CN110979001A - Tracked vehicle electromechanical composite transmission device and composite transmission control method thereof - Google Patents
Tracked vehicle electromechanical composite transmission device and composite transmission control method thereof Download PDFInfo
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- CN110979001A CN110979001A CN201911167283.8A CN201911167283A CN110979001A CN 110979001 A CN110979001 A CN 110979001A CN 201911167283 A CN201911167283 A CN 201911167283A CN 110979001 A CN110979001 A CN 110979001A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 140
- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000002131 composite material Substances 0.000 title description 6
- 230000009467 reduction Effects 0.000 claims abstract description 129
- 150000001875 compounds Chemical class 0.000 claims abstract description 26
- 230000009194 climbing Effects 0.000 claims description 8
- 238000004146 energy storage Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 1
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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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing
- B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location or kind of gearing of electric gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
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- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Structure Of Transmissions (AREA)
Abstract
The invention discloses an electromechanical compound transmission device of a tracked vehicle and a compound transmission control method thereof, and the electromechanical compound transmission device comprises a transmission case shell, wherein a straight-driving motor is arranged in the transmission case shell, and the straight-driving motor is mechanically connected with a straight-driving gear A through a straight-driving reduction gear; the straight driving gear A is meshed with the straight driving gear B, a left planetary row is set on the left side of the straight driving gear B, a right planetary row is set on the right side of the straight driving gear B, and the straight driving gear B, the left planetary row and the right planetary row are fixed on the same transmission shaft; the left planet row is mechanically connected with a left side transmission input end positioned outside the transmission case shell, and a left side transmission output end is mechanically connected with a left driving wheel; the right planet row is mechanically connected with a right side transmission input end positioned outside the transmission case shell, a right side transmission output end is mechanically connected with a right driving wheel, and a steering motor arranged opposite to the straight driving motor is further arranged in the transmission case shell. The problem that the linear running is difficult to keep due to the fact that the output rotating speeds of the motors on the two sides of the tracked vehicle are not consistent is solved.
Description
Technical Field
The invention belongs to the technical field of power assembly parts, and relates to an electromechanical compound transmission device of a tracked vehicle and a compound transmission control method thereof.
Background
With the development of core key component technologies such as power electronic technology, control technology, high-power permanent magnet synchronous motors, high-performance storage batteries and the like, electric transmission is increasingly researched in application of tracked vehicles. The tracked vehicle is generally heavier than a wheeled vehicle, has narrow space on the vehicle and has multiple transmission functions, so that the requirements on power indexes, power volume ratios and power weight ratios of components such as a motor, a battery and the like are high. On the premise that the technical level of components is limited, a motor and machinery are organically integrated, the arrangement requirement of an electric transmission system on a vehicle is met, and the functions of power transmission, speed change, steering, braking, operation and the like of the tracked vehicle are realized, so that the method is very important. This is the research content of the transmission technical scheme. The electric transmission technology will develop towards the direction of compact, integrated, light and diversified transmission.
At present, the electric drive system of the tracked vehicle in China mostly adopts a double-motor independent drive mode, as shown in figure 1, the structural mode of double-side motors is simple, when the tracked vehicle runs in a straight line, the double-side motors drive left and right driving wheels through the motors on two sides, but the motors on two sides are difficult to realize completely consistent rotating speed, so that the running linearity is difficult to maintain when the tracked vehicle runs in a straight line; in the steering process, the rotation speed difference generated by the left and right traction motors is controlled, and the traction motors have high power in order to meet the power requirement in the steering process, so that the requirement on the motors is high.
Disclosure of Invention
The embodiment of the invention aims to provide an electromechanical compound transmission device of a tracked vehicle, which aims to solve the problem that the output rotating speeds of motors on two sides are inconsistent and the driving linearity is difficult to maintain when the tracked vehicle runs in a straight line in the existing tracked vehicle adopting a driving system in a double-side motor independent driving mode.
Another object of the embodiments of the present invention is to provide a compound transmission control method for an electromechanical compound transmission device of a tracked vehicle, so as to solve the problem that the regenerative power cycle during steering of the tracked vehicle adopting a driving system in a double-side motor independent driving mode has high requirements on the performance of a motor.
The technical scheme adopted by the embodiment of the invention is that the electromechanical compound transmission device of the tracked vehicle comprises a transmission case shell, wherein a straight-driving motor is arranged in the transmission case shell, and the straight-driving motor is mechanically connected with a straight-driving gear A through a straight-driving reduction gear on the right side of the straight-driving motor; the straight driving gear A is meshed with the straight driving gear B, a left planetary row is set on the left side of the straight driving gear B, a right planetary row is set on the right side of the straight driving gear B, and the straight driving gear B, the left planetary row and the right planetary row are all fixed on the same transmission shaft; the left planet row is mechanically connected with the left transmission input end positioned outside the transmission case shell, and the left transmission output end is mechanically connected with the left driving wheel; the right planet row is mechanically connected with a right side transmission input end positioned outside the transmission case shell, and a right side transmission output end is mechanically connected with a right driving wheel.
Further, the straight-driving motor is mechanically connected with a straight-driving reduction gear row sun gear of the straight-driving reduction gear row, and a straight-driving reduction gear row planet carrier of the straight-driving reduction gear row is rigidly connected with the A straight-driving gear.
Furthermore, a left planet row planet carrier of the left planet row is mechanically connected with the input end of the left side transmission, and a right planet row planet carrier of the right planet row is mechanically connected with the input end of the right side transmission;
the right side of the straight-driving speed reduction row is sequentially provided with a brake and a gear shifting synchronizer, the brake is fixed in a transmission case shell, and the gear shifting synchronizer enables the straight-driving speed reduction row gear ring and a straight-driving speed reduction row planet carrier to rotate at the same speed or enables the straight-driving speed reduction row gear ring to be connected with the brake for braking.
Furthermore, a steering motor which is arranged opposite to the straight running motor is also arranged in the transmission case shell, and the steering motor is mechanically connected with the steering gear A through a steering reduction row on the left side of the steering motor; the steering gear A is meshed with the steering gear B; a left gear is arranged on the left side of the steering gear B, a right gear is arranged on the right side of the steering gear B, and the left gear, the steering gear B and the right gear are all fixed on a steering shaft; the left gear is connected with the left planet row; the right gear is connected with the right planet row.
Furthermore, the steering motor is mechanically connected with a steering speed reduction row sun gear of the steering speed reduction row, and a steering speed reduction row planet carrier of the steering speed reduction row is rigidly connected with the steering gear A.
Further, the left side gear is meshed with a gear fixed on the lower side of the left side gear, and the gear positioned on the lower side of the left side gear is mechanically connected with a left side planet row sun gear of the left side planet row;
the right side gear is mechanically connected with a right side planet row sun gear of the right side planet row through a gear and a middle gear which are fixed on the lower side of the right side gear, the right side gear is mutually meshed with the gear which is fixed on the lower side of the right side gear, the gear which is fixed on the lower side of the right side gear is mutually meshed with the middle gear, and the middle gear is mechanically connected with the right side planet row sun gear of the right side planet row.
Furthermore, a straight-driving brake is arranged at the straight-driving deceleration row planet carrier of the straight-driving deceleration row, a steering brake is arranged at the steering deceleration row planet carrier of the steering deceleration row, and the straight-driving brake and the steering brake are both fixed in the transmission case shell.
Furthermore, the direct-driving motor and the steering motor are both electrically connected with the output end of the power control unit, the power control unit is bidirectionally connected with the energy storage system through a cable, the input end of the power control unit is also electrically connected with the output end of the generator, and the input end of the generator is mechanically connected with the engine through the speed increasing box.
According to the composite transmission control method of the tracked vehicle electromechanical composite transmission device, when climbing and starting, the steering brake is controlled to brake to enable the steering motor to not work, the straight-driving brake is separated from the straight-driving reduction gear planet carrier, the gear shifting synchronizer is controlled to enable the straight-driving reduction gear ring to be connected with the brake to enable the straight-driving reduction gear ring to brake, and the tracked vehicle electromechanical composite transmission device is in the first gear; on one hand, the power generated by the straight driving motor is transmitted to the left driving wheel through the straight driving reduction gear, the A straight driving gear, the B straight driving gear, the left planetary gear and the left side transmission in sequence, and on the other hand, the power generated by the straight driving motor is transmitted to the right driving wheel through the straight driving reduction gear, the A straight driving gear, the B straight driving gear, the right planetary gear and the right side transmission in sequence, so that the climbing and starting of the tracked vehicle are completed;
when the tracked vehicle runs in a straight line, the steering brake is controlled to brake to enable the steering motor to not work, the straight-running brake is separated from the straight-running reduction row planet carrier, the shifting synchronizer is controlled to enable the straight-running reduction row gear ring and the straight-running reduction row planet carrier to be connected through the shifting synchronizer to enable the straight-running reduction row gear ring and the straight-running reduction row planet carrier to rotate synchronously, and the tracked vehicle electromechanical composite transmission device is in a second gear; on one hand, the power generated by the straight driving motor is transmitted to the left driving wheel through the straight driving speed reduction row, the straight driving gear A, the straight driving gear B, the left planetary row and the left side transmission in sequence, and on the other hand, the power generated by the straight driving motor is transmitted to the right driving wheel through the straight driving speed reduction row, the straight driving gear A, the straight driving gear B, the right planetary row and the right side transmission in sequence to complete the straight driving of the tracked vehicle.
Furthermore, when the center turns, the straight driving brake is controlled to brake to enable the straight driving motor to stop working, the steering brake is separated from the steering reduction row planet carrier, the steering motor works, and power generated by the steering motor is transmitted to the steering shaft through the steering reduction row, the steering gear A and the steering gear B in sequence;
when the large-radius steering is performed, the direct-drive brake is controlled to be separated from the direct-drive reduction gear planet carrier, and the direct-drive motor works, so that on one hand, the power generated by the direct-drive motor is transmitted to the left planet gear ring through the direct-drive reduction gear, the A direct-drive gear and the B direct-drive gear, and on the other hand, the power generated by the direct-drive motor is transmitted to the right planet gear ring through the direct-drive reduction gear, the A direct-drive gear and the B direct-drive gear; and controlling a steering brake to be separated from a steering reduction row planet carrier, enabling a steering motor to work, transmitting power generated by the steering motor to a steering shaft through a steering reduction row, a steering gear A and a steering gear B, on one hand, transmitting the power reaching the steering shaft to a left planet row sun gear through a left gear in sequence, on the other hand, transmitting the power reaching the steering shaft to a right planet row sun gear through a right gear and an intermediate gear in sequence, respectively converging the power of the left planet row and the power of the right planet row and forming a rotating speed difference between the left planet row and the right planet row, and further forming a rotating speed difference between the left side transmission and the right side transmission to finish large-radius steering of the tracked vehicle.
The invention has the advantages that the straight driving motor and the steering motor are designed according to the requirements of steering and straight driving, and only the straight driving motor outputs power during straight driving, so that the problem of inconsistent output rotating speeds at two sides is avoided, the straight driving linearity can be well ensured, and the problem that the driving linearity is difficult to maintain due to inconsistent output rotating speeds of the motors at two sides when the existing tracked vehicle independently driven by the motors at two sides is linearly driven is solved. When the tracked vehicle turns, the power is provided by the turning motor and the straight driving motor together, so that the problem of power circulation when the tracked vehicle turns is solved, and the power requirement on the traction motor is greatly reduced. Compared with the independent driving form of the motors at two sides, the transmission device has power backflow during steering, ensures full utilization of power, is provided with two gears, can be respectively used for climbing and high-speed driving working conditions, can drive by using one gear under the climbing starting working condition, reduces the torque and the speed regulation range of the driving motor, reduces the difficulty of motor control, improves the transmission efficiency, and solves the problem that the existing tracked vehicle adopting the independent driving of the motors at two sides has high requirement on the performance of the motor due to the regenerative power circulation during steering. The control system can realize stepless change of speed difference of the driving wheels at two sides by controlling the rotating speed of the steering motor, so that the device can realize pure electric stepless steering.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a system with dual sided motor independent drive;
FIG. 2 is a diagram of the tracked vehicle electro-mechanical compound transmission of the present invention.
In the figure, 1, a transmission case shell, 2, a straight driving motor, 3, a straight driving reduction row, 301, a straight driving reduction row sun gear, 302, a straight driving reduction row planet carrier, 303, a straight driving reduction row gear ring, 4, a brake, 5, a gear shifting synchronizer, 6, an A straight driving gear, 7, an A steering gear, 8, a steering reduction row, 801, a steering reduction row sun gear, 802, a steering reduction row planet carrier, 9, a steering motor, 10, a straight driving brake, 11, a left planet row, 1101, a left planet row sun gear, 1102, a left planet row planet carrier, 1103, a left planet row gear ring, 12, a left driving wheel, 13, a left side transmission, 14, a B straight driving gear, 15, a steering shaft, 1501, a B steering gear, 1502, a left side gear, a right side gear, 16, an intermediate gear, 17, a right side transmission, 18, a right side driving wheel, 19, 1901, a right planet row sun gear, 1902. the system comprises a right planet row planet carrier, 1903, a right planet row gear ring, 20, a steering brake, 21, an engine, 22, a speed increasing box, 23, a generator, 24, an electric control unit and 25, and an energy storage system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An electromechanical compound transmission device of a tracked vehicle comprises a transmission case shell 1, and a left driving wheel 12, a left side transmission 13, a right side transmission 17 and a right driving wheel 18 which are positioned outside the transmission case shell 1, wherein a straight driving motor 2, a straight driving speed reduction row 3, a steering speed reduction row 8 and a steering motor 9 are arranged in the transmission case shell 1. The reduction row is a planetary row, and the reduction row is also called as a reduction row because the transmission ratio is greater than 1, and the structures of the reduction row and the planetary row are well known in the art and are not described herein again.
The straight-driving motor 2 is mechanically connected with a straight-driving reduction gear sun gear 301 of the straight-driving reduction gear 3, and a straight-driving reduction gear planet carrier 302 of the straight-driving reduction gear 3 is rigidly connected with an A straight-driving gear 6; the straight-driving brake 10 is arranged on one side of the straight-driving deceleration row planet carrier 302 of the straight-driving deceleration row 3, the straight-driving brake 10 is fixed on the transmission case shell 1, and the straight-driving brake 10 controls the straight-driving deceleration row planet carrier 302 of the straight-driving deceleration row 3 in a braking mode. The right side of the straight-driving reduction gear 3 is provided with a brake 4 and a shifting synchronizer 5, the brake 4 is fixed in the transmission case shell 1, the shifting synchronizer 5 can rigidly connect the straight-driving reduction gear planet carrier 302 and the straight-driving reduction gear ring gear 303 of the straight-driving reduction gear 3, so that the rotation speeds of the straight-driving reduction gear planet carrier and the straight-driving reduction gear ring gear 303 are the same, and the straight-driving reduction gear ring gear 303 and the brake 4 can also be connected. When the shifting synchronizer 5 is shifted to the right, the integral rotation of the planet carrier 302 and the straight-driving reduction gear ring 303 can be realized, namely the transmission ratio is 1, namely the rotation speeds of the two are the same; when the synchronizer is shifted to the left, the straight reduction row ring gear 303 is connected to the brake 4, and the straight reduction row ring gear 303 is braked. The A straight driving gear 6 is meshed with the B straight driving gear 14; a left planet row 11 is arranged on the left side of the B straight driving gear 14, a right planet row 19 is arranged on the right side of the B straight driving gear 14, and the B straight driving gear 14, the left planet row 11 and the right planet row 19 are all mechanically connected with the same connecting shaft; the left planet row 11 is mechanically connected with the input end of a left transmission 13 positioned outside the transmission case shell 1, and the output end of the left transmission 13 is mechanically connected with a left driving wheel 12; the right planetary gear set 19 is mechanically connected to the input of a right-hand drive 17 located outside the transmission housing 1, the output of which right-hand drive 17 is mechanically connected to a right-hand drive wheel 18. Specifically, the left planet carrier 1102 of the left planet row 11 is mechanically connected to the input of the left side drive 13, and the right planet carrier 1902 of the right planet row 19 is mechanically connected to the input of the right side drive 17.
The steering motor 9 is mechanically connected with a steering reduction row sun gear 801 of the steering reduction row 8, and a steering reduction row planet carrier 802 of the steering reduction row 8 is rigidly connected with a steering gear 7A. The steering brake 20 is arranged at the steering deceleration row planet carrier 802 of the steering deceleration row 8, the steering brake 20 is fixed on the transmission case shell 1, and the steering brake 20 can brake and control the steering deceleration row planet carrier 802. The steering gear A7 is meshed with the steering gear B1501, a left gear 1502 is arranged on the left side of the steering gear B1501, a right gear 1503 is arranged on the right side of the steering gear B1501, and the left gear 1502, the steering gear B1501 and the right gear 1503 are all fixed on the steering shaft 15; left gear 1502 interconnects left planet row 11; the right gear 1503 is interconnected with the right planetary row 19. Specifically, the left-side gear 1502 meshes with a gear located on the lower side thereof, and the gear located on the lower side of the left-side gear 1502 is mechanically connected to the left-side planetary row sun gear 1101 of the left-side planetary row 11; the right side gear 1503 is mechanically connected to the right side planetary row sun gear 1901 of the right side planetary row 19 via a gear fixed to the lower side thereof and the intermediate gear 16, the right side gear 1503 is fixed to the lower side thereof and meshes with each other, the gear fixed to the lower side of the right side gear 1503 meshes with the intermediate gear 16, and the right side planetary row sun gear 1901 is connected to the intermediate gear 16.
The straight driving motor 2 and the steering motor 9 are both connected with the output end of the power control unit 24 through cables, the input end of the power control unit 24 is electrically connected with the output end of the generator 23 through cables, and the power control unit 24 is bidirectionally connected with the energy storage system 25 through cables; the generator 23 is mechanically connected to the engine 21 via the speed increasing box 22.
The specific transmission process is as follows:
when climbing or starting, the steering brake 20 is braked, the steering motor 9 does not work, the straight-driving brake 10 is separated from the straight-driving reduction gear planet carrier 302, the gear shifting synchronizer 5 is shifted to the left, the straight-driving reduction gear ring gear 303 is connected with the brake 4, the straight-driving reduction gear ring gear 303 is braked, the transmission device is in the first gear, the power generated by the straight-driving motor 2 is transmitted to the left driving wheel 12 through the straight-driving reduction gear 3, the A straight-driving gear 6, the B straight-driving gear 14, the left planetary gear 11 and the left side transmission 13 and is transmitted to the right driving wheel 18 through the straight-driving reduction gear 3, the A straight-driving gear 6, the B straight-driving gear 14, the right side planetary gear 19 and the right side transmission 17, and the total transmission ratio of the first gear of the straight-driving path is obtained
k1Characteristic parameters of the straight-driving reduction gear 3, iz1Is the transmission ratio of the A straight running gear 6 and the B straight running gear 14, k2Characteristic parameters of the left-hand planet row 11 and the right-hand planet row 19, icFor the transmission ratio of the left side transmission 13 and the right side transmission 17, each transmission link realizes the functions of reducing the rotating speed and increasing the torque, and ensures the large torqueThe moment realizes the climbing and starting of the tracked vehicle.
During straight driving, the steering brake 20 brakes, the steering motor 9 does not work, the straight driving brake 10 is separated from the straight driving reduction gear planet carrier 302, the shifting synchronizer 5 is shifted to the right side, the straight driving reduction gear ring 303 is connected with the straight driving reduction gear planet carrier 302 through the shifting synchronizer 5, the shifting synchronizer 5 enables the straight driving reduction gear ring and the straight driving reduction gear planet carrier 302 to synchronously rotate, the structure is in a second gear, the power emitted by the straight driving motor 2 is transmitted to the left driving wheel 12 through the straight driving reduction gear 3, the A straight driving gear 6, the B straight driving gear 14, the left planetary gear 11 and the left side transmission 13, and is transmitted to the right driving wheel 18 through the straight driving reduction gear 3, the A straight driving gear 6, the B straight driving gear 14, the right planetary gear 19 and the right side transmission 17, and the total transmission ratio of the straight driving path second gear is obtained
The crawler vehicle can run normally, the left planetary row 11 and the left side transmission 13 are used for transmitting power, the transmission ratio is further increased, and the output torque is increased.
The gear division is divided into the division of transmission ratio, when the transmission ratio is large, the gear is low gear, and when the transmission ratio is small, the gear is high gear. When the straight-driving reduction gear ring gear 303 of the straight-driving reduction gear 3 is connected with the straight-driving reduction gear planet carrier 302, the transmission ratio of the planet gear is 1, the transmission ratio is small, the planet gear is a second gear, and the working condition of higher speed can be realized; when the straight-driving reduction gear ring gear 303 of the straight-driving reduction gear row 3 brakes, the transmission ratio of the planet gear row is large, the first gear is obtained, the vehicle speed is low, and the output torque is large.
When the center turns, the straight-driving brake 10 brakes to brake the straight-driving reduction row planet carrier 302, the straight-driving motor 2 does not work, the steering brake 20 is separated from the steering reduction row planet carrier 802, the steering motor 9 works, the structure is in the center turning working condition, the left gear 1502, the B steering gear 1501 and the right gear 1503 are fixedly connected with the steering shaft 15, such as spline connection, flat key connection and the like, the power sent by the steering motor 9 is transmitted to the steering shaft 15 through the steering reduction row 8, the A steering gear 7 and the B steering gear 1501, and the power is transmitted to the steering shaft 15 through the left gear 1502, the left planet row 11 and the left side transmission 13The left driving wheel 12 is provided and output to the right driving wheel 18 through the right gear 1503, the middle gear 16, the right planet row 19 and the right transmission 17, the rotating speeds at two sides are opposite due to the fact that the right transmission is meshed with the gears for one time, and the total transmission ratio of a steering path is (1+ k) ═ at the moment4)·iz2·iz3·(1+k2)·ic，k4Characteristic parameter of the steering reduction gear 8, iz2Is the gear ratio of the A steering gear 7 to the B steering gear 1501, iz3Is the gear ratio, k, of the left hand gear 1502 to the left hand planet row sun gear 11012For the characteristic parameters of the left-hand row 11 and of the right-hand row 19, a central steering of the tracked vehicle is achieved.
During large-radius steering, the straight-driving brake 10 is separated from the straight-driving reduction row planet carrier 302, the straight-driving motor 2 works, the B straight-driving gear 14, the left planet row gear ring 1103 of the left planet row 11 and the right planet row gear ring 1903 of the right planet row 19 are connected on the same shaft, and the power generated by the straight-driving motor 2 is transmitted to the left planet row gear ring 1103 through the straight-driving reduction row 3, the A straight-driving gear 6 and the B straight-driving gear 14 and is transmitted to the right planet row gear ring 1903 through the straight-driving reduction row 3, the A straight-driving gear 6 and the B straight-driving gear 14; the steering brake 20 is separated from the steering reduction row planet carrier 802, the steering motor 9 works, power generated by the steering motor 9 is transmitted to the steering shaft 15 through the steering reduction row 8, the steering gear 7A and the steering gear 1501B, the steering shaft 15 is transmitted to the left planet row sun gear 1101 of the left planet row 11 through the left gear 1502, power is transmitted to the right planet row sun gear 1901 of the right planet row 19 through the right gear 1503 and the intermediate gear 16, finally, power confluence is carried out on the planet rows on the two sides, a rotating speed difference is formed, and the power is transmitted to the left side transmission 13 and the right side transmission 17 respectively, so that large-radius steering of the crawler vehicle is achieved.
The planet row sun gear and the planet row gear ring of each planet row have power and can be converged to the planet row planet carrier through meshing. The difference in rotational speed is formed because the rotational speeds of the left planet row sun gear 1101 and the right planet row sun gear 1901 are opposite, and the difference in rotational speed between the two sides can be easily seen through the relationship formula of the rotational speed calculation of the planet rows, and the double-flow transmission is also called a zero-differential transmission in the field.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. The electromechanical compound transmission device of the tracked vehicle is characterized by comprising a transmission case shell (1), wherein a straight-driving motor (2) is arranged in the transmission case shell (1), and the straight-driving motor (2) is mechanically connected with a straight-driving gear A (6) through a straight-driving reduction gear row (3) on the right side of the straight-driving motor; the straight driving gear A (6) is meshed with the straight driving gear B (14), a left planetary row (11) is arranged on the left side of the straight driving gear B (14), a right planetary row (19) is arranged on the right side of the straight driving gear B (14), and the straight driving gear B (14), the left planetary row (11) and the right planetary row (19) are all fixed on the same transmission shaft; the left planet row (11) is mechanically connected with the input end of a left side transmission (13) positioned outside the transmission case shell (1), and the output end of the left side transmission (13) is mechanically connected with a left driving wheel (12); the right planet row (19) is mechanically connected with the input end of a right side transmission (17) positioned outside the transmission case shell (1), and the output end of the right side transmission (17) is mechanically connected with a right driving wheel (18).
2. The tracked vehicle electromechanical hybrid transmission according to claim 1, wherein the straight-driving electric machine (2) is mechanically connected to the straight-driving reduction gear row sun wheel (301) of the straight-driving reduction gear row (3), and the straight-driving reduction gear row planet carrier (302) of the straight-driving reduction gear row (3) is rigidly connected to the a straight-driving gear (6).
3. An electromechanical compound transmission of a tracked vehicle according to claim 1, characterised in that the left planet row carrier (1102) of the left planet row (11) is mechanically connected to the input of a left side transmission (13) and the right planet row carrier (1902) of the right planet row (19) is mechanically connected to the input of a right side transmission (17);
the right side of the straight-driving speed reduction row (3) is sequentially provided with a brake (4) and a gear shifting synchronizer (5), the brake (4) is fixed in the transmission case shell (1), and the gear shifting synchronizer (5) enables the straight-driving speed reduction row gear ring (303) and the straight-driving speed reduction row planet carrier (302) to rotate at the same speed or enables the straight-driving speed reduction row gear ring (303) and the brake (4) to be connected for braking.
4. An electromechanical compound transmission device of a tracked vehicle according to any one of claims 1 to 3, characterized in that a steering motor (9) arranged opposite to the straight running motor (2) is further arranged in the transmission case shell (1), and the steering motor (9) is mechanically connected with the steering gear A (7) through a steering reduction row (8) on the left side of the steering motor; the steering gear A (7) is meshed with the steering gear B (1501); a left gear (1502) is arranged on the left side of the steering gear (1501) B, a right gear (1503) is arranged on the right side of the steering gear (1501) B, and the left gear (1502), the steering gear (1501) B and the right gear (1503) are all fixed on a steering shaft (15); the left gear (1502) is connected with the left planet row (11); the right gear (1503) is connected with the right planetary row (19).
5. The tracked vehicle electromechanical compound transmission according to claim 4, characterized in that the steering motor (9) is mechanically connected to the steering reduction row sun wheel (801) of the steering reduction row (8), and the steering reduction row planet carrier (802) of the steering reduction row (8) is rigidly connected to the A-steering gear (7).
6. An electro-mechanical compound transmission for a tracked vehicle according to claim 4, characterized in that said left side gear (1502) meshes with a gear fixed to its lower side, the gear located on the lower side of the left side gear (1502) being mechanically connected to the left side planet row sun (1101) of the left side planet row (11);
the right side gear (1503) is mechanically connected to a right side planetary row sun gear (1901) of the right side planetary row (19) through a gear fixed to the lower side thereof and an intermediate gear (16), the right side gear (1503) is meshed with the gear fixed to the lower side thereof, the gear fixed to the lower side of the right side gear (1503) is meshed with the intermediate gear (16), and the intermediate gear (16) is mechanically connected to the right side planetary row sun gear (1901) of the right side planetary row (19).
7. The tracked vehicle electromechanical compound transmission device according to claim 4, wherein a straight-driving brake (10) is arranged at the straight-driving reduction row planet carrier (302) of the straight-driving reduction row (3), a steering brake (20) is arranged at the steering reduction row planet carrier (802) of the steering reduction row (8), and the straight-driving brake (10) and the steering brake (20) are fixed in the transmission case shell (1).
8. The tracked vehicle electromechanical compound transmission device according to any one of claims 1 to 3 or 5 to 7, wherein the straight running motor (2) and the steering motor (9) are both electrically connected with an output end of an electric control unit (24), the electric control unit (24) is bidirectionally connected with an energy storage system (25) through a cable, an input end of the electric control unit (24) is also electrically connected with an output end of a generator (23), and an input end of the generator (23) is mechanically connected with the engine (21) through a speed increasing box (22).
9. The compound transmission control method of the tracked vehicle electromechanical compound transmission device according to claim 8, wherein during climbing and starting, the steering brake (20) is controlled to brake to enable the steering motor (9) to be out of operation, the straight-running brake (10) is separated from the straight-running reduction row planet carrier (302), the shifting synchronizer (5) is controlled to enable the straight-running reduction row gear ring gear (303) to be connected with the brake (4) to enable the straight-running reduction row gear ring gear (303) to brake, and the tracked vehicle electromechanical compound transmission device is in the first gear; on one hand, the power generated by the straight driving motor (2) is transmitted to the left driving wheel (12) through the straight driving reduction gear (3), the A straight driving gear (6), the B straight driving gear (14), the left planetary gear (11) and the left side transmission (13) in sequence, and on the other hand, the power generated by the straight driving motor (2) is transmitted to the right driving wheel (18) through the straight driving reduction gear (3), the A straight driving gear (6), the B straight driving gear (14), the right planetary gear (19) and the right side transmission (17) in sequence to finish the climbing and starting of the tracked vehicle;
when the crawler vehicle runs in a straight line, the steering brake (20) is controlled to brake to enable the steering motor (9) to be out of work, the straight running brake (10) is separated from the straight running reduction row planet carrier (302), the shifting synchronizer (5) is controlled to enable the straight running reduction row gear ring (303) and the straight running reduction row planet carrier (302) to be connected through the shifting synchronizer (5) to enable the straight running reduction row gear ring and the straight running reduction row planet carrier to rotate synchronously, and the crawler vehicle electromechanical compound transmission device is in a second gear; on one hand, the power emitted by the straight driving motor (2) is transmitted to the left driving wheel (12) through the straight driving reduction gear (3), the A straight driving gear (6), the B straight driving gear (14), the left planetary gear (11) and the left side transmission (13) in sequence, and on the other hand, the power emitted by the straight driving motor (2) is transmitted to the right driving wheel (18) through the straight driving reduction gear (3), the A straight driving gear (6), the B straight driving gear (14), the right planetary gear (19) and the right side transmission (17) in sequence to finish the straight driving of the tracked vehicle.
10. The compound transmission control method of the electromechanical compound transmission device of the tracked vehicle is characterized in that when the center is turned, the straight-driving brake (10) is controlled to brake to enable the straight-driving motor (2) not to work, the steering brake (20) is separated from the steering reduction row planet carrier (802), the steering motor (9) works, the power generated by the steering motor (9) is transmitted to the steering shaft (15) through the steering reduction row (8), the steering gear A (7) and the steering gear B (1501) in sequence, and then is output to the left driving wheel (12) through the left gear (1502), the left planet row (11) and the left transmission (13) in sequence on the one hand, and is output to the right driving wheel (18) through the right gear (1503), the middle gear (16), the right planet row (19) and the right transmission (17) in sequence on the other hand, so that the rotating speed directions of the left driving wheel (12) and the right driving wheel (18) are opposite, realizing the central steering of the tracked vehicle;
when the large-radius steering is carried out, the straight-driving brake (10) is controlled to be separated from the straight-driving reduction gear planet carrier (302), the straight-driving motor (2) works, on one hand, the power generated by the straight-driving motor (2) is transmitted to the left planet gear ring (1103) through the straight-driving reduction gear (3), the A straight-driving gear (6) and the B straight-driving gear (14), and on the other hand, the power generated by the straight-driving motor (2) is transmitted to the right planet gear ring (1903) through the straight-driving reduction gear (3), the A straight-driving gear (6) and the B straight-driving gear (14); and controlling a steering brake (20) to be separated from a steering reduction row planet carrier (802), enabling a steering motor (9) to work, transmitting power generated by the steering motor (9) to a steering shaft (15) through a steering reduction row (8), a steering gear (7) and a steering gear (1501) B, on one hand, transmitting power reaching the steering shaft (15) to a left planet row sun gear (1101) through a left gear (1502) in sequence, on the other hand, transmitting power reaching the steering shaft (15) to a right planet row sun gear (1901) through a right gear (1503) and an intermediate gear (16) in sequence, respectively converging power of the left planet row (11) and the right planet row (19) and forming a rotating speed difference between the left planet row and the right planet row, and further forming a rotating speed difference between a left side transmission (13) and a right side transmission (17) to finish large-radius steering of the crawler vehicle.
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| CN201911167283.8A CN110979001A (en) | 2019-11-25 | 2019-11-25 | Tracked vehicle electromechanical composite transmission device and composite transmission control method thereof |
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| CN201911167283.8A CN110979001A (en) | 2019-11-25 | 2019-11-25 | Tracked vehicle electromechanical composite transmission device and composite transmission control method thereof |
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