sun wheel and the power device fourth bevel gear sun wheel, the power device third bevel gear planet wheel and the power device fourth bevel gear planet wheel are respectively sleeved at two ends of the power device fourth vertical shaft and rotate around the power device fourth vertical shaft and revolve around the corresponding power device second cross shaft, the power device third bevel gear planet wheel is respectively meshed with the power device third bevel gear sun wheel and the power device fourth bevel gear sun wheel, and the power device fourth bevel gear planet wheel is respectively meshed with the power device third bevel gear sun wheel and the power device fourth bevel gear sun wheel.
3. A six-axis differential apparatus based on a geared drive as claimed in claim 2 wherein: the first bevel gear sun gear in the power device I is fixedly connected with a first straight gear sun gear (1-01A) of the power device I, the first bevel gear sun gear in the power device II is fixedly connected with a first straight gear sun gear (2-01) of the power device II, the first bevel gear sun gear in the power device III is fixedly connected with a first straight gear sun gear (3-01) of the power device III, the second bevel gear sun gear in the power device I is fixedly connected with a second straight gear sun gear (1-02A) of the power device I, the second bevel gear sun gear in the power device II is fixedly connected with a second straight gear sun gear (2-02) of the power device II, the second bevel gear sun gear in the power device III is fixedly connected with a second straight gear sun gear (3-02) of the power device I, the third bevel gear sun gear in the power device I is fixedly connected with a third straight gear sun gear (1-05A) of the power device I, the third bevel gear sun gear in the power device II is fixedly connected with a third straight-tooth sun gear (2-03) of the power device II, the third bevel gear sun gear in the power device III is fixedly connected with a third straight-tooth sun gear (3-03) of the power device III, the fourth bevel gear sun gear in the power device I is fixedly connected with a fourth straight-tooth sun gear (1-06A) of the power device I, the fourth bevel gear sun gear in the power device II is fixedly connected with a fourth straight-tooth sun gear (2-04) of the power device II, and the fourth bevel gear sun gear in the power device III is fixedly connected with a fourth straight-tooth sun gear (3-04) of the power device III.
4. A six-axis differential apparatus based on a geared drive as claimed in claim 3 wherein: the first reversing mechanism, the second reversing mechanism and the third reversing mechanism are identical in structure and respectively comprise a power device first reversing bevel gear, a power device second reversing bevel gear, a power device third reversing bevel gear, a power device fourth reversing bevel gear, a power device second vertical shaft and a power device third vertical shaft, the power device second vertical shaft and the power device third vertical shaft are coaxially arranged and are perpendicular to a corresponding power device first cross shaft, the power device first reversing bevel gear is coaxial and fixedly connected with a corresponding power device first cross shaft, the power device second reversing bevel gear is coaxial and fixedly connected with a corresponding power device second cross shaft, the power device third reversing bevel gear is assembled on the power device second vertical shaft and rotates around the power device second vertical shaft, the power device fourth reversing bevel gear is assembled on the power device third vertical shaft and rotates around the third vertical shaft, and the power device first reversing bevel gear and the power device second reversing bevel gear respectively rotate with the power device third reversing bevel gear And the power device fourth reversing bevel gear is meshed with the power device fourth reversing bevel gear.
5. A six-axis differential apparatus based on gear transmission according to any of claims 1-4 wherein: the transfer case IV further comprises a first transfer case bevel gear sun gear (4-02B), a second transfer case bevel gear sun gear (4-03B), a first transfer case bevel gear planet wheel (4-04), a second transfer case bevel gear planet wheel (4-05) and a transfer case vertical shaft (4-07), the first transfer case bevel gear sun gear (4-02B) and the second transfer case bevel gear sun gear (4-03B) are sleeved on a transfer case transverse shaft (4-06), the middle part of the transfer case vertical shaft (4-07) is vertically and fixedly connected with the transfer case transverse shaft (4-06), the transfer case vertical shaft (4-07) is arranged between the first transfer case bevel gear sun gear (4-02B) and the second transfer case bevel gear sun gear (4-03B), and the first transfer case bevel gear planet wheel (4-04) and the second transfer case bevel gear planet wheel (4-05) are respectively sleeved on the transfer case vertical shaft (4-02B) and the second transfer case bevel gear sun gear (4-03B) 4-07) and rotate around a vertical shaft (4-07) of the transfer case and revolve around a transverse shaft (4-06) of the transfer case, a first bevel planet gear (4-04) of the transfer case is respectively meshed with a first bevel sun gear (4-02B) of the transfer case and a second bevel sun gear (4-03B) of the transfer case, and a second bevel planet gear (4-05) of the transfer case is respectively meshed with the first bevel sun gear (4-02B) of the transfer case and the second bevel sun gear (4-03B) of the transfer case.
6. A six-axis differential apparatus based on gear transmission according to claim 5 wherein: the second straight-tooth sun gear (4-02A) of the transfer case is fixedly connected with the first bevel-tooth sun gear (4-02B) of the transfer case, and the third straight-tooth sun gear (4-03A) of the transfer case is fixedly connected with the second bevel-tooth sun gear (4-03B) of the transfer case.
7. A six-axis differential apparatus based on gear transmission according to claim 6 wherein: the idler wheel (6) is fixed on a rotating shaft, and the rotating shaft is arranged in parallel with a transverse shaft (4-06) of the transfer case.
8. A six-axis differential apparatus based on a geared drive as claimed in claim 7 wherein: the first straight-tooth sun gear (1-01A) of the power device I, the first straight-tooth sun gear (2-01) of the power device II and the first straight-tooth sun gear (3-01) of the power device III are identical in tooth number; the number of teeth of a second straight-tooth sun gear (1-02A) of the power device I, a third straight-tooth sun gear (1-05A) of the power device I, a second straight-tooth sun gear (2-02) of the power device II, a third straight-tooth sun gear (2-03) of the power device II, a second straight-tooth sun gear (3-02) of the power device III and a third straight-tooth sun gear (3-03) of the power device III are the same; the number of teeth of the fourth straight-tooth sun gear (1-06A) of the power device I is twice the number of teeth of the fourth straight-tooth sun gear (2-04) of the power device II, the number of teeth of the fourth straight-tooth sun gear (3-04) of the power device III is the same as the number of teeth of the fourth straight-tooth sun gear (1-06A) of the power device I, and the number of teeth of other corresponding gears of the power device I, the power device II and the power device III are the same.
9. A six-axis differential apparatus based on a geared drive as claimed in claim 1 wherein: the gear box is characterized in that the gear box is provided with a first straight-tooth sun gear (4-01), a second straight-tooth sun gear (4-02A) and a third straight-tooth sun gear (4-03A).
10. A six-axis differential apparatus based on a geared drive as claimed in claim 7 wherein: the first cross shaft (1-13) of the power device I, the second cross shaft (1-14) of the power device I, the second vertical shaft of the power device, the third vertical shaft of the power device, the first cross shaft (2-05) of the power device II, the second cross shaft (2-06) of the power device II, the first cross shaft (3-05) of the power device III, the second cross shaft (3-06) of the power device III, the cross shaft (4-06) of the transfer case and the rotating shaft are all arranged on the shell (7) through revolute pairs.
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| CN201910476475.0A CN112032276B (en) | 2019-06-03 | 2019-06-03 | Six-shaft differential device based on gear transmission |
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| CN201910476475.0A CN112032276B (en) | 2019-06-03 | 2019-06-03 | Six-shaft differential device based on gear transmission |
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| CN112032276A true CN112032276A (en) | 2020-12-04 |
| CN112032276B CN112032276B (en) | 2021-07-20 |
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| CN201910476475.0A Expired - Fee Related CN112032276B (en) | 2019-06-03 | 2019-06-03 | Six-shaft differential device based on gear transmission |
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| CN112032276B (en) | 2021-07-20 |
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