CN112709813B - Automatic gear shifting method, gear shifting device, transmission and crawler-type mobile equipment - Google Patents

Automatic gear shifting method, gear shifting device, transmission and crawler-type mobile equipment Download PDF

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Publication number
CN112709813B
CN112709813B CN202011625528.XA CN202011625528A CN112709813B CN 112709813 B CN112709813 B CN 112709813B CN 202011625528 A CN202011625528 A CN 202011625528A CN 112709813 B CN112709813 B CN 112709813B
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China
Prior art keywords
crawler
gear
transmission
speed
shift
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CN202011625528.XA
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CN112709813A (en
Inventor
李孝先
邓云海
胡青
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Hunan Province Ground Unmanned Equipment Engineering Research Center Co ltd
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Sany Automobile Manufacturing Co Ltd
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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
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H61/0403—Synchronisation before shifting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • 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
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/38—Inputs being a function of speed of gearing elements
    • 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
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/38—Inputs being a function of speed of gearing elements
    • F16H59/40—Output shaft speed
    • 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
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/44—Inputs being a function of speed dependent on machine speed of the machine, e.g. the vehicle
    • 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
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/0003—Arrangement or mounting of elements of the control apparatus, e.g. valve assemblies or snapfittings of valves; Arrangements of the control unit on or in the transmission gearbox
    • F16H61/0009—Hydraulic control units for transmission control, e.g. assembly of valve plates or valve units
    • 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
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F16H61/30—Hydraulic or pneumatic motors or related fluid control means therefor
    • 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
    • F16H2200/00—Transmissions for multiple ratios
    • F16H2200/003—Transmissions for multiple ratios characterised by the number of forward speeds
    • F16H2200/0034—Transmissions for multiple ratios characterised by the number of forward speeds the gear ratios comprising two forward speeds

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The invention provides an automatic gear shifting method, a gear shifting device, a transmission and crawler-type mobile equipment, and particularly relates to the technical field of crawler-type mobile equipment. The automatic gear shifting method is used for crawler-type mobile equipment, each crawler of a crawler chassis of the crawler-type mobile equipment is independently driven through at least one driving device and a transmission, the driving devices are arranged in one-to-one correspondence with the transmissions, and the automatic gear shifting method comprises the following steps: placing a shift mechanism of the transmission in a neutral position; acquiring a first rotating speed of a first rotating shaft of the transmission, wherein the first rotating shaft is fixed with a gear shifting target gear; matching a second rotating speed of a second rotating shaft of the transmission with the first rotating speed by controlling the driving device, wherein the second rotating shaft is fixed with the gear shifting mechanism; shifting the shift mechanism at the first shaft. Compared with the prior art, the problem that the transmission is damaged by tooth beating when the speed is changed in the running process of the conventional crawler-type mobile equipment is solved.

Description

Automatic gear shifting method, gear shifting device, transmission and crawler-type mobile equipment
Technical Field
The invention relates to the technical field of crawler-type mobile equipment, in particular to an automatic gear shifting method, a gear shifting device, a transmission and crawler-type mobile equipment.
Background
The crawler chassis is widely applied to various industries, such as large-scale arrangement of excavators and the like in the field of engineering machinery, and then, for example, unmanned automatic driving vehicles which are gradually raised and special vehicles all widely use the crawler chassis as a driving mode, so that corresponding mobile equipment can safely drive on complex landforms or in narrow spaces, or the steering of the mobile equipment can be realized. This makes the drive ratio control of the track undercarriage of a tracked mobile device particularly important.
The speed change mode of the crawler chassis is different from that of a chassis of a wheeled vehicle, the gear beating phenomenon is easy to occur when the speed change is carried out during the running process of the crawler chassis, and particularly, the problems are easy to occur to an existing manual transmission and a primary driver with limited operation experience.
Disclosure of Invention
The invention aims to solve the problem that the transmission is damaged due to the fact that teeth are easy to be knocked when the existing crawler chassis is shifted in the running process to a certain extent.
In order to solve the above problems, the present invention provides an automatic gear shifting method for a crawler type mobile device, each track of a track chassis of the crawler type mobile device is independently driven by at least one driving device and a transmission, the driving devices are arranged in one-to-one correspondence with the transmissions, and the method includes:
placing a shift mechanism of the transmission in a neutral position;
acquiring a first rotating speed of a first rotating shaft of the transmission, wherein the first rotating shaft is fixed with a gear shifting target gear;
matching a second rotating speed of a second rotating shaft of the transmission with the first rotating speed by controlling the driving device, wherein the second rotating shaft is fixed with the gear shifting mechanism;
shifting the shift mechanism at the first shaft.
Further, the learning of the first rotation speed of the first rotation shaft fixed to the suspension target gear includes:
detecting a rotational speed of a track drive shaft of the track chassis, the track drive shaft being drivingly connected to the first shaft;
the first rotational speed is known from a gear ratio of the track drive shaft to the first shaft.
Further, before the causing the shift mechanism of the transmission to be in the neutral position, the method further includes: detecting the rotating speed of the crawler belt;
the shifting the shift mechanism at the first shaft comprises:
if the track rotating speed is zero, shifting the gear shifting mechanism at a first speed at a first rotating shaft fixed by the gear shifting target gear;
if the rotation speed of the crawler belt is not zero, shifting the gear shifting mechanism at a first rotating shaft fixed on the gear shifting target gear at a second speed;
wherein the second speed is greater than the first speed.
The invention also provides a gear shifting device for crawler-type mobile equipment, each crawler of a crawler chassis of the crawler-type mobile equipment is independently driven by at least one driving device and a transmission, the driving devices are arranged in one-to-one correspondence with the transmissions, and the gear shifting device comprises:
a detection unit for detecting a first rotation speed of a first rotating shaft to which a shift target gear of the transmission is fixed, or a rotation speed of a track driving shaft of the track chassis;
a control unit for matching a second rotation speed of a second rotation shaft fixed to a shift mechanism of the transmission with the first rotation speed according to the first rotation speed or a rotation speed of the track drive shaft;
and the executing mechanism is suitable for enabling the gear shifting mechanism to be in a neutral position after a gear shifting command of the crawler chassis is obtained, and is suitable for enabling the gear shifting mechanism to shift at the first rotating shaft under the condition that the second rotating speed of the second rotating shaft is matched with the first rotating speed.
Further, the detection unit includes a first rotation speed sensor for detecting a first rotation speed of a first rotation shaft to which the shift target gear is fixed; or
The detection acquisition unit comprises a second rotating speed sensor, the second rotating speed sensor is used for detecting the rotating speed of the crawler driving shaft, and the control unit acquires the first rotating speed according to the transmission ratio from the rotating speed of the crawler driving shaft to the first rotating shaft.
Furthermore, the transmission is a two-gear transmission, the actuating mechanism comprises a gear shifting oil cylinder and a control valve, and the control valve is connected with the gear shifting oil cylinder to enable the gear shifting mechanism to be suitable for reciprocating movement in a first gear, a neutral gear and a second gear.
Further, the gear shifting oil cylinder comprises a gear shifting oil cylinder body, a first piston, a second piston and a piston rod, a first cylinder body and a second cylinder body are arranged in the gear shifting oil cylinder body, the cross section of the first cylinder body is smaller than that of the second cylinder body, the first piston is suitable for reciprocating in the first cylinder body and the second cylinder body, the second piston is suitable for reciprocating in the second cylinder body,
the first piston is connected with the gear shifting mechanism through the piston rod, a first oil port is formed in the end portion of the first cylinder body, and a second oil port and a third oil port are formed in the two ends of the second cylinder body respectively.
Further, the control valve includes:
the first reversing valve is used for connecting the oil supply end, the first oil port, the second oil port and the oil tank, and is suitable for controlling the oil supply end to selectively enter and exit the first oil port and the second oil port;
and the second reversing valve is used for connecting the oil supply end, the third oil port and the oil tank and is suitable for controlling the oil supply end to selectively enter and exit the third oil port.
The invention also provides a transmission comprising the gear shifting device.
The invention also provides crawler-type mobile equipment, which comprises the transmission;
the two ends of each crawler of the crawler chassis of the crawler type mobile equipment are respectively provided with the transmission and the gear shifting device, the driving devices are driving motors, the number of the driving motors is consistent with that of the transmissions, and each driving motor is suitable for independently driving the corresponding crawler to rotate through the corresponding transmission.
According to the invention, firstly, a gear shifting mechanism of the crawler chassis is in a neutral position, and then a first rotating speed of a first rotating shaft fixed with a gear shifting target gear is obtained; then matching a second rotating speed of a second rotating shaft fixed with the gear shifting mechanism with the first rotating speed; therefore, the phenomenon of gear beating caused by the fact that the impact force is large in the moment of contact when the second rotating shaft is in gear engagement with the first rotating shaft is avoided, and the phenomenon is particularly important for the manual gear shifting crawler chassis.
Moreover, automatic gear shifting is realized, the condition that a driver needs to control the manual gear shifting opportunity by experience is reduced, and the driver is prevented from controlling the crawler chassis with dispersed energy, such as a crawler excavator and the like, so that the control difficulty of gear shifting of the crawler chassis is greatly reduced, the fatigue driving phenomenon of the driver is reduced, and the control safety of the driver is ensured.
Drawings
FIG. 1 is a schematic flow chart of the automatic shift method of an embodiment of the present invention;
FIG. 2 is a schematic top view of a track chassis of the tracked mobile device of an embodiment of the present invention;
FIG. 3 is a gearing schematic of the transmission of an embodiment of the present invention;
fig. 4 is a schematic and schematic diagram of the actuator according to an embodiment of the present invention.
Description of reference numerals:
100-a gear shifting oil cylinder, 110-a gear shifting oil cylinder body, 111-a first cylinder body, and 112-a second cylinder body;
120-a first piston, 130-a second piston, 140-a piston rod, 141-a first oil port, 142-a second oil port, 143-a third oil port;
210-a first direction valve, 220-a second direction valve;
300-an oil supply end, 310-an overflow valve;
411-first gear, 412-second gear, 413-third gear, 414-fourth gear, 421-track drive shaft, 422-second shaft, 423-first shaft, 424-third shaft, 430-gear shift mechanism.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", and the like, which indicate orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Referring to fig. 1 and 2, the present embodiment provides an automatic gear shifting method for a track chassis of a crawler type mobile device, each track of the track chassis being independently driven by at least one driving device and a transmission, the driving devices being provided in one-to-one correspondence with the transmissions, including:
s100, enabling a gear shifting mechanism 430 of the transmission to be in a neutral position;
s200, acquiring a first rotation speed of the first rotating shaft 423 fixed to the shift target gear, that is, acquiring a first rotation speed of the first rotating shaft of the transmission, where the first rotating shaft is fixed to the shift target gear;
s300, matching (i.e. the same or close to) the first rotation speed with a second rotation speed of a second rotation shaft 422 fixed to the gear shift mechanism 430, that is, matching the second rotation speed of the second rotation shaft of the transmission with the first rotation speed by controlling the driving device, wherein the second rotation shaft is fixed to the gear shift mechanism;
s400, shifting the shift mechanism 430 at the shift target gear fixed first rotation shaft 423.
It should be noted that, as is apparent from the above description, the above method can be used for dynamic gear shifting of a track undercarriage, i.e., shifting of the track undercarriage during driving.
In addition, the tracked mobile device in the present embodiment may be a tracked vehicle, a tracked excavator, tracked work machine equipment, a tracked all-terrain vehicle, a tracked unmanned vehicle, a tracked robot, or the like.
In addition, two driving devices may be arranged for each crawler, each driving device transmitting power to the crawler through one transmission, and such driving manner will be described in detail later in this embodiment.
The driving device may be an engine or a driving motor, and may be a driving device that drives the crawler belt to rotate by being transmitted to the transmission through a driving shaft.
It should be noted that "the second rotation speed of the second rotation shaft 422 is the same as or close to the first rotation speed" is a range, as long as the first rotation shaft 423 and the second rotation shaft 422 are in gear shifting connection without gear rattling, and therefore, may also be referred to as being close, i.e. matching or adapting.
In addition, the reason why the automatic shift method in the present embodiment is mainly used for the track undercarriage of the aforementioned crawler type traveling apparatus is that since the transmission of this type has a small shift range, mainly 2 th, 3 rd, or 4 th, etc., in which case the first rotation speed of the first rotating shaft fixed to the shift target gear can be directly or indirectly detected and known; and controls a drive device based on the first rotational speed to match a second rotational speed of a second rotating shaft of the transmission fixed to the shift mechanism with the first rotational speed.
The crawler chassis according to the present embodiment may be used for a crawler vehicle such as an all terrain crawler vehicle, an unmanned robot, or a construction machine such as an excavator.
In this embodiment, first, the gear shift mechanism 430 of the crawler chassis is set to a neutral position, and then the first rotation speed of the first rotating shaft 423 fixed to the shift target gear is obtained; then matching a second rotational speed of the second rotating shaft 422 fixed to the shift mechanism 430 with the first rotational speed; therefore, the phenomenon of gear beating caused by the fact that the impact force at the moment of contact is large when the second rotating shaft 422 and the first rotating shaft 423 are in gear engagement is avoided, and the phenomenon is particularly important for the manual gear shifting crawler chassis.
Moreover, automatic gear switching is realized, manual gear shifting time required to be controlled by a driver through experience is reduced, and accordingly the driver is prevented from controlling the crawler chassis with dispersed energy, such as a crawler excavator, the control difficulty of gear shifting of the crawler chassis is greatly reduced, the fatigue driving phenomenon of the driver is reduced, and the control safety of the driver is ensured.
In this embodiment, the crawler chassis may include two crawlers, and the two crawlers may be respectively disposed on the left and right sides of the chassis.
In addition, in the present embodiment, differential steering can be achieved by the crawler chassis, that is, one crawler rotates forward and the other crawler rotates backward, so as to achieve differential steering, and in addition, in a forward or reverse state, the differential steering can be achieved by synchronously driving the two driving devices.
Referring to fig. 3, preferably, the learning of the first rotation speed of the first rotation shaft 423 fixed to the suspension target gear includes:
detecting the rotation speed of a track driving shaft 421 of the track chassis in transmission connection with the first rotating shaft 423;
the first rotational speed is known from the transmission ratio of the track drive shaft 421 to the first rotating shaft 423.
Since the crawler chassis often has a plurality of gears, there are a plurality of rotating shafts, such as the third rotating shaft 424, the fourth rotating shaft, and so on. In order to ensure the accuracy of the detection and also to take into account the corresponding detection cost, it is preferable to detect the rotation speed of the track driving shaft 421 of the track chassis, then calculate the rotation speed of the rotating shaft of the corresponding gear to be suspended according to the previously known transmission ratio among the plurality of rotating shafts, and then adapt the second rotation speed of the second rotating shaft 422 fixed by the gear shifting mechanism 430 to the rotation speed of the corresponding rotating shaft.
Accordingly, the detection method can reduce the corresponding cost and unify the data only by taking the rotating speed of the track driving shaft 421 of the track chassis as a reference.
Not shown in the drawings, it is preferable that before said bringing the shift mechanism of the transmission into the neutral position, further comprises: detecting the rotating speed of the crawler belt;
the shifting the shift mechanism at the first rotation shaft to which the shift target gear is fixed includes:
if the track rotating speed is zero, shifting the gear shifting mechanism at a first speed at a first rotating shaft fixed by the gear shifting target gear;
if the rotation speed of the crawler belt is not zero, shifting the gear shifting mechanism at a first rotating shaft fixed on the gear shifting target gear at a second speed;
wherein the second speed is greater than the first speed.
In consideration of the gear shifting operation when a crawler chassis of the crawler-type mobile equipment is started, the situation of the top teeth is easy to occur, so that the driving device cannot smoothly drive the crawler to rotate through the transmission, and the transmission is damaged. Therefore, under the condition that the rotation speed of the crawler belt is detected to be zero, the gear shifting operation is carried out at a low speed, namely the gear shifting mechanism shifts at a first speed, and the first speed is smaller or far smaller than a second speed, so that the top teeth are prevented from occurring in the gear shifting process, and the transmission is prevented from being damaged.
In addition, the present embodiment further provides a gear shifting device for a track chassis of a crawler-type mobile device, where each track of the track chassis is independently driven by at least one driving device and a transmission, and the driving devices are arranged in one-to-one correspondence with the transmissions, and the gear shifting device includes:
a shift mechanism 430;
a detection unit for detecting a first rotation speed of a first rotating shaft 423 fixed to a shift target gear of a transmission, or a rotation speed of a track driving shaft 421 of the track chassis;
a control unit for matching a second rotation speed of a second rotation shaft 422 fixed by a shift mechanism 430 of the transmission with the first rotation speed according to the first rotation speed or a rotation speed of a track drive shaft 421 of the track chassis; and
an actuator adapted to put the shift mechanism 430 in a neutral position upon learning of a shift command of the crawler chassis, and adapted to shift the shift mechanism 430 at the shift target gear fixed first rotating shaft 423 in a case where the second rotating shaft 422 fixed to the shift mechanism 430 matches the first rotating speed.
In this embodiment, for a running crawler chassis, after a driver receives a shift command from the crawler chassis, an actuator makes the shift mechanism 430 be in a neutral position after learning the shift command from the crawler chassis, and then a detection unit detects a first rotation speed of the first rotating shaft 423 fixed to the shift target gear, or the detection unit is configured to detect a rotation speed of the crawler drive shaft 421 of the crawler chassis, so that a control unit matches a second rotation speed of the second rotating shaft 422 fixed to the shift mechanism 430 with the first rotation speed according to the first rotation speed or the rotation speed of the crawler drive shaft 421 of the crawler chassis, and finally, the actuator shifts the shift mechanism 430 at the first rotating shaft 423 fixed to the shift target gear. Therefore, the first rotating shaft 423 and the second rotating shaft 422 are smoothly connected in a gear-shifting manner, the phenomenon that the transmission gear in the transmission is subjected to tooth jacking and tooth beating due to the gear-shifting connection under the condition that the rotating speeds of the first rotating shaft 423 and the second rotating shaft 422 are greatly different is avoided, and the service life of the transmission is prolonged. And the smoothness of gear shifting of the crawler chassis in the driving or steering process is also ensured, so that the stability of the crawler-type engineering machinery or the crawler-type robot in the operation process is ensured.
Preferably, the detecting unit includes a first rotation speed sensor for detecting a first rotation speed of the shift target gear fixed first rotation shaft 423; or alternatively
The detection acquisition unit comprises a second rotating speed sensor, the second rotating speed sensor is used for detecting the rotating speed of a track driving shaft 421 of the track chassis, and the control unit learns the first rotating speed according to the transmission ratio from the rotating speed of the track driving shaft 421 to the first rotating shaft 423.
In this embodiment, the first rotation speed sensor is installed at the corresponding first rotation shaft 423, so as to accurately detect the first rotation speed of the first rotation shaft 423, and correspondingly, if a gear needs to be shifted to the third rotation shaft 424, the third rotation speed sensor may be installed at the third rotation shaft 424, so as to accurately detect the rotation speed of the third rotation shaft 424. Because the gears of the crawler chassis are fewer, corresponding speed sensors can be respectively installed on corresponding gear shifting shafts, so that the accuracy of detection is ensured, and the problems that gears in a gear box are subjected to tooth ejecting and tooth beating in the gear shifting process are fully avoided.
Preferably, the transmission is a two-gear transmission, and the actuator includes a shift cylinder 100 and a control valve, and the shift mechanism 430 is adapted to reciprocate in a first gear, a neutral gear and a second gear by being connected to the shift cylinder 100 through the control valve.
The shifting mechanism in this embodiment may be a synchronizer or a clutch, and the executing mechanism may include a shifting fork, which is connected to the synchronizer, so that the shifting cylinder 100 drives the shifting fork mechanism to make the synchronizer or the clutch reciprocate in the first gear, the neutral gear, and the second gear.
The two-gear transmission is common on a crawler chassis, so that the control valve is in linkage fit with the gear shifting cylinder 100, so that in the process of shifting from a first gear to a second gear (the rotating speed of the second gear can be a first rotating speed), the gear shifting cylinder 100 firstly moves to a neutral position from the first gear, and then under the condition that the first rotating speed is matched with the second rotating speed, the gear shifting cylinder 100 acts, and the gear shifting mechanism 430 moves to the second gear.
The control valves and the shift cylinder 100 may be hydraulically or pneumatically controlled. The hydraulic control has the characteristics of strong bearing capacity and stable transmission. And pneumatics has the characteristics of rapid action, high response speed and light load.
Referring to fig. 4, preferably, the shift cylinder 100 includes a shift cylinder body 110, a first piston 120, a second piston 130 and a piston rod 140, a first cylinder 111 and a second cylinder 112 are disposed in the shift cylinder body 110, a cross section of the first cylinder 111 is smaller than a cross section of the second cylinder 112, where the cross section is a cross section perpendicular to a moving direction of the piston rod 140, the first piston 120 is adapted to reciprocate in the first cylinder 111 and the second cylinder 112, the second piston 130 is adapted to reciprocate in the second cylinder 112,
the first piston 120 is connected to the shift mechanism 430 through the piston rod 140, a first oil port 141 is formed at an end of the first cylinder 111, and a second oil port 142 and a third oil port 143 are respectively formed at two ends of the second cylinder 112.
By the gear shifting oil cylinder 100 with the structure, not only can the first gear, the neutral gear and the second gear be accurately replaced, but also the gear shifting oil cylinder 100 can be moved slowly in the starting process of the crawler chassis, namely, the gear shifting is carried out at the first speed, and the gear shifting is carried out at the second speed in the driving process of the crawler chassis, namely, the gear shifting is carried out at a high speed; therefore, the automatic gear shifting method is matched with the automatic gear shifting method, and the phenomenon of gear jacking caused by gear shifting in the starting process can be avoided.
Referring to fig. 4, preferably, the control valve includes:
a first direction valve 210 connecting the oil supply port 300, the first oil port 141, the second oil port 142 and the oil tank, the first direction valve 210 being adapted to control the oil supply port 300 to selectively pass in and out of the first oil port 141 and the second oil port 142;
and a second direction valve 220 connecting the oil supply port 300, the third oil port 143, and the oil tank, wherein the second direction valve 220 is adapted to control the oil supply port 300 to selectively enter and exit the third oil port 143.
Here, the first direction valve 210 and the second direction valve 220 may be three-position four-way solenoid direction valves.
In the present embodiment, the first direction switching valve 210 and the second direction switching valve 220 may be connected in parallel, and the relief valve 310 may be provided at the oil supply port 300 to protect the oil supply port from overload.
The end portions of the first cylinder 111 and the second cylinder 112 in the present embodiment are both end portions along the longitudinal direction thereof.
When the first piston 120 is located at the end of the first cylinder 111, that is, at the left end in fig. 4, the shifting mechanism 430 is in the first gear, the first oil port 141 is filled with oil, and the second and third oil ports 143 are filled with oil through the actions of the first direction valve 210 and the second direction valve 220, so that the second piston 130 is tightly pressed against the connection end of the second cylinder 112 and the first cylinder 111, and the first piston 120 is tightly pressed against the end of the first cylinder 111, so that the piston rod 140 extends out and keeps the longest length, and the piston rod 140 drives the shifting mechanism 430 to be stably located in the first gear;
when the gear shifting mechanism 430 moves from the first gear to the neutral gear, the first reversing valve 210 and the second reversing valve 220 act to enable the first oil port 141 to be filled with oil, the second oil port 142 to be filled with oil, and the third oil port 143 to be filled with oil, so that the first piston 120 and the second piston 130 are connected, and the corresponding gear shifting mechanism 430 is driven to act and is kept at the neutral gear position;
when the shift mechanism 430 moves from the neutral position to the second gear, the direction is changed by the second direction valve 220, so that the third oil port 143 discharges oil, the first oil port 141 discharges oil, and the second oil port 142 discharges oil, so that the first piston 120 and the second piston 130 continue to move toward the outer end of the second cylinder 112, and the second piston 130 contacts the outer end of the second cylinder 112, so that the shift mechanism 430 moves to the second gear.
Of course, this process is linked to the automatic shifting method described above.
In addition, the embodiment also provides a transmission for a crawler chassis of crawler-type mobile equipment, and the transmission comprises the gear shifting device.
Since the technical effect achieved by the transmission is the same as that achieved by the shifting device, the transmission will not be explained.
It should be noted that the transmission here may be a two-gear transmission, and the transmission includes a first gear 411, a second gear 412, a third gear 413, and a fourth gear 414, where the first gear 411 and the second gear 412 are respectively fixed at the track driving shaft 421, the shifting mechanism 430 is fixed with the second rotating shaft 422, the third gear 413 is fixed with the first rotating shaft 423, the first rotating shaft 423 is a sleeve structure and is sleeved outside the second rotating shaft 422, the fourth gear 414 is fixed with the third rotating shaft 424, the third rotating shaft 424 is a sleeve structure and is sleeved outside the second rotating shaft 422, the fourth gear 414, the shifting mechanism 430, and the third gear 413 are sequentially arranged along the second rotating shaft 422, the first gear 411 is engaged with the fourth gear 414, and the third gear 413 is engaged with the second gear 412. And the actuator driven shifting mechanism 430 is clutched to the first rotating shaft 423 or the third rotating shaft 424 to realize corresponding shifting.
The transmission structure is simple and convenient to maintain.
The embodiment also provides crawler-type mobile equipment which comprises the gear shifting device and/or the transmission.
Since the technical effect achieved by the crawler-type mobile device is the same as that achieved by the gear shifting device, or/and the transmission, the crawler chassis will not be explained again.
Referring to fig. 2, preferably, one transmission and one gear shifting device are arranged at each track of a track chassis of the crawler-type mobile device, the track chassis further comprises a plurality of driving motors, the number of the driving motors is consistent with the number of the tracks, and each driving motor is suitable for independently driving one track to rotate through the corresponding transmission.
Typically, a crawler chassis has two crawlers and is disposed on the left and right sides of the chassis, respectively.
Because each driving motor is suitable for independently driving one crawler belt to rotate through the corresponding transmission, the rotating speeds of the crawler belts on two sides of the chassis can be opposite through the opposite rotating directions of the two driving motors, so that the differential steering of the crawler belt chassis is realized, and the pivot steering of the crawler belt chassis is also realized.
In addition, because each transmission has two gears which can be changed, one transmission can be in a first gear and the other transmission can be in a second gear according to requirements, so that the large-radius steering of the chassis can be realized by utilizing the different rotating speeds of the two crawler belts, and in addition, one transmission can use the second gear towards the forward direction and use the first gear towards the reverse direction, so that the small-radius steering of the chassis can be realized.
Therefore, each driving motor is suitable for independently driving one crawler belt to rotate through the corresponding transmission, so that the crawler belt chassis can form various moving modes, and various different use requirements can be met; moreover, the driving motor is used for driving the second rotating shaft 422 to change speed, so that the characteristics of quick speed increasing and speed reducing response are achieved, the speed regulating time of the second rotating shaft 422 can be shortened, and the automatic gear shifting speed is improved.
Referring to fig. 2, preferably, two ends of each track of the track chassis are respectively provided with one transmission and one gear shifting device, the track chassis further comprises a plurality of driving motors, the number of the driving motors is consistent with that of the transmissions, and each driving motor is suitable for independently driving the corresponding track to rotate through the corresponding transmission.
Through all setting up driving motor and derailleur at the both ends of every track, for a track uses a driving motor's the condition, can reduce every driving motor's drive load, and improve the corresponding speed of track, make the track can quick response, and simultaneously along with computer control's continuous improvement, can detect the automobile body state through a large amount of various sensors, and make corresponding controller through the operation and independent steering and the rotational speed of controlling every driving motor respectively, even can independent control the gear of derailleur, thereby make crawler chassis can be more suitable for unmanned automatic driving vehicle and special tracked vehicle (such as explosive disposal robot), adaptation more complicated driving environment such as detection robot.
Therefore, the two ends of each crawler of the crawler chassis are respectively provided with the transmission and the gear shifting device, each driving motor is suitable for independently driving the corresponding crawler to rotate through the corresponding transmission, so that the crawler chassis can form more movement modes, and the more complex use requirements can be met.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.

Claims (9)

1. An automatic gear shifting method for a crawler type mobile device, each track of a crawler chassis of the crawler type mobile device is independently driven through at least one driving device and a transmission, the driving device is arranged in one-to-one correspondence with the transmission, and the method is characterized by comprising the following steps:
detecting the rotating speed of the crawler belt;
placing a shift mechanism of the transmission in a neutral position;
acquiring a first rotating speed of a first rotating shaft of the transmission, wherein the first rotating shaft is fixed with a gear shifting target gear;
matching a second rotating speed of a second rotating shaft of the transmission with the first rotating speed by controlling the driving device, wherein the second rotating shaft is fixed with the gear shifting mechanism;
shifting the shift mechanism at a first speed at the first rotation shaft to which the shift target gear is fixed if the track rotation speed is zero;
shifting the shift mechanism at a second speed at the first rotation shaft to which the shift target gear is fixed if the track rotation speed is not zero;
wherein the second speed is greater than the first speed.
2. The automatic shifting method of claim 1, wherein the knowing a first rotational speed of a first rotating shaft of the transmission comprises:
detecting a rotational speed of a track drive shaft of the track chassis, the track drive shaft being drivingly connected to the first shaft;
and acquiring the rotating speed of the first rotating shaft according to the transmission ratio of the track driving shaft to the first rotating shaft.
3. A gear shifting apparatus for a crawler-type mobile device, each track of a track chassis of the crawler-type mobile device being independently driven by at least one drive device and a transmission, the drive devices being arranged in one-to-one correspondence with the transmissions, comprising:
a detection unit for detecting a rotational speed of the crawler, or a first rotational speed of a first rotating shaft (423) to which a shift target gear of the transmission is fixed, or a rotational speed of a crawler drive shaft (421) of the crawler chassis;
a control unit for matching a second rotation speed of a second rotation shaft (422) fixed to a shift mechanism (430) of the transmission with the first rotation speed according to the first rotation speed or a rotation speed of the track drive shaft (421);
an actuator adapted to put the shift mechanism (430) in a neutral position after learning a shift command of the crawler chassis, and adapted to shift the shift mechanism (430) at the first rotating shaft (423) fixed to the shift target gear at a first speed if the crawler rotation speed is zero, and to shift the shift mechanism (430) at the first rotating shaft (423) fixed to the shift target gear at a second speed if the crawler rotation speed is not zero, wherein the second speed is greater than the first speed, in a case where the second rotation speed of the second rotating shaft (422) matches the first rotation speed.
4. The gear shift device according to claim 3, characterized in that the detection unit includes a first rotational speed sensor for detecting a first rotational speed of a first rotational shaft (423) fixed to the shift target gear; or
The detection unit comprises a second rotating speed sensor, the second rotating speed sensor is used for detecting the rotating speed of the crawler driving shaft (421), and the control unit learns the first rotating speed according to the transmission ratio from the rotating speed of the crawler driving shaft (421) to the first rotating shaft (423).
5. A gear change device according to claim 3 or 4, characterized in that the transmission is a two-gear transmission, and the actuator comprises a shift cylinder (100) and a control valve, by means of which the shift cylinder (100) is connected to the shift mechanism (430) adapted to be reciprocated in the first gear, neutral gear and second gear.
6. The shifting apparatus of claim 5,
the gear shifting cylinder (100) comprises a gear shifting cylinder body (110), a first piston (120), a second piston (130) and a piston rod (140), wherein a first cylinder body (111) and a second cylinder body (112) are arranged in the gear shifting cylinder body (110), the cross section of the first cylinder body (111) is smaller than that of the second cylinder body (112), the first piston (120) is suitable for reciprocating in the first cylinder body (111) and the second cylinder body (112), and the second piston (130) is suitable for reciprocating in the second cylinder body (112),
the first piston (120) is connected with the gear shifting mechanism (430) through the piston rod (140), a first oil port (141) is formed in the end portion of the first cylinder body (111), and a second oil port (142) and a third oil port (143) are respectively formed in two ends of the second cylinder body (112).
7. The shifting apparatus of claim 6, wherein the control valve comprises:
a first direction valve (210) connecting the oil supply end (300), the first oil port (141), the second oil port (142) and the oil tank, the first direction valve (210) being adapted to control the oil supply end (300) to selectively pass in and out of the first oil port (141) and the second oil port (142);
and the second reversing valve (220) is used for connecting the oil supply end (300), the third oil port (143) and the oil tank, and the second reversing valve (220) is suitable for controlling the oil supply end (300) to selectively enter and exit the third oil port (143).
8. A transmission characterized by comprising a gear change device according to any one of claims 3 to 7.
9. A crawler-type mobile apparatus, comprising the transmission of claim 8;
the transmission and the gear shifting device are respectively arranged at two ends of each track of a track chassis of the tracked mobile equipment, the driving devices are driving motors, the number of the driving motors is consistent with that of the transmissions, and each driving motor is suitable for independently driving the corresponding track to rotate through the corresponding transmission.
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Address before: 410100 31 industrial city, Changsha economic and Technological Development Zone, Hunan, Changsha

Patentee before: Sany Automobile Manufacturing Co.,Ltd.