CN112706834A - Comprehensive transmission device capable of hydraulic independent driving steering - Google Patents

Comprehensive transmission device capable of hydraulic independent driving steering Download PDF

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Publication number
CN112706834A
CN112706834A CN202110025307.7A CN202110025307A CN112706834A CN 112706834 A CN112706834 A CN 112706834A CN 202110025307 A CN202110025307 A CN 202110025307A CN 112706834 A CN112706834 A CN 112706834A
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China
Prior art keywords
steering
hydraulic
transmission device
motor
vehicle
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CN202110025307.7A
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Inventor
郑长松
陈漫
文孟权
马源
何春平
杜金波
伍懿
杨硕
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Priority to CN202110025307.7A priority Critical patent/CN112706834A/en
Publication of CN112706834A publication Critical patent/CN112706834A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/062—Details, component parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/20—Endless-track steering having pivoted bogie carrying track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/18—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by power transmitting means

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

The invention discloses a hydraulic independent driving and steering integrated transmission device, which comprises a speed change mechanism, a clutch and an independent steering mechanism, wherein the integrated transmission device can be driven to steer hydraulically and independently; the two bus bars, the two hydraulic steering pumps and the two hydraulic motors are symmetrically arranged on the left side and the right side of the speed change mechanism and the clutch; the invention is provided with the comprehensive transmission device consisting of the speed change mechanism, the clutch and the independent steering mechanism, two busbars, two hydraulic steering pumps and two hydraulic motors in the comprehensive transmission device are symmetrically arranged at the left side and the right side of the speed change mechanism and the clutch, the two hydraulic steering pumps and the two hydraulic motors symmetrically arranged at the two sides can be independently driven, the comprehensive transmission device has good maneuvering and accompanying capabilities, can realize the stepless steering of vehicles with different radiuses, and has flexible and reliable steering and more compact power transmission structure.

Description

Comprehensive transmission device capable of hydraulic independent driving steering
Technical Field
The invention relates to a driving technology, in particular to a hydraulic independent driving and steering comprehensive transmission device, and belongs to the technical field of transmission devices.
Background
With the increase of power and the increase of vehicle speed of tracked vehicles, the requirements on the transmission system and the steering performance of the tracked vehicle are higher and higher. At present, most of the domestic crawler engineering vehicles adopt a mechanical speed change mechanism assisted by a secondary planetary steering mechanism and a hydraulic pump and the like required by a driving mechanism, so that a transmission system is complex and has poor reliability. Therefore, the research and design of the comprehensive transmission device with better dynamic performance and higher steering performance is of great significance. The performance requirements of such an integrated transmission are mainly reflected in: the stepless steering device has good maneuvering and accompanying capabilities, can realize stepless steering of vehicles with different radiuses, and is flexible and reliable in steering and more compact in power transmission structure.
In the related art, JP2005-54335A discloses a similar crawler vehicle running device configured to transmit driving force from an engine to left and right crawler belts through a hydrostatic transmission, and a hydrostatic steering system causes instability in the operation performance of a motor due to feedback to a hydraulic drive motor when steering because ground resistance received by the left and right crawler belts is not uniform.
Disclosure of Invention
The invention aims to provide a hydraulic independent driving and steering integrated transmission device, which aims to solve the problem that when a hydrostatic steering system proposed in the background art is used for steering, the ground resistance of left and right crawler belts is inconsistent, so that the working performance of a motor is unstable when the motor is fed back to a hydraulic driving motor.
In order to achieve the purpose, the invention provides the following technical scheme: a hydraulic independent drive steering integrated transmission device comprises a speed change mechanism, a clutch and an independent steering mechanism, wherein the integrated transmission device can be hydraulically and independently driven to steer, and the independent steering mechanism comprises two busbars, two hydraulic steering pumps and two hydraulic motors; the two bus bars, the two hydraulic steering pumps and the two hydraulic motors are symmetrically arranged on the left side and the right side of the speed change mechanism and the clutch; the two hydraulic steering pumps and the two hydraulic motors which are symmetrically arranged on two sides can be driven independently.
As a preferable aspect of the present invention, when the vehicle is running:
the hydraulic steering pump of the comprehensive transmission device has zero discharge capacity, the hydraulic motor does not rotate, the sun gears of the left and right bus bars are locked by the motor, the gear rings of the bus bars are input, the planet carrier is output, the rotating speeds of the left and right sides are consistent, and the vehicle runs straight.
In a preferred embodiment of the present invention, when the vehicle is running straight, the sun gear is stressed and transmitted to the motor through the steering driving mechanism, and if the vehicle is running straight, the motor must be capable of overcoming the maximum torque transmitted to the motor through the steering driving mechanism, the displacement of the motor is 55ml/r, the rated pressure is 42MPa, and the maximum torque which can be overcome is:
Mm＝Vm·Δp·η/20·π＝355N.m (2)
as a preferred technical solution of the present invention, the transmission ratio from the sun gear to the motor is 24.3, at this time, the torque received by the sun gear is 355x24.3 ═ 8626n.m, during the straight-ahead driving of the vehicle, according to theoretical calculation, the hydraulic working condition of the vehicle, the zero working condition of the torque converter, and the output torque of the hydraulic working condition of the 1 st gear are the largest, and at this time, the maximum torque received by the sun gear is 3465 n.m.
As a preferable aspect of the present invention, when the vehicle turns:
because the comprehensive transmission device adopts a form of double pumps and double motors, the steering power is maximum when the center is steered, at the moment, the bus bar gear rings on the left side and the right side of the three shafts are locked, and one side of the bus bar sun gears on the two sides rotates forwards and the other side rotates backwards under the driving of the motors, so that the center is steered; when the vehicle turns at different gears, stepless turning of the vehicle with different radiuses can be realized.
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to a hydraulic independent driving and steering integrated transmission device which is provided with an integrated transmission device consisting of a speed change mechanism, a clutch and an independent steering mechanism, wherein two busbars, two hydraulic steering pumps and two hydraulic motors in the integrated transmission device are symmetrically arranged at the left side and the right side of the speed change mechanism and the clutch, the two hydraulic steering pumps and the two hydraulic motors symmetrically arranged at the two sides can be independently driven, the integrated transmission device has good maneuvering and accompanying capabilities, stepless steering of vehicles with different radiuses can be realized, the steering is flexible and reliable, and the power transmission structure is more compact.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a technical scheme of a hydraulic independent driving steering comprehensive transmission device, which comprises the following steps: a hydraulic independent drive steering integrated transmission device comprises a speed change mechanism, a clutch and an independent steering mechanism, wherein the integrated transmission device can be hydraulically and independently driven to steer, and the independent steering mechanism comprises two busbars, two hydraulic steering pumps and two hydraulic motors; the two bus bars, the two hydraulic steering pumps and the two hydraulic motors are symmetrically arranged on the left side and the right side of the speed change mechanism and the clutch; the two hydraulic steering pumps and the two hydraulic motors which are symmetrically arranged on two sides can be driven independently.
According to the maximum power transmitted by the engineering machinery of 360kW, the structural parameters of the vehicle and the weight of the vehicle are calculated to 22 tons, and the parameters of the selected hydraulic pump and the hydraulic motor are shown in the table 2:
Figure BDA0002890125410000031
Figure BDA0002890125410000041
TABLE 2 selection of hydraulic steering drive system key elements
When the vehicle is running:
the hydraulic steering pump of the comprehensive transmission device has zero discharge capacity, the hydraulic motor does not rotate, the sun gears of the left and right bus bars are locked by the motor, the gear rings of the bus bars are input, the planet carrier is output, the rotating speeds of the left and right sides are consistent, and the vehicle runs straight.
When the vehicle runs straight, the sun wheel is stressed and is transmitted to the motor through the steering driving mechanism, and if the vehicle runs straight, the motor must overcome the maximum torque transmitted to the motor through the steering driving mechanism, the displacement of the motor is 55ml/r, the rated pressure is 42MPa, and the maximum torque which can be overcome is as follows:
Mm＝Vm·Δp·η/20·π＝355N.m (2)
the transmission ratio from the sun wheel to the motor is 24.3, the torque borne by the sun wheel is 355x24.3 which is 8626N.m, and the hydraulic working condition of the vehicle, the zero working condition of the torque converter and the maximum output torque of the hydraulic working condition of the 1 gear are calculated according to the theory during the straight running process of the vehicle, and the maximum torque borne by the sun wheel is 3465 N.m.
When the vehicle is turning:
because the comprehensive transmission device adopts a form of double pumps and double motors, the steering power is maximum when the center is steered, at the moment, the bus bar gear rings on the left side and the right side of the three shafts are locked, and one side of the bus bar sun gears on the two sides rotates forwards and the other side rotates backwards under the driving of the motors, so that the center is steered; when the vehicle turns at different gears, stepless turning of the vehicle with different radiuses can be realized.
According to the structural parameters of the vehicle and the steering driving transmission ratio, the steering power factors of the vehicle on different roads and under different steering radiuses can be calculated as shown in the table 3, the minimum steering radius under each gear is shown in the table 4, and the central steering time is shown in the table 5.
Figure BDA0002890125410000051
TABLE 3 Power factor at various road surface relative steering radii
Figure BDA0002890125410000052
TABLE 4 minimum steering radius at each gear
Figure BDA0002890125410000061
TABLE 5 center turn time
According to theoretical calculation, when the engine is 2200r/min, the center steering can be realized on a common road surface, and the time for the center steering is about 10s (the tightness of the left and right crawler belts of the actual vehicle, the slippage of the rubberized crawler belts, the road surface resistance inconsistency of the left and right crawler belts and the like are not considered).
The invention relates to a hydraulic independent driving and steering integrated transmission device which is provided with an integrated transmission device consisting of a speed change mechanism, a clutch and an independent steering mechanism, wherein two busbars, two hydraulic steering pumps and two hydraulic motors in the integrated transmission device are symmetrically arranged at the left side and the right side of the speed change mechanism and the clutch, the two hydraulic steering pumps and the two hydraulic motors symmetrically arranged at the two sides can be independently driven, the integrated transmission device has good maneuvering and accompanying capabilities, stepless steering of vehicles with different radiuses can be realized, the steering is flexible and reliable, and the power transmission structure is more compact.
In the description of the present invention, it is to be understood that the indicated orientations or positional relationships are only for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the indicated devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the present invention.
In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly attached, detachably attached, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1.一种液压独立驱动转向的综合传动装置，包括变速机构、离合器和独立转向机构，其特征在于，所述综合传动装置可液压独立驱动转向，所述独立转向机构包括两个汇流排、两个液压转向泵和两个液压马达；且两个所述汇流排、两个所述液压转向泵和两个所述液压马达均对称布置于变速机构和离合器的左右两侧；两侧对称布置的两个所述液压转向泵和两个所述液压马达可进行独立驱动。1. a comprehensive transmission device for hydraulic independent driving and steering, comprising a speed change mechanism, a clutch and an independent steering mechanism, it is characterized in that, the comprehensive transmission device can be hydraulically independently driven and steering, and the independent steering mechanism comprises two busbars, two two hydraulic steering pumps and two hydraulic motors; and the two busbars, the two hydraulic steering pumps and the two hydraulic motors are symmetrically arranged on the left and right sides of the transmission mechanism and the clutch; The two hydraulic steering pumps and the two hydraulic motors can be independently driven. 2.根据权利要求1所述的一种液压独立驱动转向的综合传动装置，其特征在于：当车辆行驶时：2. The comprehensive transmission device of a hydraulic independent drive steering according to claim 1, characterized in that: when the vehicle is running: 综合传动装置的液压转向泵的排量为零，液压马达不转，左右汇流排的太阳轮被马达锁死，汇流排中齿圈输入，行星架输出，左右两侧转速一致，车辆直驶。The displacement of the hydraulic steering pump of the integrated transmission device is zero, the hydraulic motor does not rotate, the sun gears of the left and right busbars are locked by the motor, the ring gear in the busbar is input, and the planet carrier is output. 3.根据权利要求2所述的一种液压独立驱动转向的综合传动装置，其特征在于：汇流排在车辆直驶时，太阳轮受力，经转向驱动机构传至马达，若要保证车辆直驶，此马达必须能够克服经转向驱动机构所传至马达的最大力矩，该马达的排量为55ml/r,额定压力42MPa,所能克服的最大力矩为：3. A comprehensive transmission device for hydraulic independent driving and steering according to claim 2, characterized in that: when the bus is driving straight, the sun gear is stressed, and is transmitted to the motor through the steering driving mechanism. The motor must be able to overcome the maximum torque transmitted to the motor through the steering drive mechanism. The displacement of the motor is 55ml/r and the rated pressure is 42MPa. The maximum torque that can be overcome is: Mm＝Vm·Δp·η/20·π＝355N.m (2)M m =V m ·Δp·η/20·π=355N.m (2) 4.根据权利要求3所述的一种液压独立驱动转向的综合传动装置，其特征在于：太阳轮至马达的传动比为24.3，此时太阳轮所受到的力矩为355x24.3＝8626N.m，车辆在直驶过程中，根据理论计算，车辆液力工况，变矩器零工况、1档液力时输出力矩最大，此时太阳轮所受到的最大力矩为3465N.m。4. A comprehensive transmission device for hydraulic independent driving and steering according to claim 3, characterized in that: the transmission ratio of the sun gear to the motor is 24.3, and the moment received by the sun gear at this time is 355x24.3=8626N.m , During the straight driving process of the vehicle, according to the theoretical calculation, the vehicle hydraulic condition, the torque converter zero working condition, the 1st gear hydraulic output torque is the largest, and the maximum torque received by the sun gear at this time is 3465N.m. 5.根据权利要求1所述的一种液压独立驱动转向的综合传动装置，其特征在于：当车辆转向时：5. The comprehensive transmission device for hydraulic independent driving and steering according to claim 1, characterized in that: when the vehicle is steered: 由于综合传动装置采用双泵双马达的形式，在中心转向时，转向功率最大，此时，三轴左右两侧汇流排齿圈锁死，两侧汇流排太阳轮在马达的驱动下，一侧正转、一侧反转，实现中心转向；当车辆在不同档位转向时，可实现车辆不同半径的无级转向。Since the integrated transmission device adopts the form of dual pumps and dual motors, the steering power is the largest when the center is turned. At this time, the busbar ring gears on the left and right sides of the three shafts are locked, and the busbar sun gears on both sides are driven by the motor. Forward rotation and reverse rotation on one side realize center steering; when the vehicle turns in different gears, it can realize stepless steering with different radii of the vehicle.
CN202110025307.7A 2021-01-08 2021-01-08 Comprehensive transmission device capable of hydraulic independent driving steering Pending CN112706834A (en)

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Publication number Priority date Publication date Assignee Title
JPS60259568A (en) * 1984-06-01 1985-12-21 Secoh Giken Inc Power steering apparatus
CN103707764A (en) * 2013-12-19 2014-04-09 中国北方车辆研究所 Bilateral hydrostatic coupling driving system of endless-track vehicle
CN205661521U (en) * 2016-06-07 2016-10-26 福建海山机械股份有限公司 Hydraulic steering control system
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CN108773409A (en) * 2018-05-29 2018-11-09 山推工程机械股份有限公司 A kind of Steerring in situ device, engineering machinery and bull-dozer control method
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US10814911B2 (en) * 2016-04-07 2020-10-27 Cnh Industrial America Llc Implement steering system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60259568A (en) * 1984-06-01 1985-12-21 Secoh Giken Inc Power steering apparatus
CN103707764A (en) * 2013-12-19 2014-04-09 中国北方车辆研究所 Bilateral hydrostatic coupling driving system of endless-track vehicle
US10814911B2 (en) * 2016-04-07 2020-10-27 Cnh Industrial America Llc Implement steering system
CN205661521U (en) * 2016-06-07 2016-10-26 福建海山机械股份有限公司 Hydraulic steering control system
CN108437786A (en) * 2018-03-21 2018-08-24 北京理工大学 A kind of width transmission range hydrodynamic mechanical combined type comprehensive actuator
CN108773409A (en) * 2018-05-29 2018-11-09 山推工程机械股份有限公司 A kind of Steerring in situ device, engineering machinery and bull-dozer control method
CN111532340A (en) * 2020-07-09 2020-08-14 山东科技职业学院 Vehicle transmission speed difference steering device

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Application publication date: 20210427