RU2652371C1 - Drive of vehicle with two-streamed infinitely variable transmission and rotation mechanism - Google Patents

Abstract

FIELD: machine building; transportation.

SUBSTANCE: invention relates to a drive of a vehicle with a two-streamed infinitely variable transmission and rotation mechanism. Vehicle drive comprises a first motor with the possibility of rectilinear motion of the vehicle and a second motor for turning the vehicle, adding planetary rows, spaced across the width of the vehicle, the distribution gearing. Two input links of each adding row are connected to the motors respectively, and the output link, including the right one, is connected to the coaxial wheels of the vehicle. Distributive gear for the multidirectional rotation of the side branches of the turning mechanism with a common driving link. Engines are spaced across the width of the vehicle up to the overlap with the wheels. Distribution gear assembly is spaced along the width of the vehicle up to the area where the wheels overlap with the gear system, one part of which is a cylindrical gear transmission with a gear ratio of 1, and the other is a cylindrical gear pair with a gear ratio of minus 1. At the same time, one of the gear wheels of the distributive gear assembly is two-tine and installed coaxially with the adding planetary rows.

EFFECT: increased technical-operational / tactical-technical characteristics of a vehicle is achieved.

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Description

The invention relates to the field of ground and space transport engineering, as well as to robotics, mainly to self-propelled robots configuration (type) "Dumbbell".

Known uniaxial dumbbell robots, in particular the small-sized Scout robot, containing drive wheels (propulsion) spaced along its width, a cylindrical body between them for a “payload” and an electromechanical wheel drive, while the diameter of the body is less than the diameter of the wheels, s the formation of ground clearance (clearance) and dumbbell configuration [see 1. Pat US 7,559.385 B1, M. cl. B60K 1/00, B62D 61/00, 07/14/2009; 2. Application US 2003/0137168 A1, M. cl. B25J 9/18, July 24, 2003; 3. Pat. US 6,502,657 B2, M. cl. 01/07/2007, 01/07/2003; 4. Americans threw a dumbbell robot in jail. - Available at: http.//www.membrana.ru/particle/13211].

However, they do not use transmission and rotation mechanisms (MPPs), which are widely represented in the theory and practice of large-sized, mainly tracked, transport vehicles and which allow a wide range of turning radii to be obtained under conditions of increasing resistance to rotation.

Another example of a uniaxial vehicle can be a device with hemispherical drive wheels (propulsion) spaced along its width and a body for a “payload” between them, while the bottom of the body rises above the supporting surface, forming ground clearance (clearance) [see 5. Pat RU 2584292 C1, M. cl. B62D 57/00, B62D 61/00, B62D 63/02, B62K 1/00, B60B 1/14, 05/20/2016, Bull. No. 14].

This patented device practically repeats other previously known devices of biaxial ground vehicles with cylindrical or hemispherical wheels and a mechanical drive (transmission) from the internal combustion engine [see 6. Yuri Poshalkok. WORDLS of TANKS. Steel balls of Stalin. Design and production. - TACTICAL PRESS, 2014 (ISBN 978-5-906074-10-2). - S. 79 (last paragraph), 80 (diagram), 81].

The dumbbell configuration of all of the listed analog robots is due to the desire of their designers to provide high profile cross-country ability and agility (maneuverability) by increasing ground clearance (clearance), which is especially important for small-sized robots intended for use on terrain with pronounced macro-irregularities. At the same time, the placement of relatively large power plants (engines) and the mechanical part of the drive to the wheels in the body (in the middle part of the body across the width of the vehicle) contradicts this trend, as increasing the diameter of the body is inversely proportional to a decrease in ground clearance.

Closest to the claimed device for the intended purpose and the set of essential structural features is a vehicle drive (tracked high-speed transport vehicle) with a two-threaded stepless transmission and rotation mechanism (MPP), containing the first engine that creates the first power flow through the transmission mechanism, with the possibility of rectilinear movement of the vehicle means, and a second engine creating a second power flow through the rotation mechanism, with the possibility of rotation of the vehicle, p summarized planetary gears spaced across the width of the vehicle, two input links of each of which are connected to the first and second engine, respectively, and the output link is with the coaxial wheels of the vehicle, as well as a distribution gear transmission of multidirectional rotation of the side branches of the rotation mechanism with a common driving link [cm .: Calculation and design of tracked vehicles / Nosov N.A., Galyshev V.D., Volkov Yu.P., Kharchenko A.P. - Ed. prof. ON. Nosova. - L .: Engineering, 1972. - 560 p. - S. 395, Fig. IX.21a].

In the known drive, the engines are located (across the width of the vehicle) in the central part - above the vehicle’s ground clearance, with an underbody cover. And the mentioned distribution gear is made in the form of a gear of three gears - the central drive and peripheral followers with multidirectional rotation (wiring along the left and right branches of the rotation mechanism). Moreover, it is also located above the ground clearance of the vehicle, parallel to the axles of the wheels of the vehicle.

The layout of the drive with MPP on tracked and wheeled multi-support vehicles (4 × 2, 4 × 4, 6 × 6, etc.) does not cause serious layout problems due, in particular, to the possibility of arranging the MPP “horizontally” - when the remote common axle of the side branches of the rotation mechanism (in the prototype - at the exit of the hydraulic motor) is located at the same level with the axis of the side branches of the gear mechanism.

However, its layout on a dumbbell-type robot - a vehicle made according to a 2 × 2 coaxial wheel design (i.e., on analogs), inevitably leads to a significantly overestimated relative diameter (relative to the diameters of the MPP side parts and vehicle wheels) of the middle part (across the width of the vehicle), which means a low ground clearance, which determines the insufficient profile cross-country ability of the vehicle (which is part of the most important technical and operational / tactical and technical characteristics to a vehicle), especially a robot whose mobility in offline mode cannot be restored by a person or other external means.

The technical result of using the claimed invention is to adapt the drive with MPP to use as part of robots or crew vehicles made according to a 2 × 2 coaxial wheel arrangement of the “Dumbbell” type, while obtaining layout advantages, minimizing the diameter of the middle part (across the width of the transport means), which means a low ground clearance, which increases the profile cross-country ability of the vehicle and, in turn, its technical and operational / tactical and technical characteristics.

The specified technical result is achieved, according to the invention, in a vehicle drive with a two-threaded stepless transmission and rotation mechanism, comprising a first engine generating a first power flow through the transmission mechanism, with the possibility of rectilinear movement of the vehicle, and a second engine creating a second power stream through rotation mechanism, with the possibility of rotation of the vehicle, summarizing planetary gears spaced across the width of the vehicle, two input links each of which is connected to the first and second engine, respectively, and the output link is to the vehicle’s coaxial wheels, as well as the distribution gear transmission of multidirectional rotation of the side branches of the rotation mechanism with a common driving link, the engines are spaced across the width of the vehicle until it is blocked by wheels, and the aforementioned distribution gear transmission is also made in the form of vehicles spaced across the width of the vehicle until the wheels overlap the gear parts, one of which is it is equipped with a cylindrical gear with a gear ratio of 1, and the other with a cylindrical gear pair with a gear ratio of minus 1, while one of the listed gear wheels of the distribution gear is double-crowned and mounted coaxially with the summing planetary gears and wheels of the vehicle.

Moreover, to enhance the effect of reducing the diameter of the middle (D) part (body) of the vehicle in light of solving the problem of increasing the ride height, the double-crown gear of the distribution gear transmission can be installed coaxially to the transverse power supply shaft from the first engine to the summing rows.

To further enhance the effect of reducing the diameter of the middle (D) part (body) of the vehicle in light of solving the problem of increasing ground clearance, as well as maintaining a satisfactory efficiency drive, the first engine can be installed coaxially with the summing planetary gears and wheels of the vehicle.

To maximize the adaptation of the drive to use a “dumbbell” configuration (type) as part of the robot and optimize the weight and size characteristics, both motors can be made electric.

We show in the claimed technical solution a causal relationship between the distinguishing features and the achieved technical result, as well as the necessity and sufficiency of the distinctive features to achieve this result.

Due to the spacing of the engines across the width of the vehicle up to the overlap of the wheels, the possibilities of reducing the diameter of the middle part (body) of the vehicle expand, because the relatively large diameters of the engines (even if they are electric) prevent this. Accordingly, the engines acquire an "on-board" arrangement and "fit" into the internal volumes of the developed wheels (with the formation of "motor-wheels"), and the diameter of the middle part of the vehicle, made according to the uniaxial wheel design, decreases, which increases, ceteris paribus, ground clearance and, therefore, profile cross-country ability of a vehicle, its technical and operational / tactical and technical characteristics.

Due to the implementation of the said distribution gear transmission in the form of a vehicle also spaced across the width of the vehicle up to the overlapping of the gear parts by the wheels, the technical result of increasing the relative size of the ride height is enhanced, since it is precisely those elements of the turning mechanism (gears) that are carried into the area of the vehicle’s wheels, which dominate the formation of the dimensions of the drive in height, and hence the ground clearance. Moreover, their implementation with a gear ratio of 1 and minus 1, respectively, allows you to save the requirement of multidirectional rotation of the left and right parts of the rotation mechanism.

The implementation of one of the listed gears of the distributive gear transmission with a two-axle gear plus the installation of such one coaxially with the summing planetary gears and the wheels of the vehicle ensures the minimum of the “kinematic” diameter D.

In FIG. 1 shows a kinematic diagram of the inventive drive, rear view, as an example of the implementation of the inventive device, where the following notation is introduced:

D is the diameter of the middle part (body) of the vehicle;

K - ground clearance (clearance) of the vehicle;

I - gear ratio of gear pairs;

1 (M1) - the first electric motor; 2 (M2) - the second electric motor; 3 - the main shaft of the gear mechanism (connected to the shaft of the engine 1); 4 - epicyclic, that is, a large central wheel (one input link) of the right summing planetary gear set; 5 - the sun, that is, a small central wheel (another input link of the right summing planetary gear set); 6 - carrier (output link of the right totalizing planetary gear set; 7 - satellite (s) of the right totalizing planetary gearing (do not belong to the main links); 8 - the right output link (gear wheel) of the MPP engaged with the gear ring of the vehicle wheel; 9 - a leading cylindrical gear on the shaft of the M2 engine, which is part of the rotation mechanism (through which the second power stream goes); 10 - a two-crown cylindrical gear (transmission link), which is part of the central left cylindrical gear nth gear of the rotation mechanism; 11 - the right gear ring of the wheel 10; 12 - the left gear ring of the wheel 10; 13 - the driven cylindrical wheel of the left side of the distribution gear of multidirectional rotation of the side branches of the rotation mechanism; 14 - the shaft of the left branch of the distribution gear; 15 - the gear a wheel connecting the shaft 14 with the sun of the left totalizing planetary gear set; 16 - a driven cylindrical wheel of the right part of the distribution gear transmission of multidirectional rotation of the side branches of the rotation mechanism; 17 - the shaft of the right branch of the distribution gear; 18 - a gear wheel connecting the shaft 17 with the sun 5; 19 - the right wheel of the vehicle; 20 - the left wheel of the vehicle; 21 - the central part (body) of the vehicle; 22 - the gear rim of the right wheel of the vehicle (in gearing with the right output link 8).

In FIG. 2 shows the kinematic diagram of the closest analogue (prototype).

A vehicle drive with a two-threaded stepless transmission and rotation mechanism (MPP) contains a first engine 1 (M1) creating a first power flow through a transmission mechanism (one part of MPP), with the possibility of rectilinear movement of the vehicle, and a second engine 2 (M2) creating the second stream of power through the rotation mechanism (another part of the MPP), with the possibility of turning the vehicle.

Further, there are summarized planetary gears spaced across the width of the vehicle (in other words, along the sides), two input links of each of which are connected to the first 1 and second 2 engines, respectively, and the output link is with coaxial wheels 19 (right) and 20 (left ) vehicle.

On the example of the right “side” it looks like this: the shaft 3 is connected to the epicycle 4 and through the satellites 7 - to the carrier 6 (taking into account the sun 5) and then to the output link (external gear gear) 8, and the latter, in its own the turn is connected with the ring gear (internal gearing) 22 on the inner surface of the wheel 19.

The part of the drive, located on the left side - in the left wheel 20, is identical to the right side of the drive (accordingly, the position numbers in Fig. 1 are not set).

The drive also contains a distribution gear 9-18 of multidirectional rotation of the side branches of the rotation mechanism (right 9-18 and left 11-15) of rotation, with a common leading link 9 for the branches.

The next group of design features determines the difference between the claimed drive from the known closest analogue (prototype).

Engines 1 (M1) and 2 (M2) are spaced across the width of the vehicle until they are blocked by wheels 20 and 19, respectively.

The distribution gear train 9-18 is also designed in the form of a vehicle spaced apart in width, up to the overlapping of the gear parts by wheels 19 and 20, one of which (right) is represented by a cylindrical gear pair 9-16 with a gear ratio (i) minus 1, and the other - a cylindrical gear (10, 11, 12) - 13 with a gear ratio (i) minus 1, while one of the listed gears of the distribution gear transmission, namely 10, is made of a two-crown gear (right 11 and left 12 crowns) and installed coaxially with summing and planetary series and the wheels of the vehicle.

A further description of the device applies only to particular recommended cases of implementation, characterized by additional structural features of the claimed device (see Fig. 1).

The double-crown gear wheel 10 of the distribution gear 9-18 can be installed coaxially to the transverse shaft 3 of the power supply from the engine 2 (M2) to the summing rows (for example, the right row 4-7).

Engine 1 (M1) can be installed coaxially with the summing planetary gears (using the example of the right-hand row 4-7) and the wheels 19, 20 of the vehicle.

Engines 1 (M1) and 2 (M2) can be made electric (including with built-in gearboxes).

The gears of the planetary gears can be made cylindrical, spur gears, involute gearing. No controls are provided - the M1 engine braking mode is sufficient.

Other options for using planetary gears are possible, for example, supplying the main branch to the sun, parallel to the epicycle, and taking it off from the carrier.

A support (“tail”) with a support roller or a sliding support can be attached to the housing 21 to balance and perceive the reactive moment in the drive (not shown in (1) (n)).

The inventive device operates as follows.

The drive (transmission) is dual-flow in a turn. The gear mechanism with engine 1 (M1) is functionally “main” in such a drive and works both in rectilinear motion and when turning.

When the vehicle is moving in a straight line, engine 2 (M2), and therefore the entire turning mechanism, is stopped. Power from the engine 1 (M1) is transmitted through the transmission mechanism via links 3, 4, 6, 7, 8 to the wheel 19 and similarly to the wheel 20 along the links of the left row to the ring gear, not indicated by position numbers. As a result, the rotational speeds of the wheels 19 and 20 are the same, which determines the straightness (of course, under the same external conditions).

In this case, the drive of the wheel 19 (hemisphere, cylinder, cone, etc.) is carried out from the gear wheel (right output link of the transmission) 6, which is in gear engagement with the crown 22.

The "parallel" power flow has the beginning of engine 2 (M2). In rectilinear motion, this engine is turned off. When turning it on. Rotating clockwise or counterclockwise, depending on the direction of rotation, its shaft “twists” one of the wheels 19, 20 - one “side” (running-in is external to the center of rotation), and “slows down” the other wheel - another “side” (lagging - internal relative to the center of rotation). This is due to the fact that the rotation (and power flow) from the shaft of the engine 2 (M2) is transmitted through a common drive gear 9, on the one hand, to the driven dual-crown gear (crowns 16 and 18), that is, the right branch (gear part) ) of the distribution gear pair with the gear ratio I = -1 (and then on the sun 5 of the right planetary gear set), and on the other hand, of the left branch, the driven dual-crown gear (gears 11 and 12) of the gear wheel (link) 10 (gear part) of the distribution gear pairs with a gear ratio I = 1, including in itself and two-crowned gears (crowns 13 and 15) a gear wheel 14 (and further on the sun of the left planetary row).

Obviously, planetary gears are used here to summarize the power flows from engine 1 (M1) and engine 2 (M2).

A stepless change in the rotational speed (operating mode) of engine 2 (M2) causes the corresponding differential effect on the sun of the right and left planetary gears, and hence the differential effect on the output links (including link 8 and its analogue on the left) of the drive (transmission): wheels 19 and 20 rotate at different speeds in accordance with the operation mode of both engines - 1 (M1) and 2 (M2).

Kinematics is described by the Willis equation. Force relations follow from the equation of moments of the main links.

The controllability of the vehicle is expected to be close to ideal with the ability to turn almost around the center of gravity (the third fulcrum, the “tail”, will prevent turning around at the point).

The following are examples of the implementation of the main elements (purchased products) of the claimed drive.

In its composition, Maxon assemblies can be used as M1 and M2 engines (see Maxon Catalog 2011-2012, p. 134, 227, 262), which include, for example: RE-max 29 engine (226802); GP26B gearbox (144026 or 144037); Encoder MR (225773). It is assumed the choice of engines M1 and M2 with different power.

An autonomous energy source (which will inevitably be required when selling a vehicle) can be based on the DJW12-2.3 (12V2.3AH) LEOCH BATTERY CO, LTD battery.

Claims (4)

1. A vehicle drive with a two-threaded stepless transmission and rotation mechanism, comprising a first engine generating a first power flow through the transmission mechanism with the possibility of rectilinear movement of the vehicle and a second engine creating a second power stream through the rotation mechanism, with the possibility of turning the vehicle, spaced the width of the vehicle, the summing planetary gears, the two input links of each of which are connected to the first and second engines, respectively, and you one link - with the vehicle’s coaxial wheels, as well as a distribution gear transmission of multidirectional rotation of the side branches of the rotation mechanism with a common driving link, characterized in that the engines are spaced across the width of the vehicle until it is covered by wheels, and said distribution gear transmission is also made in the form of spaced apart the width of the vehicle until the wheels overlap the gear parts, one of which is a cylindrical gear transmission chnym ratio of 1 and the other - the cylindrical gear pair with a gear ratio minus 1, with one of these gears distributor gear dvuhventsovym configured and installed coaxially with the planetary summing rows and vehicle wheels. 2. The drive according to claim 1, characterized in that the double-crown gear of the distribution gear is installed coaxially to the transverse shaft of the power supply from the first engine to the summing rows. 3. The drive according to claim 1, characterized in that the first engine is mounted coaxially to the summing planetary gears and wheels of the vehicle. 4. The drive according to claim 1, characterized in that both engines are electric.

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