CN214274372U - Variable speed transmission box for controlling steering of tracked vehicle - Google Patents

Abstract

The utility model provides a variable speed transmission case that control tracked vehicle turned to, it can the instantaneous control tracked vehicle walk straightly, pivot turns to convenient operation, flexibility. The clutch comprises fifth, sixth, eighth and ninth output gear shafts, fifth, sixth, eighth and ninth output gears, a seventh transition gear shaft, a seventh synchronous gear, and fifth, sixth, seventh and eighth clutches; the fifth or sixth output gear shaft is connected with a power output shaft of the power device, the seventh synchronous gear is respectively meshed with the fifth and sixth output gears, the fifth and sixth output gear shafts are respectively connected with the fifth and sixth clutch driving parts, the fifth and sixth clutch driven parts are respectively connected with the seventh and eighth clutch driving parts, the seventh and eighth clutch driving parts are respectively connected with the eighth and ninth output gear shafts, the eighth and ninth output gears are respectively connected with the seventh and eighth clutch driven parts, the eighth and ninth output gears are meshed, and the eighth and ninth output gear shafts are respectively connected with left and right driving wheels of the tracked vehicle.

Description

Variable speed transmission box for controlling steering of tracked vehicle

Technical Field

The utility model relates to a crawler-type loads or pulls the running gear of plant protection machinery and other agricultural equipment among the field such as agricultural, forestry, health, especially relates to a variable speed transmission case that automatically controlled tracked vehicle pivot turned to.

Background

Two tracks of the tracked vehicle are grounded, the ground contact area is large during running, the ground contact specific pressure is small, and the tracked vehicle has the advantages of crossing obstacles and trenches, running in soft soil and paddy fields and running on various complex working surfaces, and the like, so that the tracked vehicle is widely applied. At present, a steering mechanism of a tracked vehicle adopts power cut-off or braking of a single-side track to realize steering; when the tracked vehicle moves straight, the clutches on the two sides are engaged, and the steering brake is disengaged; when the steering mechanism is used for steering, the clutch on one steering side cuts off power, the steering brake on the side is engaged, so that the crawler belts on the side are braked and stopped, and the crawler belts on two sides are stopped once running, so that the forward, backward or steering is realized. However, the tracked vehicle can only be steered by engaging one side clutch to brake the side track while the other side continues to drive the track. The steering is unilateral braking steering during steering, so that the steering radius is large, two crawler belts integrally rotate by taking one end of one crawler belt as a rotation center, huge torque force is needed, soil is easy to block during rotation, soil is seriously sheared and damaged, power loss is large, and in-situ steering cannot be realized. To this end, an improvement has been made to the steering mechanism of the prior art tracked vehicle described above, and is disclosed in the following patent documents.

The Chinese patent 'a walking steering device' (with the publication number of CN 2630079Y), the steering device adopts a set of planetary gear device connected in parallel between a left clutch gear and a right clutch gear of a clutch shaft, and through the cooperation of a left clutch, a right clutch, the planetary gear device and a brake, the rotation directions and speeds of a left power output shaft and a right power output shaft are changed to realize the forward and reverse rotation of a left crawler belt and a right crawler belt, so that the forward, the backward and the steering of a crawler vehicle are controlled, and the pivot steering can be realized.

However, the steering device disclosed in the patent adopts a planetary gear device, which not only has relatively complicated structure and high manufacturing cost, but also is difficult to realize automatic control.

In addition, as a Chinese patent 'double differential crawler type combine gearbox' (with an authorization publication number of CN 103988639B), the gearbox adopts a differential type steering mechanism, two differential planetary speed change mechanisms, a hydraulic brake and other components, not only can finish forward, backward and steering of a crawler vehicle, but also can realize pivot steering.

However, the transmission case adopts a left differential planetary speed change mechanism and a right differential planetary speed change mechanism, and the planetary speed change mechanism has the disadvantages of complex power transmission structure, more parts, large volume, heavy weight and high manufacturing cost. [ see-patentee-Jiangsu university-201410187318.5 ]

In addition, as in the chinese patent "an electronic control hydrostatic steering system for a dual-flow-transmission tracked vehicle" (No. CN 108100034B), the steering system adopts hydraulic power transmission, and the hydrostatic steering mechanism is connected to the displacement adjusting and controlling mechanism and the rear steering power transmission system, respectively, and the displacement adjusting and controlling mechanism controls the movement of the rear steering power transmission system by sending a signal to the hydrostatic steering mechanism. The forward, reverse, steering and pivot steering of the tracked vehicle can be realized.

However, the steering system adopts hydraulic power transmission and finishes forward, backward and steering after being transmitted by the planetary gear mechanism, and the hydraulic power transmission path is long, the structure is relatively complex, and the manufacturing cost is high.

In addition, as in chinese patent "an apparatus and method for driving a tracked vehicle to steer" (publication No. CN 108100034B), the apparatus for steering includes: the two driving motors, the two planetary coupling devices and the steering motor are respectively connected with driving wheels on two sides of the tracked vehicle through the two planetary coupling devices; the crawler vehicle adopts a double-motor driving mode, and double motors are independently driven, so that the forward, backward, steering and pivot steering of the crawler vehicle are realized.

However, the steering device adopts double motors on two sides to independently drive, and then completes forward, backward and steering after being transmitted by the planetary gear mechanism.

In addition, as in the chinese patent application, "a power coupling device and a transmission case of crawler type differential forward and reverse rotation" (application publication number is CN 110370925 a), the power coupling device and the transmission case respectively control the rotation speeds of a planet carrier and a sun gear in a planetary gear mechanism in a rotation speed coupling device by using an engine and a speed regulating motor set, the power of the planet carrier and the sun gear is coupled at the rotation speed coupling device, and then is transmitted by the planetary gear mechanism to realize unilateral braking of a crawler vehicle, thereby completing forward, backward, steering, free radius steering and pivot steering.

However, the power coupling device and the gearbox respectively control the planet carrier and the sun gear in the planetary gear mechanism in the rotating speed coupling device by adopting the speed regulating motor set, the power transmission structure is relatively complex, the number of parts is large, and the manufacturing cost is high.

In addition, as in the chinese patent: the name is 'a variable speed transmission equipment of a crawler tractor', and the authorized bulletin number is as follows: CN 110159722B, the variable speed transmission equipment adopts the output end of a hydraulic stepless speed changer to directly control a worm, further changes the speed of a worm wheel, changes the left and right side rotating speed of the tracked vehicle, completes forward movement, backward movement and steering, drives the hydraulic stepless speed changer through a planetary gear transmission mechanism, the input rotating speed of the stepless speed changer is independent of the rotating speed of the speed changer, and the tracked vehicle can steer in situ when the speed changer is in a neutral gear.

However, the transmission equipment adopts a hydraulic stepless speed changer and a planetary gear transmission mechanism, and the power transmission structure is relatively complex, has a plurality of parts and is high in manufacturing cost.

In addition, as the chinese patent application "a tracked vehicle planetary differential steering drive axle" (application publication No. CN111022606A), the differential steering drive axle includes a housing, a steering input shaft and a driving input shaft, dual teeth, a bevel gear, a driving wheel and a planetary gear mechanism, can realize a smaller steering radius, can turn in place by 360 degrees, and can be used for tracked vehicles such as mechanical multi-gear and hydraulic speed change.

However, the steering device disclosed in this patent employs a planetary gear mechanism, which is relatively complicated in power transmission structure and high in manufacturing cost, and is difficult to realize automatic control.

In addition, as in the chinese patent application: the name of the crawler harvester with differential steering is 'a crawler harvester with differential steering', and the application publication number is: CN 111328488, a speed change mechanism, a steering mechanism, a speed reduction mechanism and proportional reversing are arranged in the gearbox body, the speed change mechanism drives the steering mechanism, the proportional reversing valve controls the steering mechanism, and the steering mechanism realizes the walking of the combine harvester through the output of the speed reduction mechanism to realize the straight forward, backward, slow steering and pivot steering;

however, the driving force of the driving wheels on both sides of the differential steering mechanism of the crawler harvester is controlled by the proportional directional valve, and the hydraulic power transmission path of the proportional directional valve is long, so that the structure is relatively complex, the number of parts is large, and the manufacturing cost is high.

The steering mechanism of the tracked vehicle in the prior art adopts a differential steering mechanism, a planetary gear transmission mechanism, a hydraulic steering mechanism and a double-motor driving steering mechanism, and has the advantages of long power transmission route, large transmission power loss, more parts, relatively complex structure and high manufacturing cost.

Therefore, there is a need to develop a speed-changing steering mechanism which can eliminate the above disadvantages, has a relatively simple structure, a short power transmission route and a small transmission power loss, and is convenient, flexible and reliable to operate and convenient to automatically control when in-situ steering is realized.

SUMMERY OF THE UTILITY MODEL

Problem and not enough that exist to above prior art, the utility model aims to provide a speed change transmission case that control tracked vehicle turned to, this transmission case adopts a plurality of clutches, can the instantaneous control tracked vehicle go straight (advance or retreat), turn left or turn right when going straight, the pivot turns to, convenient operation, it is nimble, reliable, moreover, compact structure, speed adjusting mechanism still has, can adjust the rotational speed of two output shafts of transmission case as required and turn to, realize that tracked vehicle advances fast or slowly, retreat or turn to, the pivot turns to, tracked vehicle work efficiency is improved.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a transmission case for controlling the steering of the tracked vehicle, the transmission case comprising a fifth output gear shaft S5, a sixth output gear shaft S6, a seventh transition gear shaft S7, a fifth clutch C5, a sixth clutch C6, a fifth output gear Z5, a sixth output gear Z6, and a seventh synchronizing gear Z7; the fifth output gear Z5 and the sixth output gear Z6 are respectively in force transmission connection with the fifth output gear shaft S5 and the sixth output gear shaft S6 in the circumferential direction; the seventh transition gear shaft S7 is in transmission connection with a seventh synchronizing gear Z7 in the circumferential direction, the seventh synchronizing gear Z7 is respectively in a meshing state with a fifth output gear Z5 and a sixth output gear Z6, the other end of the fifth output gear shaft S5 and the other end of the sixth output gear shaft S6 are respectively in transmission connection with a fifth clutch C5 driving piece and a sixth clutch C6 driving piece in the circumferential direction, the fifth output gear shaft S5 or the sixth output gear shaft S6 is used for being connected with a power output shaft of a power device, and the transmission case further comprises a transmission case body

The eighth output gear shaft S8, the ninth output gear shaft S9, the seventh clutch C7, the eighth clutch C8, the eighth output gear Z8 and the ninth output gear Z9, wherein the fifth clutch C5 driven piece and the sixth clutch C6 driven piece are respectively in force transmission connection with the seventh clutch C7 driving piece and the eighth clutch C8 driving piece in the circumferential direction, the seventh clutch C7 driving piece and the eighth clutch C8 driving piece are respectively in force transmission connection with one end of the eighth output gear shaft S8 and one end of the ninth output gear shaft S9 in the circumferential direction, the eighth output gear Z8 and the ninth output gear Z9 are respectively in force transmission connection with the seventh clutch C7 driven piece and the eighth clutch C8 driven piece in the circumferential direction, the eighth output gear Z8 and the ninth output gear Z9 are in a meshed state, and the other ends of the eighth output gear shaft S8 and the ninth output gear shaft S9 are respectively connected with left and right driving wheels of the vehicle;

when the fifth clutch C5 and the sixth clutch C6 are both in an engaged state and the seventh clutch C7 and the eighth clutch C8 are both in a disengaged state, the tracked vehicle is enabled to run straight;

when the fifth clutch C5, the seventh clutch C7, and the eighth clutch C8 are all in an engaged state and the sixth clutch C6 is in a disengaged state, left turning of the tracked vehicle is achieved;

when the sixth clutch C6, the seventh clutch C7, and the eighth clutch C8 are all in an engaged state and the fifth clutch C5 is in a disengaged state, right rotation of the tracked vehicle is achieved.

As a further improvement to the above-mentioned change-speed transmission box for controlling the steering of the tracked vehicle, it further comprises a third gear shaft S3, a fourth gear shaft S4, a third clutch C3, a fourth clutch C4, a third gear Z3, a fourth gear Z4; the third gear Z3 and the fourth gear Z4 are in a meshed state, the third gear Z3 and the fourth gear Z4 are respectively in force transmission connection with a third gear shaft S3 and a fourth gear shaft S4 in the circumferential direction, the other end of the third gear shaft S3 is in force transmission connection with a driving piece of a third clutch C3 in the circumferential direction, a driven piece of the third clutch C3 is in force transmission connection with a fifth output gear shaft S5 in the circumferential direction, a driven piece of the fourth clutch C4 is in force transmission connection with a sixth output gear shaft S6 in the circumferential direction, and the third gear shaft S3 or the fourth gear shaft S4 is used for being connected with a power output shaft of the power device;

when the third clutch C3, the fifth clutch C5 and the sixth clutch C6 are all in an engaged state, and the fourth clutch C4, the seventh clutch C7 and the eighth clutch C8 are all in a disconnected state, forward movement of the tracked vehicle is achieved;

when the tracked vehicle moves forwards, when the third clutch C3, the fifth clutch C5, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the fourth clutch C4 and the sixth clutch C6 are in a disconnected state, left rotation of the tracked vehicle when the tracked vehicle moves forwards is achieved;

when the tracked vehicle moves forwards, when the third clutch C3, the sixth clutch C6, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the fourth clutch C4 and the fifth clutch C5 are in a disconnected state, the tracked vehicle rotates rightwards when moving forwards;

when the fourth clutch C4, the fifth clutch C5 and the sixth clutch C6 are all in an engaged state, and the third clutch C3, the seventh clutch C7 and the eighth clutch C8 are all in a disconnected state, the crawler vehicle is enabled to move backwards;

when the tracked vehicle moves backwards, when the fourth clutch C4, the fifth clutch C5, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the third clutch C3 and the sixth clutch C6 are in a disconnected state, left rotation of the tracked vehicle during backward movement is achieved;

during the backward movement of the tracked vehicle, when the fourth clutch C4, the sixth clutch C6, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the third clutch C3 and the fifth clutch C5 are in a disengaged state, the tracked vehicle is rotated to the right when moving backward.

As a further improvement to the above-mentioned gearbox for controlling the steering of a tracked vehicle, it further comprises a first speed shaft S1, a second speed shaft S2, a first speed clutch C1, a second speed clutch C2, a first speed gear Z1, a second speed gear Z2; the first rotating speed gear Z1 and the second rotating speed gear Z2 are respectively in force transmission connection with the first rotating speed shaft S1 and the second rotating speed shaft S2 in the circumferential direction, and one end of the first rotating speed shaft S1 is in force transmission connection with a driving piece of a first rotating speed clutch C1 in the circumferential direction; a driven member of the first speed clutch C1 is in force transmission connection with one end of the third gear shaft S3 in the circumferential direction; the first rotating speed gear Z1 and the second rotating speed gear Z2 are in a meshed state, one end of a second rotating speed shaft S2 is in force transmission connection with a driving piece of a second rotating speed clutch C2 in the circumferential direction, and a driven piece of the second rotating speed clutch C2 and a driving piece of a fourth clutch C4 are in force transmission connection with a fourth gear shaft S4 in the circumferential direction; the first rotational speed shaft S1 or the second rotational speed shaft S2 is used for connection with a power output shaft of the power plant.

As a further improvement to the above-mentioned gearbox for controlling the steering of a tracked vehicle, the first speed gear Z1 is engaged with the second speed gear Z2 through a gear transmission mechanism, after passing through the gear transmission mechanism, the rotation directions of the first speed gear Z1 and the second speed gear Z2 are opposite, and the rotation speed ratio of the first speed gear Z1 to the second speed gear Z2 is greater than 1;

when the first speed clutch C1, the third clutch C3, the fifth clutch C5 and the sixth clutch C6 are all in an engaged state, and the second speed clutch C2, the fourth clutch C4, the seventh clutch C7 and the eighth clutch C8 are all in a disconnected state, the crawler vehicle is enabled to advance rapidly;

when the tracked vehicle rapidly advances, when the first rotating clutch C1, the third clutch C3, the fifth clutch C5, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the second rotating clutch C2, the fourth clutch C4 and the sixth clutch C6 are in a disconnected state, left rotation of the tracked vehicle during rapid advancing is realized;

when the tracked vehicle rapidly advances, when the first rotating clutch C1, the third clutch C3, the sixth clutch C6, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the second rotating clutch C2, the fourth clutch C4 and the fifth clutch C5 are in a disconnected state, the tracked vehicle is rotated to the right when rapidly advancing;

when the first speed clutch C1, the fourth clutch C4, the fifth clutch C5 and the sixth clutch C6 are all in an engaged state, and the second speed clutch C2, the third clutch C3, the seventh clutch C7 and the eighth clutch C8 are all in a disconnected state, the crawler vehicle can rapidly move backwards;

when the tracked vehicle is in a fast backward moving process, when the first rotating clutch C1, the fourth clutch C4, the fifth clutch C5, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the second rotating clutch C2, the third clutch C3 and the sixth clutch C6 are in a disconnected state, left-turning of the tracked vehicle during fast backward moving is achieved;

when the tracked vehicle is in a fast backward moving process, when the first rotating clutch C1, the fourth clutch C4, the sixth clutch C6, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the second rotating clutch C2, the third clutch C3 and the fifth clutch C5 are in a disconnected state, the tracked vehicle is turned to the right when the tracked vehicle is in the fast backward moving process;

when the second rotating speed clutch C2, the third clutch C3, the fifth clutch C5 and the sixth clutch C6 are all in an engaged state, and the first rotating speed clutch C1, the fourth clutch C4, the seventh clutch C7 and the eighth clutch C8 are all in a disconnected state, the crawler vehicle is enabled to advance slowly;

when the crawler vehicle advances slowly, when the second rotating clutch C2, the third clutch C3, the fifth clutch C5, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the first rotating clutch C1, the fourth clutch C4 and the sixth clutch C6 are in a disconnected state, left rotation of the crawler vehicle during slow advance is realized;

when the crawler vehicle advances slowly, when the second rotating clutch C2, the third clutch C3, the sixth clutch C6, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the first rotating clutch C1, the fourth clutch C4 and the fifth clutch C5 are in a disconnected state, the crawler vehicle rotates right when advancing slowly;

when the second rotating speed clutch C2, the fourth clutch C4, the fifth clutch C5 and the sixth clutch C6 are all in an engaged state, and the first rotating speed clutch C1, the third clutch C3, the seventh clutch C7 and the eighth clutch C8 are all in a disconnected state, the crawler vehicle is slowly moved backwards;

when the crawler vehicle is in a slow-speed backward moving process, when the second rotating clutch C2, the fourth clutch C4, the fifth clutch C5, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the first rotating clutch C1, the third clutch C3 and the sixth clutch C6 are in a disconnected state, left-turning of the crawler vehicle in the slow-speed backward moving process is realized;

during slow reverse of the tracked vehicle, when the second rotating clutch C2, the fourth clutch C4, the sixth clutch C6, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state and the first rotating clutch C1, the third clutch C3 and the fifth clutch C5 are in a disengaged state, right rotation of the tracked vehicle during slow reverse is realized.

As a further improvement to the above-mentioned gearbox for controlling the steering of a tracked vehicle, said gearbox controls the tracked vehicle to travel fast forward,

the first speed clutch C1, the third clutch C3, the fifth clutch C5 and the sixth clutch C6 are all in an engaged state, and the second speed clutch C2, the fourth clutch C4, the seventh clutch C7 and the eighth clutch C8 are all in a disengaged state;

the positive rotation of a first rotating speed shaft S1 of the transmission case transmits power to a third gear shaft S3 through a first rotating speed clutch C1, the positive rotation of the third gear shaft S3 drives a fifth output gear shaft S5 through a third clutch C3, the positive rotation of a fifth output gear Z5 is driven by the fifth output gear S5, the positive rotation of the fifth output gear Z5 drives a sixth output gear Z6 to rotate positively through a seventh synchronizing gear Z7, the sixth output gear Z6 drives a sixth output gear shaft S6 to rotate positively, the positive rotation of the fifth output gear shaft S5 and the sixth output gear shaft S6 respectively drive a seventh clutch C7 driving element and an eighth clutch C8 driving element through a fifth clutch C5 and a sixth clutch C9 in an engaged state, the seventh clutch C7 driving element and the eighth clutch C8 driving element respectively drive an eighth output gear shaft S8 and a ninth output gear shaft S9, the eighth clutch C68658 and the ninth output gear shaft S8 respectively drive a left crawler belt 9 of the vehicle, And the right driving wheel drives the tracked vehicle to rapidly move forwards.

As a further improvement to the above-mentioned transmission case for controlling the steering of a tracked vehicle, when the transmission case controls the tracked vehicle to steer quickly to the left, the first rotation clutch C1, the third clutch C3, the fifth clutch C5, the seventh clutch C7 and the eighth clutch C8 are all in an engaged state, and the second rotation clutch C2, the fourth clutch C4 and the sixth clutch C6 are all in a disengaged state;

the positive rotation of the first speed rotating shaft S1 of the transmission case transmits power to the third gear shaft S3 through the first speed rotating clutch C1, the third gear shaft S3 drives the fifth output gear shaft S5 through the third clutch C3, the positive rotation of the fifth output gear shaft S5 drives the seventh clutch C7 driving member through the fifth clutch C5 in the engaged state, the seventh clutch C7 driving member drives the eighth output gear shaft S8 to rotate positively, at the same time, because the seventh clutch C7 is in the engaged state, the seventh clutch C7 driving member drives the seventh clutch C7 driven member to rotate positively together, the eighth output gear Z8 in circumferential force transmission connection with the seventh clutch C7 driven member, the eighth output gear Z8 is engaged with the ninth output gear Z9, because the ninth output gear Z9 is in circumferential force transmission connection with the eighth clutch C8 driven member, and the eighth clutch C8 is in the engaged state, the ninth output gear Z9 is in the reverse rotation state through the eighth clutch C8, The driving piece of the eighth clutch C8 drives the ninth output gear shaft S9 to rotate reversely, the positive rotation of the eighth output gear shaft S8 and the reverse rotation of the ninth output gear shaft S9 respectively and synchronously drive the left driving wheel and the right driving wheel of the tracked vehicle, the right driving wheel rotates positively, the left driving wheel rotates reversely, and the tracked vehicle can steer left in place quickly.

As a further improvement to the above-described variable speed transmission for controlling the steering of a tracked vehicle, each clutch is an electromagnetic clutch. The electromagnetic clutches are convenient for automatic control, and the controller controls the action (connection or disconnection) of each electromagnetic clutch in a wired or wireless mode belongs to the prior art and is not described.

The utility model discloses the transmission case is compared in current tracked vehicle steering mechanism and has that the power transmission route is short, and the power transmission loss is little, and spare part is few, and the structure is simple relatively, low in manufacturing cost advantage.

The eighth output gear shaft S8 and the ninth output gear shaft S9 are respectively connected with input shafts of a left driving wheel and a right driving wheel of the tracked vehicle, so that the tracked vehicle can realize speed regulation of forward movement, backward movement, left steering or right steering and pivot steering, and is convenient, flexible and reliable to operate; the transmission case can adopt remote wireless remote control or satellite positioning to realize automatic control.

When the initial state of the tracked vehicle is static, pivot steering can be realized during steering operation; when the tracked vehicle is in an initial state, the tracked vehicle can realize steering during forward movement during steering operation; when the tracked vehicle is in the initial state of backward movement, the steering during backward movement can be realized during the steering operation.

The utility model discloses it is not rotatory as rotation center to use the drive wheel central point on one in two tracks when turning to or pivot when realizing that tracked vehicle gos forward or retreat, but uses two drive wheel central points of two parallel tracks of tracked vehicle to rotate as rotation center, consequently, two parallel track ground points are difficult for hilling, reduce soil shear force when turning to, and power loss descends by a wide margin.

Drawings

Fig. 1 is a schematic structural view of a transmission case controlling steering of a crawler vehicle according to embodiment 1.

Fig. 2 is a schematic structural view of a transmission case controlling steering of a crawler vehicle according to embodiment 2.

FIG. 3 is a schematic view of the structure of example 3 (at the time of fast forwarding).

Fig. 4 is a schematic structural diagram (at the time of fast reverse) of embodiment 3.

FIG. 5 is a schematic structural view (left turn in fast forward or left turn in place) of example 3.

FIG. 6 is a schematic structural view (right turn in fast forward or right turn in place) of example 3.

FIG. 7 is a schematic structural view (fast reverse left turn or pivot left turn) of embodiment 3.

FIG. 8 is a schematic structural view (right turn at fast reverse or right turn in place) of embodiment 3.

FIG. 9 is a schematic view of the structure of example 3 (in slow forward motion).

Fig. 10 is a schematic structural view (at slow reverse) of embodiment 3.

FIG. 11 is a schematic view of the structure of example 3 (left turn in slow forward or left turn in place).

FIG. 12 is a schematic view of the structure of example 3 (turn right or turn right in place while advancing slowly).

FIG. 13 is a schematic structural view (slow backward left turn or in-place left turn) of embodiment 3.

FIG. 14 is a schematic structural view (turn right at slow backward or turn right in place) of example 3.

Detailed Description

The invention is described in further detail below with reference to the drawings and specific examples.

Example 1:

referring to fig. 1, the gear box for controlling the steering of the tracked vehicle comprises a fifth output gear shaft S5, a sixth output gear shaft S6, a seventh transition gear shaft S7, a fifth electromagnetic clutch C5, a sixth electromagnetic clutch C6, a fifth output gear Z5, a sixth output gear Z6, a seventh synchronizing gear Z7, an eighth output gear shaft S8, a ninth output gear shaft S9, a seventh electromagnetic clutch C7, an eighth electromagnetic clutch C8, an eighth output gear Z8 and a ninth output gear Z9.

The fifth output gear Z5 and the sixth output gear Z6 are respectively in force transmission connection (for example, in a spline connection) with the fifth output gear shaft S5 and the sixth output gear shaft S6 in the circumferential direction; the seventh transition gear shaft S7 is connected with a seventh synchronizing gear Z7 in a circumferential force transmission manner, the seventh synchronizing gear Z7 is respectively engaged with the fifth output gear Z5 and the sixth output gear Z6, and the other end of the fifth output gear shaft S5 and the other end of the sixth output gear shaft S6 are respectively connected with the driving member of the fifth electromagnetic clutch C5 and the driving member of the sixth electromagnetic clutch C6 in a circumferential force transmission manner.

The fifth electromagnetic clutch C5 driven member and the sixth electromagnetic clutch C6 driven member are respectively in transmission connection with the seventh electromagnetic clutch C7 driving member and the eighth electromagnetic clutch C8 driving member in the circumferential direction, the seventh electromagnetic clutch C7 driving member and the eighth electromagnetic clutch C8 driving member are respectively in transmission connection with one end of an eighth output gear shaft S8 and one end of a ninth output gear shaft S9 in the circumferential direction, the eighth output gear Z8 and the ninth output gear Z9 are respectively in transmission connection with the seventh electromagnetic clutch C7 driven member and the eighth electromagnetic clutch C8 driven member in the circumferential direction, the eighth output gear Z8 and the ninth output gear Z9 are in a meshed state, and the other ends of the eighth output gear shaft S8 and the ninth output gear shaft S9 are respectively connected with left and right driving wheels of a tracked vehicle.

The fifth output gear shaft S5 or the sixth output gear shaft S6 may be used as a power input shaft, and the fifth output gear shaft S5 is connected to a power output shaft of the power plant as an example.

When the fifth electromagnetic clutch C5 and the sixth electromagnetic clutch C6 are both in an engaged state, and the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are both in a disconnected state, the tracked vehicle is driven straight; at this time, the power transmission route of the right driving wheel is: a power output shaft (positive rotation), a fifth output gear shaft S5 (positive rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7 driving piece, an eighth output gear shaft S8 and a right driving wheel (positive rotation); the power transmission route of the left driving wheel is as follows: a power output shaft (positive rotation), a fifth output gear shaft S5 (positive rotation), a seventh synchronizing gear Z7 (negative rotation), a sixth output gear Z6 (positive rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8 driving element, a ninth output gear shaft S9 and a left driving wheel (positive rotation). Because the left driving wheel and the right driving wheel rotate forwards simultaneously, the electric control tracked vehicle moves straightly.

In the straight running process of the tracked vehicle, when the fifth electromagnetic clutch C5, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in an engaged state and the sixth electromagnetic clutch C6 is in a disconnected state, the tracked vehicle is rotated to the left when running straight; of course, when the initial state of the tracked vehicle is static, and the fifth electromagnetic clutch C5, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in the engaged state, and the sixth electromagnetic clutch C6 is in the disconnected state, the tracked vehicle turns left on site. At this time, the power transmission route of the right driving wheel is: a power output shaft (positive rotation), a fifth output gear shaft S5 (positive rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7 driving piece, an eighth output gear shaft S8 and a right driving wheel (positive rotation); the power transmission route of the left driving wheel is as follows: a power output shaft (forward rotation), a fifth output gear shaft S5 (forward rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7 (forward rotation), an eighth output gear Z8 (forward rotation), a ninth output gear Z9 (reverse rotation), an eighth electromagnetic clutch C8 (reverse rotation), a ninth output gear shaft S9, and a left driving wheel (reverse rotation). Because the right driving wheel rotates forwards and the left driving wheel rotates backwards, the electric control tracked vehicle can rotate leftwards or rotate leftwards in situ when the vehicle travels straight. The left turning or the pivot left turning during the straight running is related to the state of the tracked vehicle before turning, the tracked vehicle is static before turning, the pivot turning is performed during the turning, the tracked vehicle is straight running before turning, and the tracked vehicle is turned during the straight running.

In the process of straight running of the tracked vehicle, when the sixth electromagnetic clutch C6, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in an engaged state, and the fifth electromagnetic clutch C5 is in a disconnected state, right rotation of the tracked vehicle in straight running is achieved. Of course, when the tracked vehicle is at a standstill in the initial state, the sixth electromagnetic clutch C6, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in the engaged state, and the fifth electromagnetic clutch C5 is in the disengaged state, the tracked vehicle is turned right on site. At this time, the power transmission route of the left driving wheel is: a power output shaft (positive rotation), a fifth output gear shaft S5 (positive rotation), a seventh synchronizing gear Z7 (negative rotation), a sixth output gear Z6 (positive rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8, a ninth output gear shaft S9 (positive rotation), and a left driving wheel; the power transmission route of the right driving wheel is as follows: a power output shaft (forward rotation), a fifth output gear shaft S5 (forward rotation), a seventh synchronizing gear Z7 (reverse rotation), a sixth output gear Z6 (forward rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8 (forward rotation), a ninth output gear Z9 (forward rotation), an eighth output gear Z8 (reverse rotation), a seventh electromagnetic clutch C7 (reverse rotation), an eighth output gear shaft S8 and a right driving wheel (reverse rotation). Because the right driving wheel rotates reversely and the left driving wheel rotates positively, the electric control tracked vehicle can rotate rightwards or in situ rightwards when moving straightly. The crawler vehicle is in a straight running state, namely is turned right or in-situ and is related to the state of the crawler vehicle before turning, the crawler vehicle is static before turning, namely is in-situ turning when turning, and is in straight running before turning, and is in straight running when turning.

The transmission case adopts the connection or the separation of four electromagnetic clutches, and a power output shaft with a fixed and unchangeable rotating direction is converted into a left output gear shaft S8 and a right output gear shaft S9 with two left and right same rotating directions or opposite rotating directions through the electromagnetic clutches to drive the left and right driving wheels of the tracked vehicle, so that the speed regulation straight running, the rotating directions during the straight running and the pivot rotating directions of the tracked vehicle are realized, and the operation is convenient, flexible and reliable; the transmission case can adopt remote wireless remote control or satellite positioning to realize automatic control. The variable speed transmission case has the advantages of short power transmission route, small power transmission loss, few parts, relatively simple structure and low manufacturing cost.

The utility model discloses it is not rotatory as rotation center to use the drive wheel central point on one in two tracks when turning to or pivot when realizing that tracked vehicle is straight going, but uses the central point between two drive wheels of two parallel tracks of tracked vehicle to rotate as rotation center, consequently, two parallel track ground points are difficult for hilling, reduce soil shear force when turning to, and power loss descends by a wide margin.

Example 2:

referring to the transmission case for controlling the steering of the tracked vehicle shown in fig. 2, compared with embodiment 1, embodiment 2 is that a third gear shaft S3, a fourth gear shaft S4, a third electromagnetic clutch C3, a fourth electromagnetic clutch C4, a third gear Z3 and a fourth gear Z4 are added on the basis of embodiment 1.

The same contents as those of embodiment 1 will not be described again, and the following description focuses on the differences from embodiment 1.

In the embodiment 2, the third gear Z3 and the fourth gear Z4 are in a meshed state, the third gear Z3 and the fourth gear Z4 are respectively in force transmission connection (for example, in a spline connection) with the third gear shaft S3 and the fourth gear shaft S4 in the circumferential direction, the other end of the third gear shaft S3 is in force transmission connection with the driving member of the third electromagnetic clutch C3 in the circumferential direction, the driven member of the third electromagnetic clutch C3 is in force transmission connection with the fifth output gear shaft S5 in the circumferential direction, and the driven member of the fourth electromagnetic clutch C4 is in force transmission connection with the sixth output gear shaft S6 in the circumferential direction.

In the present embodiment 2, the third gear shaft S3 or the fourth gear shaft S4 serves as a power input shaft (in the present embodiment 1, the fifth output gear shaft S5 or the sixth output gear shaft S6 serves as a power input shaft). The third gear shaft S3 will be described as an example in which it is connected to a power output shaft of a power plant as a power input shaft.

When the third electromagnetic clutch C3, the fifth electromagnetic clutch C5 and the sixth electromagnetic clutch C6 are all in an engaged state, and the fourth electromagnetic clutch C4, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in a disconnected state, the crawler vehicle is driven forwards; at this time, the power transmission route of the right driving wheel is: a power output shaft (positive rotation), a third gear shaft S3, a third electromagnetic clutch C3 (positive rotation), a fifth output gear shaft S5 (positive rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7 driving element, an eighth output gear shaft S8 and a right driving wheel (positive rotation); the power transmission route of the left driving wheel is as follows: a power output shaft (positive rotation), a third gear shaft S3, a third electromagnetic clutch C3 (positive rotation), a fifth output gear shaft S5 (positive rotation), a seventh synchronizing gear Z7 (reverse rotation), a sixth output gear Z6 (positive rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8 driving element, a ninth output gear shaft S9 and a left driving wheel (positive rotation). The electric control tracked vehicle moves forwards due to the fact that the left driving wheel and the right driving wheel rotate forwards simultaneously.

When the tracked vehicle moves forwards, when the third electromagnetic clutch C3, the fifth electromagnetic clutch C5, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in an engaged state, and the fourth electromagnetic clutch C4 and the sixth electromagnetic clutch C6 are in an off state, the tracked vehicle rotates left when moving forwards; of course, when the initial state of the tracked vehicle is static, and the third electromagnetic clutch C3, the fifth electromagnetic clutch C5, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in the engaged state, and the fourth electromagnetic clutch C4 and the sixth electromagnetic clutch C6 are in the disengaged state, the tracked vehicle turns left on site. At this time, the power transmission route of the right driving wheel is: a power output shaft (positive rotation), a third gear shaft S3, a third electromagnetic clutch C3 (positive rotation), a fifth output gear shaft S5 (positive rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7 driving element, an eighth output gear shaft S8 and a right driving wheel (positive rotation); the power transmission route of the left driving wheel is as follows: a power output shaft (forward rotation), a third gear shaft S3, a third electromagnetic clutch C3 (forward rotation), a fifth output gear shaft S5 (forward rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7 (forward rotation), an eighth output gear Z8 (forward rotation), a ninth output gear Z9 (reverse rotation), an eighth electromagnetic clutch C8 (reverse rotation), a ninth output gear shaft S9, and a left drive wheel (reverse rotation). Because the right driving wheel rotates forwards and the left driving wheel rotates backwards, the electric control tracked vehicle can rotate leftwards or rotate leftwards in situ when moving forwards. Whether the crawler is left-turning or pivot left-turning during advancing is related to the state of the crawler before turning, the left-turning is static forward, the left-turning is pivot left-turning during left-turning, the left-turning is forward advancing, and the left-turning is left-turning during advancing.

When the tracked vehicle moves forwards, when the third electromagnetic clutch C3, the sixth electromagnetic clutch C6, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in an engaged state, and the fourth electromagnetic clutch C4 and the fifth electromagnetic clutch C5 are in an off state, the tracked vehicle rotates right when moving forwards. Of course, when the initial state of the tracked vehicle is static, and the third electromagnetic clutch C3, the sixth electromagnetic clutch C6, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in the engaged state, and the fourth electromagnetic clutch C4 and the fifth electromagnetic clutch C5 are in the disengaged state, the tracked vehicle rotates right in place. At this time, the power transmission route of the left driving wheel is: a power output shaft (forward rotation), a third gear shaft S3, a third electromagnetic clutch C3 (forward rotation), a fifth output gear shaft S5 (forward rotation), a seventh synchronizing gear Z7 (reverse rotation), a sixth output gear Z6 (forward rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8, a ninth output gear shaft S9 (forward rotation), and a left driving wheel; the power transmission route of the right driving wheel is as follows: a power output shaft (forward rotation), a third gear shaft S3, a third electromagnetic clutch C3 (forward rotation), a fifth output gear shaft S5 (forward rotation), a seventh synchronizing gear Z7 (reverse rotation), a sixth output gear Z6 (forward rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8 (forward rotation), a ninth output gear Z9 (forward rotation), an eighth output gear Z8 (reverse rotation), a seventh electromagnetic clutch C7 (reverse rotation), an eighth output gear shaft S8, and a right driving wheel (reverse rotation). Because the right driving wheel rotates reversely and the left driving wheel rotates positively, the electric control tracked vehicle can rotate rightwards or in situ rightwards when moving forwards. The left turn is related to the state of the tracked vehicle before turning, the left turn is static, the left turn is left turn, the right turn is left turn, and the left turn is left turn.

When the fourth electromagnetic clutch C4, the fifth electromagnetic clutch C5 and the sixth electromagnetic clutch C6 are all in an engaged state, and the third electromagnetic clutch C3, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in a disconnected state, the tracked vehicle is driven backwards; at this time, the power transmission route of the right driving wheel is: a power output shaft (forward rotation), a third gear shaft S3, a third gear Z3, a fourth gear Z4 (reverse rotation), a fourth gear shaft S4, a fourth electromagnetic clutch C4 (reverse rotation), a sixth output gear shaft S6 (reverse rotation), a sixth output gear Z6, a seventh synchronizing gear Z7 (forward rotation), a fifth output gear Z5 (reverse rotation), a fifth output gear shaft S5 (reverse rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7 driving element, an eighth output gear shaft S8 and a right driving wheel (reverse rotation); the power transmission route of the left driving wheel is as follows: a power output shaft (forward rotation), a third gear shaft S3, a third gear Z3, a fourth gear Z4 (reverse rotation), a fourth gear shaft S4, a fourth electromagnetic clutch C4 (reverse rotation), a sixth output gear shaft S6 (reverse rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8 driving element, a ninth output gear shaft S9 and a left driving wheel (reverse rotation). Because the left driving wheel and the right driving wheel rotate reversely at the same time, the electric control tracked vehicle moves backwards.

When the tracked vehicle moves backwards, when the fourth electromagnetic clutch C4, the fifth electromagnetic clutch C5, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in an engaged state, and the third electromagnetic clutch C3 and the sixth electromagnetic clutch C6 are in an off state, the tracked vehicle rotates leftwards when moving backwards; certainly, the tracked vehicle is static in the initial state, and the tracked vehicle turns left in place. At this time, the power transmission route of the right driving wheel is: a third gear shaft S3, a third gear Z3, a fourth gear Z4 (reverse rotation), a fourth gear shaft S4, a fourth electromagnetic clutch C4 (reverse rotation), a sixth output gear shaft S6 (reverse rotation), a sixth output gear Z6, a seventh synchronizing gear Z7 (forward rotation), a fifth output gear Z5 (reverse rotation), a fifth output gear shaft S5 (reverse rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7 driving member, an eighth output gear shaft S8 and a right driving wheel (reverse rotation); the power transmission route of the left driving wheel is as follows: a power output shaft (forward rotation), a third gear shaft S3, a third gear Z3, a fourth gear Z4 (reverse rotation), a fourth gear shaft S4, a fourth electromagnetic clutch C4 (reverse rotation), a sixth output gear shaft S6 (reverse rotation), a sixth output gear Z6, a seventh synchronizing gear Z7 (forward rotation), a fifth output gear Z5 (reverse rotation), a fifth output gear shaft S5 (reverse rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7, an eighth output gear Z8 (reverse rotation), a ninth output gear Z9 (forward rotation), an eighth electromagnetic clutch C8 (forward rotation), a ninth output gear shaft S9, and a left driving wheel (forward rotation). Because the right driving wheel rotates reversely and the left driving wheel rotates positively, the electric control tracked vehicle can rotate leftwards or rotate leftwards in situ when backing. Whether the crawler is turned left or on-site left during backing is related to the state of the crawler before turning, the left turning is static forward, the left turning is on-site left turning during left turning, the left turning is backing forward, and the left turning is left turning during backing.

When the tracked vehicle moves backwards, when the fourth electromagnetic clutch C4, the sixth electromagnetic clutch C6, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in an engaged state, and the third electromagnetic clutch C3 and the fifth electromagnetic clutch C5 are in an off state, the tracked vehicle rotates rightwards when moving backwards. Certainly, the initial state of the tracked vehicle is static, and the tracked vehicle rotates rightwards in place. At this time, the power transmission route of the left driving wheel is: a power output shaft (forward rotation), a third gear shaft S3, a third gear Z3, a fourth gear Z4 (reverse rotation), a fourth gear shaft S4, a fourth electromagnetic clutch C4 (reverse rotation), a sixth output gear shaft S6 (reverse rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8, a ninth output gear shaft S9 (reverse rotation), and a left driving wheel (reverse rotation); the power transmission route of the right driving wheel is as follows: a power output shaft (forward rotation), a third gear shaft S3, a third gear Z3, a fourth gear Z4 (reverse rotation), a fourth gear shaft S4, a fourth electromagnetic clutch C4 (reverse rotation), a sixth output gear shaft S6 (reverse rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8, a ninth output gear Z9 (reverse rotation), an eighth output gear Z8 (forward rotation), a seventh electromagnetic clutch C7 (forward rotation), an eighth output gear shaft S8, and a right drive wheel (forward rotation). Because the right driving wheel rotates forwards and the left driving wheel rotates backwards, the electric control tracked vehicle can rotate rightwards or rotate rightwards in situ when retreating. The left turn is related to the state of the tracked vehicle before turning, the left turn is static, the left turn is left turn, the right turn is left turn, and the left turn is left turn.

If the fourth gear shaft S4 is connected to the power take-off shaft of the power plant as a power input shaft, it differs from the third gear shaft S3 as a power input shaft mainly in that: the direction of straight travel of the tracked vehicle is opposite. That is, if the tracked vehicle is moving forward with the third gear shaft S3 acting as a power input shaft, the tracked vehicle is moving backward with the fourth gear shaft S4 acting as a power input shaft; if the tracked vehicle is moving backwards with the third gear shaft S3 acting as a power input shaft, the tracked vehicle is moving forwards with the fourth gear shaft S4 acting as a power input shaft. Other processes are similar and will not be described one by one.

The embodiment 2 realizes the forward and backward movement of the electric control tracked vehicle on the basis of the embodiment 1, can steer in forward, backward and pivot, and is more convenient and flexible to control.

The control of the action (engagement or disengagement) of each electromagnetic clutch by a controller in a wired or wireless manner belongs to the prior art and is not described again, so that the electric control of the tracked vehicle can be realized.

Example 3:

referring to the transmission case for controlling the steering of the tracked vehicle shown in fig. 3-14, compared with embodiment 2, embodiment 3 is a gear transmission mechanism formed by adding a first rotating speed shaft S1, a second rotating speed shaft S2, a first rotating speed electromagnetic clutch C1, a second rotating speed electromagnetic clutch C2, a first rotating speed gear Z1, a second rotating speed gear Z2 and two external gears Z10 and Z11 to embodiment 2.

The same contents as those in embodiment 2 will not be described again, and the following description focuses on the differences from embodiment 2.

In the embodiment 3, the first rotating speed gear Z1 and the second rotating speed gear Z2 are respectively in force transmission connection (such as spline connection) with the first rotating speed shaft S1 and the second rotating speed shaft S2 in the circumferential direction, and one end of the first rotating speed shaft S1 is in force transmission connection with the driving part of the first rotating speed electromagnetic clutch C1 in the circumferential direction; a driven member of the first speed clutch C1 is in force transmission connection with one end of the third gear shaft S3 in the circumferential direction; the first speed gear Z1 and the second speed gear Z2 are engaged with each other through a gear train (the first speed gear Z1, the external gear Z10, the external gear Z11, and the second speed gear Z2 are sequentially engaged with each other), and the rotation speed ratio of the first speed gear Z1 to the second speed gear Z2 is 2. One end of the second rotating speed shaft S2 is in circumferential force transmission connection with the driving element of the second rotating speed electromagnetic clutch C2, and the driven element of the second rotating speed electromagnetic clutch C2 and the driving element of the fourth electromagnetic clutch C4 are in circumferential force transmission connection with the fourth gear shaft S4; the first rotational speed shaft S1 or the second rotational speed shaft S2 is used for connection with a power output shaft of the power plant.

The gear box for controlling the steering of the tracked vehicle of the embodiment 3 is installed on the tracked vehicle, the output shaft of the power device of the tracked vehicle is connected with the first rotating shaft S1 of the transmission box 1, the power device is an internal combustion engine, when the tracked vehicle is started, the first rotating shaft S1 of the transmission box positively rotates to drive the first rotating gear Z1 to positively rotate, the first rotating gear Z1 drives the second rotating gear Z2 to negatively rotate, and according to the separated or connected state of the first rotating electromagnetic clutch C1, the second rotating electromagnetic clutch C2, the third electromagnetic clutch C3, the fourth electromagnetic clutch C4, the fifth electromagnetic clutch C5, the sixth electromagnetic clutch C6, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8, the slow or fast forward, slow or fast forward and fast forward steering, slow or fast backward and fast in-situ steering, slow or fast left-in-place steering of the tracked vehicle are realized, Slow or fast in-place right turn, as follows:

(1) when the first rotating speed electromagnetic clutch C1 in the transmission case is in a disconnected state and the second rotating speed electromagnetic clutch C2 is in an engaged state, the crawler vehicle can be controlled to rapidly advance, retreat, turn left on site and turn right on site, and the specific process is as follows:

(1-1) if the electric control crawler vehicle pivot steering gear box of the embodiment 3 is adopted to control the crawler vehicle to walk forwards rapidly, referring to figure 3,

the first rotation speed electromagnetic clutch C1, the third electromagnetic clutch C3, the fifth electromagnetic clutch C5 and the sixth electromagnetic clutch C6 are all in an engaged state, and the second rotation speed electromagnetic clutch C2, the fourth electromagnetic clutch C4, the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are all in a disconnected state;

the positive rotation of a first rotating speed shaft S1 of the transmission case transmits power to a third gear shaft S3 through a first rotating speed electromagnetic clutch C1, the positive rotation of the third gear shaft S3 drives a fifth output gear shaft S5 through a third electromagnetic clutch C3, the fifth output gear shaft S5 drives a fifth output gear Z5 to rotate positively, meanwhile, the positive rotation of the fifth output gear Z5 drives a sixth output gear Z6 to rotate positively through a seventh synchronizing gear Z7, the sixth output gear Z6 drives a sixth output gear shaft S6 to rotate positively, the positive rotation of the fifth output gear shaft S5 and the sixth output gear shaft S6 respectively drive a seventh electromagnetic clutch C7 and an eighth electromagnetic clutch C8 through the fifth electromagnetic clutch C5 in an engaged state and the sixth electromagnetic clutch C6 in an engaged state, and the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C695C 2 are in an disengaged state, and the eighth electromagnetic clutch C7 and the eighth electromagnetic clutch C53 drive an eighth electromagnetic clutch S868427 to drive an eighth electromagnetic clutch S8 and the output gear shaft S8 respectively, The ninth output gear shaft S9 rotates positively, the eighth output gear shaft S8 and the ninth output gear shaft S9 drive a left driving wheel L and a right driving wheel R of the tracked vehicle respectively, and the left driving wheel and the right driving wheel drive the tracked vehicle to rapidly move forward (advance);

(1-2) if the gear box for controlling the steering of a tracked vehicle of the present embodiment 3 is used to control the tracked vehicle to travel backward quickly, see fig. 4, the first rotational speed electromagnetic clutch C1, the fourth electromagnetic clutch C4, the fifth electromagnetic clutch C5, and the sixth electromagnetic clutch C6 are all in the engaged state, the second rotational speed electromagnetic clutch C2, the third electromagnetic clutch C3, the seventh electromagnetic clutch C7, and the eighth electromagnetic clutch C8 are all in the disengaged state,

the first speed-changing shaft S1 of the transmission case rotates forward to transmit power to the third gear shaft S3 through the first speed-changing electromagnetic clutch C1, the third gear shaft S3 rotates forward, the third gear Z3 is meshed with the fourth gear Z4 and drives the fourth gear Z4, the fourth gear Z4 rotates backward to drive the fourth gear shaft S4 to rotate backward, the fourth gear shaft S4 rotates backward to drive the sixth output gear shaft S6 through the fourth electromagnetic clutch C4, the sixth output gear shaft S6 drives the sixth output gear Z6 to rotate backward, the sixth output gear Z6 rotates backward to transmit the fifth output gear Z5 through the seventh synchronizing gear Z7 and rotates backward, the fifth output gear Z5 drives the fifth output gear shaft S5 to rotate backward, meanwhile, the fifth output gear shaft S5 and the sixth output gear shaft S6 rotate backward respectively to drive the seventh electromagnetic clutch C7 through the fifth electromagnetic clutch C5 in a jointing state and the sixth electromagnetic clutch C6 in a jointing state, The eighth electromagnetic clutch C8 driving element, because the seventh electromagnetic clutch C7 and the eighth electromagnetic clutch C8 are in an off state, the seventh electromagnetic clutch C7 driving element and the eighth electromagnetic clutch C8 driving element respectively drive the eighth output gear shaft S8 and the ninth output gear shaft S9 to reversely rotate, and the eighth output gear shaft S8 and the ninth output gear shaft S9 respectively drive the left driving wheel L and the right driving wheel R to drive the tracked vehicle to rapidly move backwards (retreat);

(1-3) if adopt the utility model discloses a when the gear box control tracked vehicle that control tracked vehicle turned to left fast turns to or when controlling tracked vehicle to turn to left pivot fast when static in the forward walking, see fig. 5, then first rotational speed electromagnetic clutch C1, third electromagnetic clutch C3, fifth electromagnetic clutch C5, seventh electromagnetic clutch C7, eighth electromagnetic clutch C8 all are in the engaged state, and second rotational speed electromagnetic clutch C2, fourth electromagnetic clutch C4, sixth electromagnetic clutch C6 all are in the disconnected state.

The first rotating speed shaft S1 of the transmission case positively rotates to transmit power to a third gear shaft S3 through a first rotating speed electromagnetic clutch C1, the third gear shaft S3 drives a fifth output gear shaft S5 through a third electromagnetic clutch C3, because the sixth electromagnetic clutch C6 is in an off state, the fifth output gear shaft S5 positively rotates to rotate via a fifth electromagnetic clutch C5 driving part and a fifth electromagnetic clutch C5 driven part which are in an engaged state to drive a seventh electromagnetic clutch C7 driving part, the seventh electromagnetic clutch C7 driving part drives an eighth output gear shaft S8 positively, because the seventh electromagnetic clutch C7 is in an engaged state, the seventh electromagnetic clutch C7 positively rotates to drive a seventh electromagnetic clutch C7 driven part, an eighth output gear Z8 fixed on the seventh electromagnetic clutch C7 driven part, the eighth output gear Z8 is meshed with a ninth output gear Z9 and drives a ninth output gear Z9 to reversely rotate, since the ninth output gear Z9 is fixed on the eighth electromagnetic clutch C8 driven member and the eighth electromagnetic clutch C8 is in an engaged state, the ninth output gear Z9 rotates reversely and drives the ninth output gear shaft S9 to rotate reversely through the eighth electromagnetic clutch C8 driven member and the eighth electromagnetic clutch C8 driving member, and the forward rotation of the eighth output gear shaft S8 and the reverse rotation of the ninth output gear shaft S9 synchronously drive the right driving wheel and the left driving wheel of the tracked vehicle respectively, and the forward rotation and the reverse rotation of the right driving wheel realize the rapid left steering of the tracked vehicle, as shown in fig. 5. Whether the vehicle turns left or turns left in place during fast forward or fast in situ is related to the state of the tracked vehicle before turning, the left turning is static forward, the left turning is fast in situ left turning during left turning, the left turning is fast forward, and the left turning is fast forward during left turning.

(1-4) if adopt the utility model discloses a when the gear box control tracked vehicle that control tracked vehicle turned to the right fast turns to or when controlling tracked vehicle to turn to the original place fast to the right when static in the forward walking, see fig. 6, then first rotational speed electromagnetic clutch C1, third electromagnetic clutch C3, sixth electromagnetic clutch C6, seventh electromagnetic clutch C7, eighth electromagnetic clutch C8 all are in the engaged state, and second rotational speed electromagnetic clutch C2, fourth electromagnetic clutch C4, fifth electromagnetic clutch C5 all are in the disconnected state.

The first rotating speed shaft S1 of the transmission case rotates positively, the first rotating speed shaft S1 of the transmission case rotates positively and transmits power to the third gear shaft S3 through the first rotating speed electromagnetic clutch C1, the power is transmitted to the left driving wheel through the third gear shaft S3 (positive rotation), the third electromagnetic clutch C3 (positive rotation), the fifth output gear shaft S5 (positive rotation), the seventh synchronous gear Z7 (reverse rotation), the sixth output gear Z6 (positive rotation), the sixth electromagnetic clutch C6, the eighth electromagnetic clutch C8 and the ninth output gear shaft S9 (positive rotation), and the left driving wheel rotates positively; meanwhile, the eighth electromagnetic clutch C8 is in an engaged state, the driving element of the eighth electromagnetic clutch C8 drives the driven element of the eighth electromagnetic clutch C8 to rotate together, the ninth output gear Z9 fixed on the driven element of the eighth electromagnetic clutch C8 rotates forward, the ninth output gear Z9 is meshed with the eighth output gear Z8 and drives the eighth output gear Z8 to rotate backward, the eighth output gear Z8 drives the eighth output gear shaft S8 to rotate backward through the driving element of the seventh electromagnetic clutch C7 and the seventh electromagnetic clutch C7 in the engaged state, the reverse rotation of the eighth output gear shaft S8 and the forward rotation of the ninth output gear shaft S9 are respectively and synchronously transmitted to the left driving wheel, the right driving wheel, the left forward driving wheel and the right driving wheel of the tracked vehicle, and the tracked vehicle turns to turn to the right, as shown in fig. 6. The crawler vehicle is rotated to the right or rotated to the right in place when the crawler vehicle is rapidly advanced, the crawler vehicle is related to the state before the crawler vehicle is rotated, the crawler vehicle is rotated to the front and is stationary, the crawler vehicle is rapidly rotated to the right in place when the crawler vehicle is rotated to the right, the crawler vehicle is rapidly advanced to the front when the crawler vehicle is rotated to the right, and the crawler vehicle is rapidly advanced to the right when the crawler vehicle is rotated to the right.

(1-5) if adopt the utility model discloses a when the gear box control tracked vehicle that control tracked vehicle turned to left fast turns to or when controlling tracked vehicle to turn to left pivot fast when static in backward walking, see fig. 7, then first rotational speed electromagnetic clutch C1, fourth electromagnetic clutch C4, fifth electromagnetic clutch C5, seventh electromagnetic clutch C7, eighth electromagnetic clutch C8 all are in the engaged state, and second rotational speed electromagnetic clutch C2, third electromagnetic clutch C3, sixth electromagnetic clutch C6 all are in the disconnected state.

The power transmission route of the right driving wheel is as follows: a power output shaft (forward rotation), a first rotating speed shaft S1, a first rotating speed electromagnetic clutch C1, a third gear shaft S3, a third gear Z3, a fourth gear Z4 (reverse rotation), a fourth gear shaft S4, a fourth electromagnetic clutch C4 (reverse rotation), a sixth output gear shaft S6 (reverse rotation), a sixth output gear Z6, a seventh synchronous gear Z7 (forward rotation), a fifth output gear Z5 (reverse rotation), a fifth output gear shaft S5 (reverse rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7 driving part, an eighth output gear shaft S8 and a right driving wheel (reverse rotation); the power transmission route of the left driving wheel is as follows: a power output shaft (forward rotation), a first rotation speed shaft S1, a first rotation speed electromagnetic clutch C1, a third gear shaft S3, a third gear Z3, a fourth gear Z4 (reverse rotation), a fourth gear shaft S4, a fourth electromagnetic clutch C4 (reverse rotation), a sixth output gear shaft S6 (reverse rotation), a sixth output gear Z6, a seventh synchronous gear Z7 (forward rotation), a fifth output gear Z5 (reverse rotation), a fifth output gear shaft S5 (reverse rotation), a fifth electromagnetic clutch C5, a seventh electromagnetic clutch C7, an eighth output gear Z8 (reverse rotation), a ninth output gear Z9 (forward rotation), an eighth electromagnetic clutch C8 (forward rotation), a ninth output gear shaft S9, and a left driving wheel (forward rotation). Because the right driving wheel rotates reversely and the left driving wheel rotates positively, the electric control tracked vehicle can rotate leftwards in place when moving backwards, as shown in fig. 7. Whether the vehicle turns left or turns left in place during rapid backing is related to the state of the tracked vehicle before turning, the left turning is static forward, the left turning is rapid in-place left turning during left turning, the left turning is rapid backing forward, and the left turning is rapid backing during left turning.

(1-6) if adopt the utility model discloses a when the gear box control tracked vehicle that control tracked vehicle turned to the right fast turns to in backward walking or when controlling tracked vehicle to turn to the original place fast to the right when static, see fig. 8, then first rotational speed electromagnetic clutch C1, fourth electromagnetic clutch C4, sixth electromagnetic clutch C6, seventh electromagnetic clutch C7, eighth electromagnetic clutch C8 all are in the engaged state, and second rotational speed electromagnetic clutch C2, third electromagnetic clutch C3, fifth electromagnetic clutch C5 all are in the disconnected state.

The power transmission route of the left driving wheel is as follows: a power output shaft (forward rotation), a first rotation speed shaft S1, a first rotation speed electromagnetic clutch C1, a third gear shaft S3, a third gear Z3, a fourth gear Z4 (reverse rotation), a fourth gear shaft S4, a fourth electromagnetic clutch C4 (reverse rotation), a sixth output gear shaft S6 (reverse rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8, a ninth output gear shaft S9 (reverse rotation), and a left driving wheel (reverse rotation); the power transmission route of the right driving wheel is as follows: a power output shaft (forward rotation), a third gear shaft S3, a third gear Z3, a fourth gear Z4 (reverse rotation), a fourth gear shaft S4, a fourth electromagnetic clutch C4 (reverse rotation), a sixth output gear shaft S6 (reverse rotation), a sixth electromagnetic clutch C6, an eighth electromagnetic clutch C8, a ninth output gear Z9 (reverse rotation), an eighth output gear Z8 (forward rotation), a seventh electromagnetic clutch C7 (forward rotation), an eighth output gear shaft S8, and a right drive wheel (forward rotation). The eighth output gear shaft S8 rotating in the forward direction and the ninth output gear shaft S9 rotating in the reverse direction are synchronously transmitted to the right driving wheel of the tracked vehicle to rotate in the forward direction and the left driving wheel to rotate in the reverse direction respectively, so that the tracked vehicle turns to the right when moving backwards, as shown in fig. 8. The crawler vehicle is capable of turning right or turning right in place when backing fast, and is related to the state of the crawler vehicle before turning, the right turning is static forward, the right turning is capable of turning right in place when turning right, the right turning is capable of backing fast forward, and the right turning is capable of turning right in the process of backing fast when turning right.

(2) When the first rotational speed electromagnetic clutch C1 in the transmission case is in the off state and the second rotational speed electromagnetic clutch C2 is in the on state, the tracked vehicle can be controlled to advance slowly (see fig. 9), retreat slowly (see fig. 10), turn left or pivot left when advancing slowly (see fig. 11), turn right or pivot right when advancing slowly (see fig. 12), turn left or pivot left when retreating slowly (see fig. 13), and turn right or pivot right when retreating slowly (see fig. 14).

This case is mainly different from the content of the (1) th part in the present embodiment 3 in that: the paths of power transmission to the third gear shaft S3 or the fourth gear shaft S4 are different.

Specifically, when the crawler vehicle is slowly advanced, left-turned during slow advancement, right-turned during slow advancement, and right-turned during slow advancement, the power is transmitted through the power output shaft (normal rotation), the first rotation shaft S1, the first rotation gear Z1, the external gear 10 (reverse rotation), the external gear 11 (normal rotation), the second rotation gear Z2 (reverse rotation), the second rotation shaft S2 (reverse rotation), the second rotation electromagnetic clutch C2, the fourth gear shaft S4, the fourth gear Z4, and the third gear Z3 (normal rotation) to rotate the third gear shaft S3 (normal rotation). In the section (1) of the embodiment 3, when the tracked vehicle is in fast forward, fast forward left-turning, fast pivot left-turning, fast forward right-turning, and fast pivot right-turning, the power is the power output shaft (forward rotation), the first rotating speed shaft S1, and the first rotating speed electromagnetic clutch C1 to drive the third gear shaft S3 to rotate (forward rotation).

When the tracked vehicle is in slow backward movement, left steering during slow backward movement, left steering on-site at slow speed, right steering during slow backward movement and right steering on-site at slow speed, power drives the fourth gear shaft S4 to rotate (reversely rotate) through the power output shaft (normally rotate), the first rotating speed shaft S1, the first rotating speed gear Z1, the external gear 10 (reversely rotate), the external gear 11 (normally rotate), the second rotating speed gear Z2 (reversely rotate), the second rotating speed shaft S2 (reversely rotate) and the second rotating speed electromagnetic clutch C2. In the (1) part of the embodiment 3, when the tracked vehicle is in fast backward movement, fast backward movement left steering, fast pivot left steering, fast backward movement right steering, and fast pivot right steering, the power is the power output shaft (forward rotation), the first rotating speed shaft S1, the first rotating speed electromagnetic clutch C1, the third gear shaft S3, the third gear Z3, and the fourth gear Z4 (reverse rotation) to drive the fourth gear shaft S4 to rotate (reverse rotation).

Other contents are basically the same as those of the (1) th part in this embodiment 3, and are not described again.

Claims (5)

1. A transmission case controlling steering of the tracked vehicle, the transmission case including a fifth output gear shaft (S5), a sixth output gear shaft (S6), a seventh transition gear shaft (S7), a fifth clutch (C5), a sixth clutch (C6), a fifth output gear (Z5), a sixth output gear (Z6), a seventh synchronizing gear (Z7); the fifth output gear (Z5) and the sixth output gear (Z6) are respectively in force transmission connection with a fifth output gear shaft (S5) and a sixth output gear shaft (S6) in the circumferential direction; the seventh transition gear shaft (S7) is in transmission connection with a seventh synchronizing gear (Z7) in the circumferential direction, the seventh synchronizing gear (Z7) is respectively in a meshed state with the fifth output gear (Z5) and the sixth output gear (Z6), the other end of the fifth output gear shaft (S5) and the other end of the sixth output gear shaft (S6) are respectively in transmission connection with the driving piece of the fifth clutch (C5) and the driving piece of the sixth clutch (C6) in the circumferential direction, and the fifth output gear shaft (S5) or the sixth output gear shaft (S6) is used for being connected with the power output shaft of the power device

An eighth output gear shaft (S8), a ninth output gear shaft (S9), a seventh clutch (C7), an eighth clutch (C8), an eighth output gear (Z8) and a ninth output gear (Z9), wherein the fifth clutch (C5) driven piece and the sixth clutch (C6) driven piece are respectively in circumferential force transmission connection with a seventh clutch (C7) driving piece and an eighth clutch (C8) driving piece, the seventh clutch (C7) driving piece and the eighth clutch (C8) driving piece are respectively in circumferential force transmission connection with one ends of the eighth output gear shaft (S8) and the ninth output gear shaft (S9), the eighth output gear (Z8) and the ninth output gear (Z9) are respectively in circumferential force transmission connection with a seventh clutch (C7) driven piece and an eighth clutch (C8) driven piece, and the eighth output gear (Z8) and the ninth output gear (Z9) are meshed with each other, the other ends of the eighth output gear shaft (S8) and the ninth output gear shaft (S9) are respectively connected with left and right driving wheels of the tracked vehicle;

when the fifth clutch (C5) and the sixth clutch (C6) are both in an engaged state, and the seventh clutch (C7) and the eighth clutch (C8) are both in a disconnected state, the tracked vehicle is enabled to run straight;

when the fifth clutch (C5), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the sixth clutch (C6) is in a disconnected state, left turning of the tracked vehicle is achieved;

when the sixth clutch (C6), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state and the fifth clutch (C5) is in a disengaged state, right rotation of the tracked vehicle is achieved.

2. A variable speed drive box for controlling the steering of a tracked vehicle according to claim 1, characterized in that: the clutch also comprises a third gear shaft (S3), a fourth gear shaft (S4), a third clutch (C3), a fourth clutch (C4), a third gear (Z3) and a fourth gear (Z4); the third gear (Z3) and the fourth gear (Z4) are in a meshed state, the third gear (Z3) and the fourth gear (Z4) are respectively in force transmission connection with a third gear shaft (S3) and a fourth gear shaft (S4) in the circumferential direction, the other end of the third gear shaft (S3) is in force transmission connection with a driving piece of a third clutch (C3) in the circumferential direction, a driven piece of the third clutch (C3) is in force transmission connection with a fifth output gear shaft (S5) in the circumferential direction, a driven piece of the fourth clutch (C4) is in force transmission connection with a sixth output gear shaft (S6) in the circumferential direction, and the third gear shaft (S3) or the fourth gear shaft (S4) is used for being connected with a power output shaft of a power device;

when the third clutch (C3), the fifth clutch (C5) and the sixth clutch (C6) are all in an engaged state, and the fourth clutch (C4), the seventh clutch (C7) and the eighth clutch (C8) are all in a disconnected state, forward movement of the tracked vehicle is achieved;

when the tracked vehicle moves forwards, when the third clutch (C3), the fifth clutch (C5), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the fourth clutch (C4) and the sixth clutch (C6) are in a disconnected state, left rotation is achieved when the tracked vehicle moves forwards;

when the tracked vehicle moves forwards, the third clutch (C3), the sixth clutch (C6), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the fourth clutch (C4) and the fifth clutch (C5) are in a disconnected state, the tracked vehicle is rotated to the right when moving forwards;

when the fourth clutch (C4), the fifth clutch (C5) and the sixth clutch (C6) are all in an engaged state, and the third clutch (C3), the seventh clutch (C7) and the eighth clutch (C8) are all in a disconnected state, the crawler vehicle is enabled to move backwards;

when the tracked vehicle moves backwards, when the fourth clutch (C4), the fifth clutch (C5), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the third clutch (C3) and the sixth clutch (C6) are in a disconnected state, left rotation of the tracked vehicle during backward movement is achieved;

when the tracked vehicle moves backwards, the fourth clutch (C4), the sixth clutch (C6), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the third clutch (C3) and the fifth clutch (C5) are in a disconnected state, so that the tracked vehicle rotates rightwards when moving backwards.

3. A variable speed drive box for controlling the steering of a tracked vehicle as claimed in claim 2, wherein: the device also comprises a first rotating speed shaft (S1), a second rotating speed shaft (S2), a first rotating speed clutch (C1), a second rotating speed clutch (C2), a first rotating speed gear (Z1) and a second rotating speed gear (Z2); the first rotating speed gear (Z1) and the second rotating speed gear (Z2) are respectively in force transmission connection with the first rotating speed shaft (S1) and the second rotating speed shaft (S2) in the circumferential direction, and one end of the first rotating speed shaft (S1) is in force transmission connection with the driving piece of the first rotating speed clutch (C1) in the circumferential direction; a driven member of the first speed clutch (C1) is in force transmission connection with one end of a third gear shaft (S3) in the circumferential direction; the first rotating speed gear (Z1) and the second rotating speed gear (Z2) are in a meshed state, one end of a second rotating speed shaft (S2) is in circumferential force transmission connection with a driving piece of a second rotating speed clutch (C2), and a driven piece of the second rotating speed clutch (C2) and a driving piece of a fourth clutch (C4) are in circumferential force transmission connection with a fourth gear shaft (S4); the first rotating speed shaft (S1) or the second rotating speed shaft (S2) is used for being connected with a power output shaft of the power device.

4. A variable speed drive box for controlling the steering of a tracked vehicle as claimed in claim 3, wherein: the first rotating speed gear (Z1) is meshed with the second rotating speed gear (Z2) through a gear transmission mechanism, after passing through the gear transmission mechanism, the rotating directions of the first rotating speed gear (Z1) and the second rotating speed gear (Z2) are opposite, and the rotating speed ratio of the first rotating speed gear (Z1) to the second rotating speed gear (Z2) is more than 1;

when the first rotation speed clutch (C1), the third clutch (C3), the fifth clutch (C5) and the sixth clutch (C6) are all in an engaged state, and the second rotation speed clutch (C2), the fourth clutch (C4), the seventh clutch (C7) and the eighth clutch (C8) are all in a disconnected state, the crawler vehicle is enabled to advance rapidly;

when the tracked vehicle rapidly advances, when the first rotation clutch (C1), the third clutch (C3), the fifth clutch (C5), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the second rotation clutch (C2), the fourth clutch (C4) and the sixth clutch (C6) are in a disconnected state, left rotation is realized when the tracked vehicle rapidly advances;

in the process of fast forward movement of the tracked vehicle, when the first speed clutch (C1), the third clutch (C3), the sixth clutch (C6), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the second speed clutch (C2), the fourth clutch (C4) and the fifth clutch (C5) are in a disconnected state, right rotation of the tracked vehicle during fast forward movement is achieved;

when the first rotation speed clutch (C1), the fourth clutch (C4), the fifth clutch (C5) and the sixth clutch (C6) are all in an engaged state, and the second rotation speed clutch (C2), the third clutch (C3), the seventh clutch (C7) and the eighth clutch (C8) are all in a disconnected state, the tracked vehicle can rapidly back;

when the crawler vehicle is in a fast backward moving process, when the first speed clutch (C1), the fourth clutch (C4), the fifth clutch (C5), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the second speed clutch (C2), the third clutch (C3) and the sixth clutch (C6) are in a disconnected state, left rotation of the crawler vehicle in the fast backward moving process is realized;

in the process of fast backing of the tracked vehicle, when the first speed clutch (C1), the fourth clutch (C4), the sixth clutch (C6), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the second speed clutch (C2), the third clutch (C3) and the fifth clutch (C5) are in a disconnected state, the tracked vehicle is turned to the right when fast backing is realized;

when the second rotation speed clutch (C2), the third clutch (C3), the fifth clutch (C5) and the sixth clutch (C6) are all in an engaged state, and the first rotation speed clutch (C1), the fourth clutch (C4), the seventh clutch (C7) and the eighth clutch (C8) are all in a disconnected state, slow forward of the tracked vehicle is achieved;

when the crawler vehicle is in a slow forward process, when the second rotation clutch (C2), the third clutch (C3), the fifth clutch (C5), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the first rotation clutch (C1), the fourth clutch (C4) and the sixth clutch (C6) are in a disconnected state, left rotation of the crawler vehicle during slow forward is achieved;

when the crawler vehicle is in a slow forward process, when the second rotation clutch (C2), the third clutch (C3), the sixth clutch (C6), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the first rotation clutch (C1), the fourth clutch (C4) and the fifth clutch (C5) are in a disconnected state, right rotation of the crawler vehicle during slow forward is achieved;

when the second rotation speed clutch (C2), the fourth clutch (C4), the fifth clutch (C5) and the sixth clutch (C6) are all in an engaged state, and the first rotation speed clutch (C1), the third clutch (C3), the seventh clutch (C7) and the eighth clutch (C8) are all in a disconnected state, slow speed backward movement of the tracked vehicle is realized;

when the crawler vehicle is in a slow-speed backward moving process, when the second rotating clutch (C2), the fourth clutch (C4), the fifth clutch (C5), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the first rotating clutch (C1), the third clutch (C3) and the sixth clutch (C6) are in a disconnected state, left-turning of the crawler vehicle in the slow-speed backward moving process is realized;

when the crawler vehicle is in a slow-speed backward moving process, when the second rotating clutch (C2), the fourth clutch (C4), the sixth clutch (C6), the seventh clutch (C7) and the eighth clutch (C8) are all in an engaged state, and the first rotating clutch (C1), the third clutch (C3) and the fifth clutch (C5) are in a disconnected state, the crawler vehicle is rotated to the right when in the slow-speed backward moving process.

5. A variable speed drive box for controlling the steering of a tracked vehicle according to claim 1, characterized in that: each clutch is an electromagnetic clutch.

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