CN113464619A - Hydraulic planetary gear differential steering device of wheeled modified crawler tractor - Google Patents
Hydraulic planetary gear differential steering device of wheeled modified crawler tractor Download PDFInfo
- Publication number
- CN113464619A CN113464619A CN202110706988.3A CN202110706988A CN113464619A CN 113464619 A CN113464619 A CN 113464619A CN 202110706988 A CN202110706988 A CN 202110706988A CN 113464619 A CN113464619 A CN 113464619A
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- gear
- gear ring
- shaft
- fixedly connected
- driven
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- 230000005540 biological transmission Effects 0.000 claims description 27
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 238000012857 repacking Methods 0.000 claims 1
- 125000006850 spacer group Chemical group 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Classifications
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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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
- F16H37/0806—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts
Abstract
The invention discloses a hydraulic planetary gear differential steering device of a wheel type modified crawler tractor, which comprises a planetary reduction box body, wherein one side of the planetary reduction box body is fixedly connected with a connecting sleeve, the outer end of the connecting sleeve is fixedly connected with a hydraulic motor, a hydraulic motor shaft is connected with a driving connecting plate in a splined manner, the driving connecting plate is fixedly connected with a driven connecting plate, and the driven connecting plate is connected with a first sun wheel shaft in a splined manner; the other side of the planetary reduction box body is fixedly connected with a fixed disc, and the fixed disc is connected with a second sun gear shaft through a spline; the first gear ring connecting plate is fixedly connected with a first inner gear ring and a first outer gear ring, and the second gear ring connecting plate is fixedly connected with a second inner gear ring and a second outer gear ring; three planet wheel shafts are fixedly distributed on the planet carrier, a first planet wheel and a second planet wheel are rotatably sleeved on the planet wheel shafts, the first planet wheel is respectively engaged with the first sun wheel and the first inner gear ring, and the second planet wheel is respectively engaged with the second sun wheel and the second inner gear ring; the first external gear ring is meshed with the first driven gear; the second external gear ring is meshed with the second driven gear; the structure is ingenious, the reliability is high, and the damage is not easy.
Description
Technical Field
The invention relates to the technical field of tractors, in particular to a hydraulic planetary gear differential steering device of a wheel type modified crawler tractor.
Background
The crawler tractor has the advantages of small inherent ground pressure, good passing performance and the like, has certain market demands in special fields such as certain mountainous regions, hills, paddy fields and the like, but has higher price. The wheel tractor has the advantages of large market reserve, more manufacturers, mature technology, reliable performance and low price. The market urgently needs a product which can realize the function of a crawler tractor by utilizing a chassis of the wheel tractor, reduces the price of the crawler tractor and meets the requirements of special agricultural fields such as mountainous regions, hills, paddy fields and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a hydraulic planetary gear differential steering device of a wheel type modified crawler tractor.
The technical scheme of the invention is as follows:
a hydraulic planetary gear differential steering device of a wheeled modified crawler tractor comprises an engine, a gearbox, a central differential transmission, a first driven gear and a second driven gear, wherein the upper surface of a gearbox shell is fixedly connected with a planetary reduction box body, one side of the planetary reduction box body is fixedly connected with a connecting sleeve, the outer end of the connecting sleeve is fixedly connected with a hydraulic motor, a hydraulic motor shaft is in splined connection with a driving connecting disc, the driving connecting disc is fixedly connected with a driven connecting disc, the driven connecting disc is in splined connection with a first sun wheel shaft, and a first spacing sleeve is sleeved on the first sun wheel shaft; the other side of the planetary reduction box body is fixedly connected with a fixed disc, the fixed disc is connected with a second sun gear shaft through a spline, and a second spacing sleeve is sleeved on the second sun gear shaft; the connecting sleeve and the first spacing sleeve as well as the fixed disc and the first spacing sleeve are rotationally connected through a first bearing; the first sun wheel shaft and the second sun wheel shaft are rotationally connected with the planet carrier through a third bearing, and the planet carrier is rotationally connected with the first gear ring connecting plate and the second gear ring connecting plate through a second bearing respectively; the first gear ring connecting plate is fixedly connected with a first inner gear ring and a first outer gear ring, and the second gear ring connecting plate is fixedly connected with a second inner gear ring and a second outer gear ring; three planet wheel shafts are fixedly distributed on the planet carrier, a first planet wheel and a second planet wheel are rotatably sleeved on the planet wheel shafts, the first planet wheel is respectively engaged with the first sun wheel and the first inner gear ring, and the second planet wheel is respectively engaged with the second sun wheel and the second inner gear ring; the first external gear ring is meshed with the first driven gear; the second external gear ring is meshed with the second driven gear; the engine is in transmission connection with a hydraulic pump, and the hydraulic pump is respectively communicated with a hydraulic oil tank, a hydraulic motor and a control valve; the control valve is provided with a control handle.
A first check ring is arranged on a first and a second gear ring connecting discs on the outer end face of the second bearing, and a second check ring is arranged on the planet carrier.
And third check rings are arranged on the first planetary gear shaft and the second planetary gear shaft on the outer end surface of the third bearing.
The power output shaft of the engine is in transmission connection with a first shaft of the gearbox through a clutch, the first shaft is in transmission connection with a second shaft through the gearbox, a small bevel gear on the second shaft is meshed with a large bevel gear, the large bevel gear is in transmission connection with a first driving gear and a second driving gear through a central differential, the first driving gear is meshed with a first driven gear, the first driven gear is in transmission connection with a first driving assembly, the first driving assembly is in transmission connection with a first crawler belt, the second driving gear is meshed with a second driven gear, the second driven gear is in transmission connection with a second driving assembly, and the second driving assembly is in transmission connection with a second crawler belt.
The invention has the beneficial effects that:
the invention adds a hydraulic planetary gear differential steering device on a chassis of the wheel tractor, and uses a hydraulic motor to enable a first outer gear ring to provide reverse and forward acting forces when a first driven gear moves forwards in a straight line by reducing and boosting the speed of the planetary gear, so that the rotating speed of the first driven gear is reduced and improved relative to that of a second driven gear, and the rotating speed difference of the first driven gear and the second driven gear is subjected to speed adjustment through a central differential mechanism to realize the left and right steering of the crawler tractor.
The first retainer ring and the second retainer ring prevent the first gear ring connecting disc and the second gear ring connecting disc from moving along the axial direction of the planet carrier.
The third retainer ring prevents the planet carrier from moving along the axial direction of the first planet wheel shaft and the second planet wheel shaft.
Drawings
Fig. 1 is a schematic structural view of a hydraulic planetary gear differential steering apparatus.
Fig. 2 is a perspective exploded view of the hydraulic planetary gear differential steering apparatus.
Figure 3 is a schematic view of the transmission principle of the wheeled modified crawler tractor.
Fig. 4 is a schematic structural view of a mounting position of the hydraulic planetary differential steering apparatus on the wheeled tractor.
Figure 5 is a schematic view of the construction of the wheeled modified crawler tractor.
Fig. 6 is a schematic view of the structure of a wheeled tractor.
In the figure: 1-first planet wheel, 2-planet wheel shaft, 3-planet carrier, 4-right planet wheel, 5-driving connecting disc, 6-second sun wheel shaft, 6.1-second sun wheel, 7-connecting sleeve, 8-first sun wheel shaft, 8.1-first sun wheel, 9-driven connecting disc, 10-hydraulic motor, 10.1-hydraulic motor shaft, 11-planet speed reducing box body, 12-differential planet gear, 13-differential planet wheel shaft, 14-differential right half shaft gear, 15-differential left half shaft gear, 16-first driving gear, 17-second driving gear, 18-large bevel gear, 19-differential shell, 20-first driven gear, 21-second driven gear, 22-second driving assembly, 23-a first driving assembly, 24-a small bevel gear, 25-a first spacer sleeve, 26-a second spacer sleeve, 27-a first bearing, 28-a second bearing, 29-a third bearing, 30-a fixed disc, 31-a first retainer ring, 32-a second retainer ring, 33-a third retainer ring, 34-a hydraulic oil tank, 35-a control valve, 36-a control handle, 37-an engine, 38-a clutch, 39-a gearbox, 40-a central differential, 41-a front power output shaft, 42-a rear power output shaft, 43-a first shaft, 44-a second shaft, 45-a hydraulic pump, 46-a gearbox shell, 47-a first crawler belt, A-a planet carrier assembly, B-a first gear ring, B1-a first gear ring outer and B2-a first gear ring connecting disc, B3-first inner gear ring, C-second gear ring, C1-second outer gear ring, C2-second gear ring connecting plate and C3-second inner gear ring.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1-6: a hydraulic planetary gear differential steering device of a wheeled modified crawler tractor comprises an engine 37, a gearbox shell 46, a first driven gear 20 and a second driven gear 21, wherein the upper surface of the gearbox shell 46 is fixedly connected with a planetary reduction box body 11, one side of the planetary reduction box body 11 is fixedly connected with a connecting sleeve 7, the outer end of the connecting sleeve 7 is fixedly connected with a hydraulic motor 10, a hydraulic motor shaft 10.1 is in splined connection with a driving connecting plate 5, the driving connecting plate 5 is fixedly connected with a driven connecting plate 9, the driven connecting plate 9 is in splined connection with a first sun wheel shaft 8, and a first spacing sleeve 25 is sleeved on the first sun wheel shaft 8; the other side of the planetary reduction box body 11 is fixedly connected with a fixed disc 30, the fixed disc 30 is in splined connection with a second sun gear shaft 6, and a second spacer bush 26 is sleeved on the second sun gear shaft 6; the connecting sleeve 7 is rotatably connected with the first spacing sleeve 25 and the fixed disc 30 is rotatably connected with the second spacing sleeve 26 through first bearings 27; the first sun gear shaft 8 and the second sun gear shaft 6 are rotationally connected with the planet carrier 3 through a third bearing 29, and the planet carrier 3 is rotationally connected with a first gear ring connecting disc B2 and a second gear ring connecting disc C2 through a second bearing 28; a first inner gear ring B3 and a first outer gear ring B1 are fixedly connected to the first gear ring connecting disc B2, and a second inner gear ring C3 and a second outer gear ring C1 are fixedly connected to the second gear ring connecting disc C2; three planet wheel shafts 2 are fixedly connected to the planet carrier 3 uniformly, a left first planet wheel 1 and a second planet wheel 4 are sleeved on the planet wheel shafts 2 in a rotating mode, the first planet wheel 1 is meshed with a first sun wheel 8.1 and a first inner ring gear B3 respectively, and the second planet wheel 4 is meshed with a second sun wheel 6.1 and a second inner ring gear C3 respectively; the first external gear ring B1 is meshed with the first driven gear 20; the second external gear ring C1 is meshed with the second driven gear 21; the engine 37 is in transmission connection with a hydraulic pump 45, and the hydraulic pump 45 is respectively communicated with a hydraulic oil tank 34, hydraulically connected with the hydraulic motor 10 and hydraulically connected with a control valve 35; the control valve 35 is provided with a control handle 36. The invention adds a hydraulic planetary gear differential steering device on a chassis of the wheel tractor, and uses a hydraulic motor to enable a first outer gear ring to provide reverse and forward acting forces when a first driven gear moves forwards in a straight line by reducing and boosting the speed of the planetary gear, so that the rotating speed of the first driven gear is reduced and improved relative to that of a second driven gear, and the rotating speed difference of the first driven gear and the second driven gear is subjected to speed adjustment through a central differential mechanism to realize the left and right steering of the crawler tractor.
The first retaining ring 31 is provided on the first ring gear land B2 and the second ring gear land C2 on the outer end surface of the second bearing 28, and the second retaining ring 32 is provided on the carrier 3. The first retainer ring and the second retainer ring prevent the first gear ring connecting disc and the second gear ring connecting disc from moving along the axial direction of the planet carrier.
And third retaining rings 33 are arranged on the first planetary wheel shaft 8 and the second planetary wheel shaft 6 on the outer end faces of the third bearings 29. The third retainer ring prevents the planet carrier from moving along the axial direction of the first planet wheel shaft and the second planet wheel shaft.
The power output shaft of the engine 37 is in transmission connection with a first shaft 43 of a gearbox 39 through a clutch 38, the first shaft 43 is in transmission connection with a second shaft 44 through the gearbox 39, a small bevel gear 24 on the second shaft 44 is meshed with a large bevel gear 18, the large bevel gear 18 is in transmission connection with a first driving gear 16 and a second driving gear 17 through a central differential mechanism 40, the first driving gear 16 is meshed with a first driven gear 20, the first driven gear 20 is in transmission connection with a first driving assembly 23, the first driving assembly 23 is in transmission connection with a first crawler belt 47, the second driving gear 17 is meshed with a second driven gear 21, the second driven gear 21 is in transmission connection with a second driving assembly 22, and the second driving assembly 22 is in transmission connection with a second crawler belt.
The working principle of the hydraulic planetary gear differential steering device of the wheeled modified crawler tractor is as follows:
the power of the engine 37 is transmitted to a first shaft 43 of the gearbox 39 through the clutch 38, the first shaft 43 transmits the power to a second shaft 44 through the gearbox 39, the second shaft 44 transmits the power to the small bevel gear 24, the small bevel gear 24 transmits the power to the large bevel gear 18, the large bevel gear 18 transmits the power to the first driving gear 16 and the second driving gear 17 through the central differential 40, the first driving gear 16 transmits the power to the first driven gear 20, the first driven gear 20 transmits the power to the first driving assembly 23 and the first outer gear ring B1, and the first driving assembly 23 drives the first shaft 47 to walk; the second driving gear 17 transmits power to the second driven gear 21, the second driven gear 21 transmits power to the second driving assembly 22 and the second external gear ring C1, and the second driving assembly 22 drives the second crawler belt to run.
When the tractor moves forwards and forwards, the control handle 36 is in the middle position, the hydraulic motor 10 is locked, and the first sun gear shaft 8 and the second sun gear shaft 6 are static and do not rotate; when the left side is seen, the first driving assembly 23 and the second driving assembly 22 rotate anticlockwise at the same rotating speed, so that the forward straight movement of the whole machine is realized; at this time, the first driven gear 20 drives the first outer gear ring B1 to rotate clockwise, the first outer gear ring B1 drives the first inner gear ring B3 to rotate clockwise through the first gear ring connecting disc B2, the first inner gear ring B3 rotates around the first planetary gear 1, and the first planetary gear 1 rotates around the first sun gear 8.1; the second driven gear 21 drives the second external gear ring C1 to rotate clockwise, the second external gear ring C1 drives the second internal gear ring C3 to rotate clockwise through the second gear ring connecting disc C2, the second internal gear ring C3 rotates around the second planet gears 4, and the second planet gears 4 rotate around the second sun gear 6.1.
When the tractor turns left, the control handle 36 is in the left turn position and the hydraulic motor is turned on. When viewed from the left side, the hydraulic motor shaft 10.1 rotates clockwise, the driving connection disc 5 drives the driven connection disc 9, the driven connection disc 9 drives the first sun gear shaft 8 to rotate clockwise, the second sun gear shaft 6 is always stationary, the first planet gear 1 is forced to rotate counterclockwise relative to the second planet gear 4, the first planet gear 1 drives the first inner gear ring B3 to rotate counterclockwise relative to the second inner gear ring C3, the first inner gear ring B3 drives the first outer gear ring B1 to rotate counterclockwise relative to the second outer gear ring C1 through the first gear ring connection disc B2, the first outer gear ring B1 gives an acting force in the opposite direction when the first driven gear 20 moves forward and moves straight, the rotating speed of the first driven gear 20 relative to the second driven gear 21 is reduced, and the rotating speed difference between the first driven gear 20 and the second driven gear 21 is subjected to speed adjustment through the central differential 40 to realize forward left-turn steering of the tractor.
When the tractor turns right, the control handle 36 is in the right turn position and the hydraulic motor is turned on. When the hydraulic motor shaft 10.1 rotates counterclockwise when viewed from the left side, the driving connection disc 5 drives the driven connection disc 9, the driven connection disc 9 drives the first sun gear shaft 8 to rotate counterclockwise, the second sun gear shaft 6 is always static, the first planet gear 1 is forced to rotate clockwise relative to the second planet gear 4, the first planet gear 1 drives the first inner gear ring B3 to rotate clockwise relative to the second inner gear ring C3, the first inner gear ring B3 drives the first outer gear ring B1 to rotate clockwise relative to the second outer gear ring C1 through the first gear ring connection disc B2, the first outer gear ring B1 provides forward acting force when the first driven gear 20 moves forward and moves straight, the rotating speed of the first driven gear 20 relative to the second driven gear 21 is increased, and the rotating speed difference between the first driven gear 20 and the second driven gear 21 is subjected to speed adjustment through the central differential 40 to realize forward right-turn steering of the crawler tractor.
The present invention has been described in detail with reference to the embodiments of the embodiments, but it should not be construed that the scope of the subject matter of the present invention is limited to the embodiments described above, and all the technologies realized based on the above contents of the present invention are within the scope of the present invention.
Claims (4)
1. Wheeled repacking track tractor's hydraulic pressure planetary gear differential steering device, including engine, transmission housing, first, two driven gear, its characterized in that: the upper surface of the gearbox shell is fixedly connected with a planetary reduction gearbox body, one side of the planetary reduction gearbox body is fixedly connected with a connecting sleeve, the outer end of the connecting sleeve is fixedly connected with a hydraulic motor, a shaft of the hydraulic motor is in splined connection with a driving connecting plate, the driving connecting plate is fixedly connected with a driven connecting plate, the driven connecting plate is in splined connection with a first sun wheel shaft, and a first spacing sleeve is sleeved on the first sun wheel shaft; the other side of the planetary reduction box body is fixedly connected with a fixed disc, the fixed disc is connected with a second sun gear shaft through a spline, and a second spacing sleeve is sleeved on the second sun gear shaft; the connecting sleeve and the second spacing sleeve as well as the fixed disc and the first spacing sleeve are rotationally connected through a first bearing; the first sun wheel shaft and the second sun wheel shaft are rotationally connected with the planet carrier through a third bearing, and the planet carrier is rotationally connected with the first gear ring connecting plate and the second gear ring connecting plate through a second bearing respectively; the first gear ring connecting disc is fixedly connected with a first inner gear ring and a first outer gear ring, and the second gear ring connecting disc is fixedly connected with a second inner gear ring and a second outer gear ring; three planet wheel shafts are fixedly distributed on the planet carrier, a first planet wheel and a second planet wheel are rotatably sleeved on the planet wheel shafts, the first planet wheel is respectively engaged with the first sun wheel and the first inner gear ring wheel, and the second planet wheel is respectively engaged with the second sun wheel and the second inner gear ring; the first external gear ring is meshed with the first driven gear; the second external gear ring is meshed with the second driven gear; the engine is in transmission connection with a hydraulic pump, and the hydraulic pump is respectively communicated with a hydraulic oil tank, a hydraulic motor and a control valve; the control valve is provided with a control handle.
2. The hydraulic planetary gear differential steering apparatus of a wheeled modified crawler tractor according to claim 1, wherein: a first check ring is arranged on a first and a second gear ring connecting discs on the outer end face of the second bearing, and a second check ring is arranged on the planet carrier.
3. The hydraulic planetary gear differential steering apparatus of a wheeled modified crawler tractor according to claim 1, wherein: and third check rings are arranged on the first planetary gear shaft and the second planetary gear shaft on the outer end surface of the third bearing.
4. The hydraulic planetary gear differential steering apparatus of a wheeled modified crawler tractor according to claim 1, wherein: the power output shaft of the engine is in transmission connection with a first shaft of a gearbox through a clutch, the first shaft is in transmission connection with a second shaft through the gearbox, a small bevel gear on the second shaft is meshed with a large bevel gear, the large bevel gear is in transmission connection with a first driving gear and a second driving gear through a central differential, the first driving gear is meshed with a first driven gear, the first driven gear is in transmission connection with a first driving assembly, and the first driving assembly is in transmission connection with a first crawler; the second driving gear is meshed with the second driven gear, the second driven gear is in transmission connection with the second driving assembly, and the second driving assembly is in transmission connection with the second crawler belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110706988.3A CN113464619A (en) | 2021-06-20 | 2021-06-20 | Hydraulic planetary gear differential steering device of wheeled modified crawler tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110706988.3A CN113464619A (en) | 2021-06-20 | 2021-06-20 | Hydraulic planetary gear differential steering device of wheeled modified crawler tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113464619A true CN113464619A (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110706988.3A Pending CN113464619A (en) | 2021-06-20 | 2021-06-20 | Hydraulic planetary gear differential steering device of wheeled modified crawler tractor |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2516422Y (en) * | 2002-01-17 | 2002-10-16 | 中国一拖集团有限公司技术中心 | Power differential steering gear of caterpillar |
| CN105151120A (en) * | 2015-09-16 | 2015-12-16 | 湖南农业大学 | Double-power input type transmission for caterpillar |
| CN107839751A (en) * | 2017-12-01 | 2018-03-27 | 北京履坦科技有限公司 | A kind of endless-track vehicle double power flow power differential speed turning mechanism |
| CN107914770A (en) * | 2017-12-07 | 2018-04-17 | 吉林大学 | A kind of intersection shaft type electric drive tracked vehicle differential running gear of Dual-motors Driving |
| CN108999949A (en) * | 2018-09-06 | 2018-12-14 | 湖南农业大学 | A kind of endless-track vehicle variable speed drive of differential steering |
| CN208682924U (en) * | 2018-07-17 | 2019-04-02 | 徐工集团工程机械有限公司 | A kind of hydraulic mechanical endless-track vehicle two power flow steering mechanism |
-
2021
- 2021-06-20 CN CN202110706988.3A patent/CN113464619A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2516422Y (en) * | 2002-01-17 | 2002-10-16 | 中国一拖集团有限公司技术中心 | Power differential steering gear of caterpillar |
| CN105151120A (en) * | 2015-09-16 | 2015-12-16 | 湖南农业大学 | Double-power input type transmission for caterpillar |
| CN107839751A (en) * | 2017-12-01 | 2018-03-27 | 北京履坦科技有限公司 | A kind of endless-track vehicle double power flow power differential speed turning mechanism |
| CN107914770A (en) * | 2017-12-07 | 2018-04-17 | 吉林大学 | A kind of intersection shaft type electric drive tracked vehicle differential running gear of Dual-motors Driving |
| CN208682924U (en) * | 2018-07-17 | 2019-04-02 | 徐工集团工程机械有限公司 | A kind of hydraulic mechanical endless-track vehicle two power flow steering mechanism |
| CN108999949A (en) * | 2018-09-06 | 2018-12-14 | 湖南农业大学 | A kind of endless-track vehicle variable speed drive of differential steering |
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