WO2019016907A1 - Dispositif d'entraînement de vecteur de couple - Google Patents

Dispositif d'entraînement de vecteur de couple Download PDF

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Publication number
WO2019016907A1
WO2019016907A1 PCT/JP2017/026181 JP2017026181W WO2019016907A1 WO 2019016907 A1 WO2019016907 A1 WO 2019016907A1 JP 2017026181 W JP2017026181 W JP 2017026181W WO 2019016907 A1 WO2019016907 A1 WO 2019016907A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
pair
drive
drive shafts
differential
Prior art date
Application number
PCT/JP2017/026181
Other languages
English (en)
Japanese (ja)
Inventor
裕 矢口
Original Assignee
Ｇｋｎ ドライブライン ジャパン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ｇｋｎ ドライブライン ジャパン株式会社 filed Critical Ｇｋｎ ドライブライン ジャパン株式会社
Priority to PCT/JP2017/026181 priority Critical patent/WO2019016907A1/fr
Priority to JP2019530299A priority patent/JP6789395B2/ja
Publication of WO2019016907A1 publication Critical patent/WO2019016907A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/06—Differential gearings with gears having orbital motion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the following disclosure relates to a drive device using a motor prepared for each drive shaft, and more particularly to a drive device capable of generating a torque difference between a pair of drive shafts using a planetary gear set and a differential.
  • An apparatus for driving a vehicle using a motor prepared for each axle has been considered from the late 19th century, and some of them have been put to practical use.
  • the torque generated by the motor is transmitted to the axle with little loss, which is advantageous in terms of energy efficiency.
  • Furthermore, by generating different torques for each motor there is an advantage that it is possible to generate a torque difference between the axles and to direct (vectoring) the travel of the vehicle independently of the direction of the wheels.
  • the torque vectoring itself can be realized without preparing a motor for each axle.
  • torque is applied to the differential from the engine through the propeller shaft, and the torque distributed from the differential is different by combining a pair of clutches with the differential. Is generated.
  • the drive device includes a pair of drive shafts rotatable about an axis, and a pair of motors coaxial with the pair of drive shafts and generating torque around the axes, A pair of side gears drivingly coupled to either of the pair of drive shafts, and a casing rotatable about the axis geared to the pair of side gears to allow differential between the pair of drive shafts; And a pair of planetary gear sets, each planetary gear set meshing with the first gear fixedly connected to the casing, and the first gear, and the planetary gear set A second gear drivingly coupled to any one and drivingly coupled to either of the pair of drive shafts and meshed with the second gear to reduce the input to drive the drive shaft Output to the third Comprising Ya and, with a pair of planetary gear set, a.
  • FIG. 1 schematically shows a drive according to an embodiment, and shows an example in which a differential casing is coupled to one outer gear of a planetary gear set.
  • FIG. 2 schematically shows a drive according to another embodiment.
  • FIG. 3 schematically shows a drive according to still another embodiment.
  • FIG. 4A shows an example using another type of planetary gear set, in which the differential casing is coupled to the sun gear of the planetary gear set.
  • FIG. 4B shows an example using another type of planetary gear set, in which the differential casing is connected to the outer gear of the planetary gear set.
  • FIG. 5 shows an example using a radial gap type motor.
  • FIG. 6 is a schematic view for explaining the principle that a torque difference occurs.
  • FIG. 6 is a schematic view for explaining the principle that a torque difference occurs.
  • FIG. 7 is a schematic view of a rear wheel drive vehicle according to an example to which the drive device according to any of the embodiments is applied.
  • FIG. 8 is a schematic view of a walking robot according to an example to which the drive device according to any of the embodiments is applied.
  • the axis means the center of rotation of a drive shaft such as an axle.
  • the following description mainly relates to the application of the drive to a pair of front or rear axles.
  • the left and right axles can be driven by only a pair of motors without an external power source, and a significant torque difference can be generated between the two axles.
  • the drive can be applied to both the front axle and the rear axle, and also to the propeller shaft connecting the front and rear axles to the front and rear wheels. It can be used for the purpose of adjusting the torque distribution dynamically.
  • auxiliary drive sources such as other motors and internal combustion engines can be combined with the drive system according to the following embodiments.
  • the drive device generally includes a pair of drive shafts 1A and 1B, a differential 3 that allows a difference between them, a differential 3 and a drive shaft 1A and 1B.
  • the planetary gear set 5A, 5B combined with any of them, the whole of which is supported by, for example, bearings 9A, 9B and is rotatable about an axis.
  • the motors 7A and 7B which are power sources of the drive device, are coaxial with the drive shafts 1A and 1B, respectively, generate torque around the respective axes, and drive shafts 1A and 1B via any of the planetary gear sets 5A and 5B Give a torque.
  • the drive shafts 1A and 1B are, for example, right and left axles, and wheels WA and WB are provided at their respective ends as shown in FIG. 6, but the drive shafts are connected to propeller shafts and other shafts as described above It may be
  • the drive shafts 1A and 1B are respectively coupled to the side gears 11A and 11B of the differential 3 and meshed with a plurality of pinions 13 rotatably supported by the casing 15 together. Therefore, a differential between them is allowed.
  • the differential 3 may be a bevel gear type as shown in FIG. 1, but may be a face gear type as shown in FIG. 2 or a double pinion gear type as shown in FIG. Since the dimensions of the differential can be reduced in the axial or radial direction, respectively, the entire device can be made extremely compact.
  • the planetary gear sets 5A and 5B can be brought close to each other, it is advantageous for connecting the planetary gear sets 5A and 5B in a structural, mechanical, electrical or other sense.
  • any other form of differential can be used.
  • the differential 3 may have a differential limiting mechanism. This is useful not only as a countermeasure when one axle loses traction but also as a safety countermeasure when one motor fails.
  • the casing 15 is not drivingly connected to power sources other than the motors 7A and 7B connected via the planetary gear set 5A and 5B, that is, it can freely rotate around its axis. Since there is no ring gear projecting outward from the casing 15, the casing 15 can be made compact, and the casing 15 can be housed inside the pair of motors 7A and 7B. Of course, the casing 15 may also be connected to an external auxiliary power source, with a ring gear to receive the torque.
  • the planetary gear set 5A, 5B has a first gear 21A, 21B fixedly connected to the casing 15, a second gear 23A, 23B for receiving torque, and a third gear 25A for output, respectively. , 25B.
  • the second gears 23A, 23B are planet gears, and carriers 31A, 31B rotatably supporting them are connected to the motors 7A, 7B to receive torque and rotate around their axes. Further, one end 33A, 33B meshes with the first gear 21A, 21B, and the other end 35A, 35B meshes with the third gear 25A, 25B. Needless to say, the second gears 23A and 23B rotate about their own axes and also rotate about the axes of the drive shafts 1A and 1B.
  • the first gears 21A, 21B and the third gears 25A, 25B can both be outer gears having internal teeth, in which case the second gears 23A, 23B mesh inside them. If the first gears 21A, 21B are fixed, the planetary gear set 5A, 5B will coincide with a so-called strange planet gear, but in the present embodiment both of the first gears 21A, 21B are fixed to the casing 15 They are coupled and rotate together about an axis.
  • the third gears 25A and 25B are fixedly connected to the drive shafts 1A and 1B, respectively, and both rotate around the axes.
  • the number of teeth of the first gears 21A, 21B is slightly more (or less) than the number of teeth of the third gears 25A, 25B, and the second gears 23A, 23B are used as the first gears 21A, 21B.
  • rotation occurs with a reduction ratio k corresponding to the difference in the number of teeth.
  • the planetary gear set 5A, 5B is not only for the purpose of boosting according to the reduction ratio, but also via the torque directly input from the motors 7A, 7B to the drive shafts 1A, 1B and the differential 3 And the torque to be distributed according to the reduction ratio k. This will be discussed in more detail later.
  • the above-described embodiment is advantageous for obtaining a large reduction ratio k because a smaller reduction ratio k is obtained as the difference in the number of teeth is smaller.
  • other configurations may be applied to the planetary gear set 5A, 5B.
  • a mechanism corresponding to a classical planetary gear is utilized.
  • only one planetary gear set 5A will be described below, the other planetary gear set 5B is the same.
  • the first gear 21A is a sun gear
  • the second gear 23A is an outer gear having internal teeth
  • the third gear 25A is a planetary gear.
  • the third gear 25A meshes with both the first gear 21A and the second gear 23A, and rotates around its axis and also around its own axis.
  • the third gear 25A is rotated with a reduction ratio k.
  • the casing 15 of the differential 3 is fixedly coupled to the first gear 21A and rotates together about an axis.
  • the second gear 23A is coupled to the motor 7A to receive torque.
  • the third gear 25A is rotatably supported by the carrier 31A, and the carrier 31A is fixedly coupled to the drive shaft 1A.
  • the first gear 21A is an outer gear fixedly connected to the casing 15
  • the second gear 23A is a sun gear drivingly connected to the motor 7A
  • the third gear 25A is It may be a planetary gear that meshes with the gear.
  • the carrier 31A of the third gear 25A is fixedly coupled to the drive shaft 1A.
  • axial gap type motors can be used as the motors 7A and 7B.
  • the solenoids 43A and 43B have gaps in the axial direction, and the rotors 41A and 41B intervene in the gaps, which are drivingly connected to the second gears 23A and 23B as described above.
  • the magnetic flux flowing between the gaps generates torque around the axis of the rotors 41A and 41B, which is transmitted to the second gears 23A and 23B.
  • the axial gap type generates torque in proportion to the cube of the diameter of the rotor, and is thus advantageous for generating a large torque.
  • the axial dimension can be reduced, which is advantageous for downsizing of the entire device.
  • a radial gap type motor may be used.
  • the radial gap type is advantageous in that a large torque can be maintained to relatively high rotation.
  • the bearings 9A, 9B may support the differential 3 as shown, or directly support the planetary gear set 5A, 5B or the drive shafts 1A, 1B, while supporting other elements indirectly. It may be. Of course, the bearings are not limited to one pair.
  • the torques Ia and Ib generated by the motors 7A and 7B are partially input to the differential 3 through the planetary gear set 5A and 5B, and further distributed to the drive shafts 1A and 1B through the differential 3.
  • the portion (Ia-D) not passing through the differential 3 is multiplied by the reduction ratio k via the planetary gear set 5A, 5B and transmitted to the drive shafts 1A, 1B.
  • a motor coaxial with the differential or the drive shaft can be used, and the structure protruding outward in the radial direction can be omitted.
  • An extremely compact drive device is provided as compared to a device having an internal combustion engine or an electric motor outside.
  • any structure for inputting torque from an external combustion engine or an electric motor for example, a structure such as a propeller shaft or ring gear can be omitted, so energy loss caused by these can be avoided and extremely simple. It is possible to provide an electric vehicle of various structures.
  • the drive device can be used as a drive device of a vehicle 100, for example, as shown in FIG.
  • the example in FIG. 7 is an example of a rear wheel drive vehicle, but as described above, it can be used for a front wheel drive vehicle or a four wheel drive vehicle, and is also applied to a propeller shaft connecting front and rear axles. It can be used for the purpose of adjusting the allocation dynamically.
  • the drive according to any of the above embodiments may be used in any application where it is necessary to create a torque differential between a pair of drive shafts.
  • the present invention can be used to drive the foot 110 of a biped robot.
  • Thighs TA and TB respectively extend downward from the pair of drive shafts 1A and 1B, and legs LA and LB are pivotally connected to lower ends of the legs 110 of the biped robot.
  • the differential 3 is fixed to the robot and a torque difference is caused between the pair of drive shafts 1A and 1B, one of the legs LA and LB kicks the ground backward and the other swings forward.
  • Such operations can be alternately performed by changing the application of current and reversing the motor, so that the driving device can be used for the purpose of walking the robot.
  • a drive device driven by only a pair of motors and capable of remarkable torque vectoring is provided.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Retarders (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

L'invention concerne un dispositif d'entraînement comportant : un différentiel pourvu d'une paire d'arbres primaires qui peuvent tourner autour d'un axe, d'une paire de moteurs qui sont coaxiaux aux arbres primaires respectifs et qui produisent un couple autour de l'axe, d'une paire d'engrenages latéraux qui sont reliés aux arbres primaires respectifs afin d'être menés, et d'un boîtier qui peut tourner autour de l'axe et qui est relié par engrenage aux engrenages latéraux afin de créer un différentiel entre les arbres primaires ; et une paire d'ensembles d'engrenages planétaires qui sont chacun pourvus d'un premier engrenage qui est relié à demeure au boîtier, d'un second engrenage qui vient en prise avec le premier engrenage et qui est relié de manière à pouvoir être mené à l'un des moteurs afin de recevoir une entrée, et d'un troisième engrenage qui est relié de manière à pouvoir être mené à l'un des arbres primaires et qui vient en prise avec le second engrenage afin de décélérer l'entrée et de délivrer la résultante à l'arbre primaire.
PCT/JP2017/026181 2017-07-20 2017-07-20 Dispositif d'entraînement de vecteur de couple WO2019016907A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2017/026181 WO2019016907A1 (fr) 2017-07-20 2017-07-20 Dispositif d'entraînement de vecteur de couple
JP2019530299A JP6789395B2 (ja) 2017-07-20 2017-07-20 トルクベクタリング駆動装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/026181 WO2019016907A1 (fr) 2017-07-20 2017-07-20 Dispositif d'entraînement de vecteur de couple

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WO2019016907A1 true WO2019016907A1 (fr) 2019-01-24

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113108041A (zh) * 2021-03-25 2021-07-13 西安法士特汽车传动有限公司 一种电驱动系统及其扭矩矢量分配方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112644262B (zh) * 2021-01-07 2024-06-18 中国重汽集团济南动力有限公司 一种带轮边减速器双电机电驱动桥

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006057745A (ja) * 2004-08-20 2006-03-02 Toyoda Mach Works Ltd 差動装置
JP2014009710A (ja) * 2012-06-27 2014-01-20 Honda Motor Co Ltd 動力伝達装置
JP2014037884A (ja) * 2012-08-20 2014-02-27 Honda Motor Co Ltd 駆動力伝達装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006057745A (ja) * 2004-08-20 2006-03-02 Toyoda Mach Works Ltd 差動装置
JP2014009710A (ja) * 2012-06-27 2014-01-20 Honda Motor Co Ltd 動力伝達装置
JP2014037884A (ja) * 2012-08-20 2014-02-27 Honda Motor Co Ltd 駆動力伝達装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113108041A (zh) * 2021-03-25 2021-07-13 西安法士特汽车传动有限公司 一种电驱动系统及其扭矩矢量分配方法

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JP6789395B2 (ja) 2020-11-25
JPWO2019016907A1 (ja) 2020-03-26

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