WO1991004426A1

WO1991004426A1 - Planetary differential gear device for steering

Info

Publication number: WO1991004426A1
Application number: PCT/JP1990/001196
Authority: WO
Inventors: Tsutomu Ishino; Ryoichi Maruyama; Yoshito Sato
Original assignee: Kabushiki Kaisha Komatsu Seisakusho
Priority date: 1989-09-19
Filing date: 1990-09-19
Publication date: 1991-04-04
Also published as: JPH03107651A

Abstract

A differential gear device for the transverse-shaft driving unit of the crawler vehicle, which is a planetary differential gear for steering structurally compact and economically excellent. For attaining the objects, the device is provided with a first input member (51) rotated by a driving unit (2), a second input member (54) rotated by a steering motor unit (3), and first and second output members (43, 44) for outputting the power inputted from the input members to the outside. Two sets of planetary gear units to drive the first and second output members at the same speed in the same direction while rotating the first input member (51) only and keeping the second input member (54) stopped and, on the other hand, rotating the second input member (54) only and keeping the first input member stopped so as to rotate said first and second output members at the same speed in the opposite direction, the first planetary gear unit (10) and second one (30) being disposed to be coaxial with each other. The first planetary gear unit (10) is provided with a pair of planetary gears comprising two gears (12), (13) meshing each other.

Description

Light damage Steering planetary differential device technology

The present invention also relates to differential devices such as a horizontal drive device of a tracked vehicle, particularly to a steering planetary differential device. Background technology

As a conventional steering device for a track-type vehicle such as a boiler, etc., the one with a planetary differential mechanism is the sub-shaft type shown in Fig. 12. There is. Planetary devices 101 and 102 are arranged on the left and right sides of the horizontal axis 100, respectively, and from a not-shown engine to a tranmission. The bevel gears 103 and 104 are driven through the shaft, and the power is transmitted to the left and right output shafts 122, 122. The minor axis i 10 having 1 1 1, 1 1 2 is arranged in parallel with the horizontal axis 100, and the gear 1 12 is the sun of one of the planetary gears 10 2 The gear is integrated with the gear 1 06. The gear 1 11 at the other end of the horizontal axis 100 is a hydraulic motor 1 for steering. The gear of the hydraulic motor 13 0 is combined with the gear 13 of the hydraulic pump 13. The gear 31 of the hydraulic motor 13 is a gear integrated with the solar gear of the other 01. Also combined with 5 0 5

Bevel gears 103: When only the 1/4 is driven and the hydraulic motor # 30 is stationary, the output shaft 1 2], 1 2 2 Turns at the same speed in the same direction, and the vehicle goes straight ahead or backwards. If the bevel gears 10 3 and 1ϋ4 are stationary and only the hydraulic motor 11 1 is driven, the output shafts 1 2 1 and 1 2 2 will be in the opposite direction. The car turns at the same speed and the vehicle turns in the field. When the bevel gears 103 and 104 and the hydraulic motor 130 are driven simultaneously, the rotation speeds of the left and right output shafts 1 2 1 = 1 2 2 are different. The vehicle turns right or left.

According to such a conventional configuration, the countershaft 110 arranged in parallel to the horizontal axis 100 is widened so as not to interfere with the beveling gear 104. Need to be installed. As a result, the front dimension of the differential machine becomes larger, and accordingly, the space becomes larger. As the case to be accommodated becomes larger, multi-axis machining is performed at the same time. As a result, it is difficult to make the vehicle compact and it is economically disadvantageous. One way to solve this problem is to arrange three sets of planetary devices on the same axis, as shown in Japanese Patent Publication No. 57-δ011319. The front dimensions are square. The problem is that the width is large due to the use of three sets of planetary devices.

The present invention has been made in view of the above problems. The aim is to provide a steerable planetary differential that is both economical and economical. Disclosure of the invention

First Invention of Steering Planetary Differential According to the Present Invention In this case, a first input member driven by a driving device through surface rotation, a second input member driven by a steering motor device through surface rotation, and a second input member driven by a steering motor device are provided. First and second output members for outputting the input from the member to the outside are provided. Also, by rotating only the first input member and holding the second input member in a stationary state, the first and second output members are turned in the same direction in the same direction at the same speed. (2) Two sets of planetary devices that turn only the input member and turn the first and second output members in the opposite direction at the same speed while maintaining the first input member in a stationary state (First and second planetary devices) are arranged so as to be aligned with the same axis.In a second invention, the first planetary device includes a sun gear and a ring gear. A planetary gear which is a pair of two gears which are located between the gears and which are coupled to each other, and a planetary carrier which holds these gears. The second planetary gear is composed of a sun gear, a ring gear, and a planetary gear located between these gears. According to a third aspect of the present invention, there is provided a planetary gear having a pair of two gears of the i-th planetary device. When the second input member is connected to one of the gears, and the first input member is connected to the ring gear of the first planetary gear, The first and second output members are connected to the planetary carrier and the sun gear of the first planetary gear, respectively, and the first and second output members are not provided. According to a fourth aspect of the present invention, the first planetary gear is provided with a solar gear, a ring gear, and the like. Between the gears A planetary gear, and a planetary carrier that holds the planetary gear. The second input member is connected to the planetary gear of the first planetary device, and the planetary carrier is formed. In addition to connecting the first input member, the first and second output members are respectively connected to the ring gear and the sun gear of the first planetary device, The second planetary device is connected to either one of the first and the second output members. In a fifth invention, a planetary gear is a set of a sun gear, a ring gear, and two gears between these gears that are mutually connected. And a planetary carrier that holds these gears, wherein the sun gear and the planetary carrier are the ring gear and the two-layer gear. This is a planetary device which, as one set of planetary gears, turns as an output member in response to any one of the power facewheels. In the sixth invention, the sun gear, the ring gear, the planetary gear between these gears, and the planetary carrier holding this gear are described. The sun gear and the ring gear are output members in response to any one of the planetary gears and the planetary gears. This is a planetary device that cultivates the surface.

According to such a configuration, when only the second input member is turned over and the second input member is stopped using the two sets of planetary devices, the first and second output members are provided. Face roll at the same speed in the same direction.

On the other hand, when the first input member is stationary and only the second input member is turned, the first and second output members are turned at the same speed in opposite directions. Therefore, only the first input member is controlled by the drive device. The vehicle is driven straight by driving, and the vehicle is driven by driving only the second input member by the steering motor device. When the first and second input members are driven simultaneously, the rotation speed of the first and second output members is different, and the vehicle is swirled. be able to . In this way, the steering function can be achieved with two sets of planets ^ ".

In addition, since two sets of planetary gears are arranged so as to be aligned on the same axis, the front dimensions are smaller than before and the width is also narrower. , Konno, It is a quick device.

Brief description of the drawing

FIG. 1 is an overall configuration diagram of a first embodiment of a planetary differential according to the present invention, FIG. 2 is a diagram illustrating a planetary operation of a straight driving mode of the first embodiment, and FIG. Is a planetary operation explanatory diagram of the swirling operation mode of the first embodiment,

FIG. 4 is an overall configuration diagram of a second embodiment of the planetary actuator of the present invention, FIG. 5 is an explanatory diagram of a planetary operation in a straight running mode of the second embodiment, and FIG. 6 is a second embodiment. Illustration of planetary operation in the surface operation mode in the example,

FIG. 7 is an explanatory diagram of a third embodiment of the planetary operating device of the present invention, FIG. 8 is an explanatory diagram of a fourth embodiment of the planetary operating device of the present invention, and FIG. 9 is a planetary of the present invention. Illustration of the fifth embodiment of the actuator FIG. 10 is an explanatory view of a sixth embodiment of the planetary actuator of the present invention, and FIG. 11 is an explanatory view of a seventh embodiment of the planetary actuator of the present invention.

Fig. 12 is a block diagram of a conventional countershaft planetary actuator.

Best mode for implementing

An embodiment of a steering planetary differential according to the present invention will be described in detail with reference to the drawings. FIG. 1 shows an overall configuration diagram of a first embodiment of the present invention, in which a first planetary device 10 and a second planetary device 30 are arranged in alignment with the same axis. . The first planetary gear 10 is composed of a ring gear 11, planetary gears 12 and 13, a sun gear 14, and a planetary carrier 40. 12 and 13 are combined, the planetary gear 12 is combined with the ring gear 11, and the planetary gear 13 is combined with the sun gear 14. The planetary carrier 40 holds the planetary gears 12 and 13 in a plane motion by using one gear axis. At one end of the planetary gear 12, a gear 22 is provided so as to be combined with the external gear 21. The second planetary gear 30 is composed of a ring gear 31, a planetary gear 32, a sun gear 33, and a planetary carrier 41, and the planetary gear 32 is It is suitable for the ring gear 31 and the sun gear 33. The planetary carrier 41 holds the planetary gear 32 in the plane motion autonomously. The ring gear 31 is a stationary member. The first planetary gear sun gear 14 and the second planetary gear The star gear 33 of the star device is integrally connected to the sun gear 33 by a connecting member 42. The ring gear 11 of the first planetary gear and the multi-speed or variable-speed reversible transmission 50 of the drive 2 driven by the engine 1 emerge from the ring gear 11. The first input member 51 is connected to the first input member 51. The retainer 23 connected to the external gear 21 is a steering motor device 3 connected to a hydraulic pump 52 driven by the engine 1. It is connected to the second input member 54 coming out of the hydraulic motor 53. The planetary carrier 40 of the first planetary device 10 is connected to the first output member 43, and the planetary carrier 41 of the second planetary device 30 is connected to the second output member. It is connected to the member 4 4.

Next, the operation will be described. Figs. 2 and 3 show the I-I arrow in Fig. 1 as (2a) and (3a), the Π-Π arrow as (2b) and (3b), and the IE-IE arrow in Fig. 1. It is a schematic end view of the planetary mechanism whose views are shown in (2c) and (3c), respectively. FIG. 2 shows the vehicle traveling straight, and FIG. 3 shows the vehicle turning. By properly selecting the number of teeth of the two sets of planets, the hydraulic motor 53 shown in FIG. 2 (2b) can be operated without operating the second input member 54 immediately. With the external gear 21 in a stationary state, only the transmission device 50, that is, only the first input member 51 is operated as shown in FIG. The ring gear 11 is driven to rotate clockwise at a speed A. Such materials 43 and 44 turn over in the same direction at the same speed B, and the vehicle goes straight. Next, as shown in Fig. 3 (3b), the second input member 54 is actuated, so that the external gear 21 is moved clockwise at a speed D by operating the second input member 54. Then, the transmission 50 is also driven, and the ring gear 11 of the first planetary gear 10 is rotated at a speed A clockwise as shown in FIG. Then, the planetary carrier 40 turns over at a speed E that is increased clockwise. As shown in Fig. 3 (c), the second planetary gear 30 turned face clockwise with the sun gear 33 turned clockwise and the planetary carrier 1 turned clockwise with the speed F. It turns at speed G. Immediately, the first output member 43 rotates at the reduced speed E, and the second output member 44 rotates at the reduced speed G. And Although not shown in the figure, when the first input member 51 is held stationary and only the second input member 54 is driven, the first and second output members 43, 44 are in opposite directions. The vehicle turns around at the same speed, and the vehicle turns in place.

FIG. 4 shows an overall configuration diagram of a second embodiment of the present invention, in which a first planetary device 60 and a second planetary device 30 are arranged in alignment with the same axis. The first planetary gear 60 is composed of a ring gear 61, a planetary gear 62, a sun gear 63, and a planetary carrier 73, and the planetary gear 62 is Combined with ring gear 61 and sun gear 63. The planetary carrier 73 holds the planetary gear 62 in plane motion. A gear 72 is provided at one end of the planetary gear 62, and is combined with the internal gear 71. The configuration of the second planetary device 30 is the same as that of the first embodiment. The explanation is omitted here. The sun gear 63 of the first planetary gear and the sun gear 33 of the second planetary gear are integrally connected by a connecting member 46. The planetary carrier 73 of the first planetary device 60 is connected to the first input member 51 coming out of the transmission device 50 driven by the engine 1. . The internal gear 71 and the second input member 54 coming out of the ^ pressure motor 53 are connected to each other. The holding tool 45 connected to the ring gear 61 of the first planetary device 60 and the first output member 43 are connected to each other, and the planetary key of the second planetary device 30 is provided. The gear 41 and the second output member 44 are connected.

Next, the operation will be described. Fig. 5 and Fig. 6 show the I-I view of Fig. 4 as (5a) and (6a), the Π-Π view as (5b) and (6b), and the ΙΠ-m view as (5c) and (6c), respectively. FIG. 5 shows the operation of the vehicle when traveling straight, and FIG. 6 shows the operation of the vehicle when turning. Hydraulic motor 53 immediately holds second input member 54 in a stationary state and drives transmission device 50 directly, ie, drives only first input member 51, as shown in FIG. In particular, the planetary carrier 73 of the first planetary device 60 is face-rotated at a speed H in a counterclockwise direction. Then, the ring gear 61 of the first planetary device 60 shown in FIG. 5 (5 a) and the planetary carrier of the second planetary device 30 shown in FIG. 5 (5 c) are obtained. The surface 41 turns in a counterclockwise direction at a speed L. As described above, the first and second output members 43 and 44 turn in the same direction at the same speed L, and the vehicle rain goes straight. Also, when the transmission 50, that is, the first input member 51 and the hydraulic motor 53, that is, the second input member 54 are actuated, the planetary planet shown in FIG. 6 (6b) is actuated. The carrier 73 is driven to rotate in the counterclockwise direction at a speed H, and the toothed gear 71 is driven to rotate counterclockwise at a speed M. Then, the ring gear 61 of the first planetary device 60 shown in FIG. 6 (6 a) has a reduced speed P, and the second planetary device 3 shown in FIG. 6 (6 c). The planetary carrier 41 of 0 turns at a reduced speed R in a counterclockwise direction. Immediately, since the first and second output members 43, 44 have different surface rolling speeds, the vehicle turns. Although not shown in the drawing, when the first input member 51 is held stationary and only the second input member 54 is driven, the first and second output members move in opposite directions. The vehicle rolls at the same speed, and the rain falls on the ground.

FIGS. 7, 8, and 9 show other configurations of the first embodiment. FIG. 7 shows a gear at one end of the planetary gear 13 of the first planetary gear 10. A third embodiment in which the gear 25 is provided, the gear 25 and the external gear 24 are combined, and the holder 26 of the external gear 24 and the second input member 54 are connected. It is.

FIG. 8 shows that the internal gear 27 is combined with the gear 22 provided at one end of the planet gear 12 of the first planetary gear 10 and the retainer 28 of the tooth gear 27 is provided. This is the fourth embodiment in which the second input member 54 and the second input member 54 are connected. In this case, instead of the planetary gears 12, a gear may be provided at one end of the planetary gears 13, and the toothed gears 27 may be combined with the gears. FIG. 9 shows that the planetary carrier 40 of the first planetary device 10 and the planetary carrier 41 of the second planetary device 30 are connected, and the sun gear 33 of the second planetary device 30 is connected. This is the fifth embodiment in which the first output member 43a is connected to the first output member 43a as the output side.

Fig. 10 and Fig. 11 show other configurations of the second planetary device. Fig. 10 shows a case where the sun gear 33 of the second planetary device 30a is a stationary member. The sixth embodiment has a configuration in which a ring gear 31 is used as an input side, and a planetary carrier 41 is used as an output side and connected to a second output member 44a.

FIG. 11 shows the sun gear 33 of the second planetary device 30b as a stationary member, the planetary carrier 41 as an input side, and the carrier 47 of the ring gear 31. This is the seventh embodiment having a configuration in which the output side is connected to the second output member 44b.

As described in detail above, the present invention has two sets of planetary devices that are aligned with the same axis and constitutes a steering planetary actuator. Have become smaller and narrower than conventional ones, making it possible to economically obtain a compact steerable planetary differential. Comes out. Industrial applicability

INDUSTRIAL APPLICABILITY The present invention is useful as a differential device such as a horizontal drive device of a tracked vehicle, and is particularly a compact and economically excellent steering planetary differential device. This is useful.

Claims

The scope of the claims

1. A first input member that is driven to rotate by a driving device, a second input member that is driven to rotate by a steering motor device, and a first input member that is driven by a steering motor. A first and a second output section ¹¹ for outputting these inputs to the outside, and by rotating only the first input member to hold the second input member in a stationary state, 1, the second output member is flattened in the same direction at the same speed, while only the second input member is flattened, and the first input member is held stationary and the first and second output members are stationary. Two sets of planetary devices that rotate the output member in the opposite direction at the same speed, and first and second planetary devices are arranged in alignment with the same axis. Alling planetary difference refit.

2. The first planetary gear is a planetary gear comprising a sun gear, a ring gear, and two gears between the gears that are combined with each other. And a planetary carrier that holds these gears, and the second planetary gear unit is a sun gear, a ring gear, and a space between these gears. 2. The steering planetary differential according to claim 1, comprising: a planetary gear located in the above-mentioned section; and a planetary carrier holding the gear.

3. The second input member is connected to one of the two gears of the first planetary device, which is a set of two gears. The first input member is connected to the ring gear of the first planetary device, and the planetary carrier and the solar gear of the first planetary device are connected to the ring gear of the first planetary device. 3. The switch according to claim 2, wherein the first and second output members are connected to each other, and the second planetary device is connected to one of the first and second output members. 4. Tering planetary difference device.

4. The first planetary gear device is a solar gear, a ring gear, a planetary gear between these gears, and a planetary carrier holding the gear. The first input member is connected to the planetary gear of the first planetary device, and the first input member is connected to the planetary carrier. The first and second output members are connected to the ring gear and the sun gear of the cliff device, respectively, and either one of the first and second output members is connected. The steering planetary differential according to claim 1, wherein the second planetary device is connected to the second planetary device.

5. The sun gear, the ring gear, and the planet gears, which form a set of two gears that are interspersed between these gears, and these gears. A planetary carrier that holds the gears, and the sun gear and the planetary carrier form a set of the ring gear and the two gears. One of the planetary gears is a steering planetary differential that turns on its surface as an output member in response to one of the power rotations. apparatus.

6. It is composed of a sun gear, a ring gear, a planetary gear between these gears, and a planetary carrier holding the gear. The sun gear and the ring gear rotate as output members in response to any one of the planetary gears and the planetary gears. A steering planetary gear characterized by the following features: