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CN117799419A - Four-motor electromechanical compound transmission device for tracked vehicle - Google Patents

Four-motor electromechanical compound transmission device for tracked vehicle Download PDF

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Publication number
CN117799419A
CN117799419A CN202410157847.4A CN202410157847A CN117799419A CN 117799419 A CN117799419 A CN 117799419A CN 202410157847 A CN202410157847 A CN 202410157847A CN 117799419 A CN117799419 A CN 117799419A
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gear
speed
motor
planetary gear
changing
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CN117799419B (en
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邢庆坤
秦大同
石万凯
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Chongqing University
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Chongqing University
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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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/24—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the combustion engines
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
    • B60K6/547—Transmission for changing ratio the transmission being a stepped gearing
    • 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
    • Y02T10/62—Hybrid vehicles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Structure Of Transmissions (AREA)

Abstract

The invention relates to a four-motor electromechanical compound transmission device for a tracked vehicle, which comprises an engine and two double-motor driving systems which are symmetrically arranged at two sides of the engine, wherein the two double-motor driving systems respectively correspondingly drive crawler mechanisms at two sides; two ends of the engine are connected with 2 speed-changing planetary gear mechanisms, and the two double-motor driving systems are respectively in power coupling with the engine through the speed-changing planetary gear mechanisms; and a differential planetary gear coupling mechanism is arranged between the two double-motor driving systems, and the two double-motor driving systems are in power coupling through the differential planetary gear coupling mechanism. The invention adopts symmetrical structure arrangement, the motor, the speed-changing planetary gear mechanism, the speed-reducing planetary row, the fixed shaft gear speed-reducing mechanism and the two-gear speed-changing planetary gear mechanism are all symmetrically arranged, the structure and the process are simple, and the space arrangement of the whole vehicle is facilitated. Meanwhile, steering power reflux can be realized, so that energy consumption can be reduced, and the power grade of the motor can be reduced.

Description

履带车辆用四电机机电复合传动装置Four-motor electromechanical composite transmission device for crawler vehicles

技术领域Technical field

本发明属于履带电动驱动技术领域，涉及一种履带车辆用四电机机电复合传动装置。The invention belongs to the technical field of crawler electric drive, and relates to a four-motor electromechanical compound transmission device for crawler vehicles.

背景技术Background technique

传统履带车辆的转向通过两侧履带的速度差完成，传动系统通过相关的离合器/制动器，或者液压、电气等调速元件，产生两侧履带的速度差。与轮式车辆不同，履带车辆的转向属于动力转向，需要动力系统的功率克服路面的转向阻力，在困难路面或者小半径转向工况时，需要较大的转向驱动力矩。为实现履带车辆转向，内侧履带需要提供制动力，外侧履带需要提供驱动力。当车速较高时，内侧履带会产生较大的转向回流功率(制动功率)；这部分制动功率如果能高效的传递到外侧履带，能大大节省动力源的输入功率。The steering of traditional tracked vehicles is achieved through the speed difference of the tracks on both sides. The transmission system generates the speed difference of the tracks on both sides through the relevant clutch/brake, or hydraulic, electrical and other speed control elements. Unlike wheeled vehicles, the steering of tracked vehicles is power steering, which requires the power of the power system to overcome the steering resistance of the road. When turning on difficult roads or in small radius conditions, a large steering drive torque is required. In order to achieve the steering of tracked vehicles, the inner track needs to provide braking force and the outer track needs to provide driving force. When the vehicle speed is high, the inner track will generate a large steering return power (braking power); if this part of the braking power can be efficiently transmitted to the outer track, it can greatly save the input power of the power source.

电气化是车辆动力传动系统的发展趋势，履带车辆采用电机进行驱动及转向，可大大提升机动性能。采用行星齿轮机构作为传动系统的耦合机构，设计可以实现双输出的混联式履带车辆传动系统，不仅可以省去复杂的转向装置，实现两侧履带的独立精确控制，还可以通过控制两侧履带的转矩，实现高效率行进中转向及中心转向。Electrification is the development trend of vehicle power transmission systems. Tracked vehicles use electric motors for drive and steering, which can greatly improve maneuverability. The planetary gear mechanism is used as the coupling mechanism of the transmission system, and the hybrid crawler vehicle transmission system is designed to achieve dual output. It not only eliminates the need for complex steering devices and achieves independent and precise control of the crawlers on both sides, but also controls the crawler tracks on both sides. of torque to achieve high efficiency during driving and center steering.

多电机驱动系统可实现动力的灵活分配，已成为电驱动系统的发展趋势，并且可以方便实现驱动和转向的耦合和解耦，是履带车辆电驱动系统的发展方向。Multi-motor drive systems can realize flexible distribution of power, which has become the development trend of electric drive systems, and can easily achieve coupling and decoupling of drive and steering, which is the development direction of electric drive systems for tracked vehicles.

发明内容Summary of the invention

有鉴于此，本发明提出一种履带车辆用四电机机电复合传动装置，包含4台驱动电机和一个发动机，以多行星排传动机构作为动力耦合机构，通过增加模式切换机构改变传动系统中的功率流向，同时调控电机，可实现对两侧履带轮输出动力的精准控制，达到高效率行进中小半径转向及中心转向的效果。利用行星齿轮机构作为传动主体可实现四台电机与一台发动机之间灵活的动力分配。In view of this, the present invention proposes a four-motor electromechanical compound transmission device for tracked vehicles, which includes four drive motors and an engine. It uses a multi-planet transmission mechanism as a power coupling mechanism and changes the power in the transmission system by adding a mode switching mechanism. By controlling the flow direction and controlling the motor at the same time, it can achieve precise control of the output power of the track wheels on both sides, achieving the effects of small- and medium-radius steering and center steering for high-efficiency travel. Using a planetary gear mechanism as the transmission main body can realize flexible power distribution between four motors and one engine.

为达到上述目的，本发明提供如下技术方案：In order to achieve the above objects, the present invention provides the following technical solutions:

一种履带车辆用四电机机电复合传动装置，包括发动机以及呈左右对称设于发动机两侧的两个双电机驱动系统，两个双电机驱动系统分别对应驱动两侧的履带机构；A four-motor electromechanical composite transmission device for crawler vehicles, including an engine and two dual-motor drive systems symmetrically arranged on both sides of the engine. The two dual-motor drive systems respectively drive the crawler mechanisms on both sides;

所述发动机的两端连接有2个变速行星齿轮机构，两个所述双电机驱动系统分别通过变速行星齿轮机构与发动机进行动力耦合；两个所述双电机驱动系统之间设有差速行星齿轮耦合机构，两个所述双电机驱动系统通过差速行星齿轮耦合机构进行动力耦合。Two variable-speed planetary gear mechanisms are connected to both ends of the engine, and the two dual-motor drive systems are dynamically coupled to the engine through variable-speed planetary gear mechanisms; a differential planetary gear is provided between the two dual-motor drive systems. Gear coupling mechanism, the two dual-motor drive systems are dynamically coupled through a differential planetary gear coupling mechanism.

进一步，所述双电机驱动系统包括第一电机、第二电机、减速行星排、定轴齿轮减速机构、两挡变速行星齿轮机构；Furthermore, the dual-motor drive system includes a first motor, a second motor, a reduction planetary gear, a fixed-axis gear reduction mechanism, and a two-speed planetary gear mechanism;

所述第一电机、变速行星齿轮机构、定轴齿轮减速机构、减速行星排依次传动连接；所述第二电机、减速行星排连接、差速行星齿轮耦合机构、两挡变速行星齿轮机构依次传动连接；两挡变速行星齿轮机构与履带机构传动连接；第一电机与发动机之间通过变速行星齿轮机构进行动力耦合，第二电机通过减速行星排与第一电机和/或发动机进行动力耦合；The first motor, the variable speed planetary gear mechanism, the fixed shaft gear reduction mechanism, and the reduction planetary row are connected in sequence; the second motor, the reduction planetary row are connected, the differential planetary gear coupling mechanism, and the two-speed variable speed planetary gear mechanism are connected in sequence. Connection; the two-speed variable speed planetary gear mechanism is drivingly connected to the crawler mechanism; the first motor and the engine are dynamically coupled through the variable speed planetary gear mechanism, and the second motor is dynamically coupled with the first motor and/or engine through the deceleration planetary row;

两个双电机驱动系统中的减速行星排之间通过差速行星齿轮耦合机构进行动力耦合。The reduction planetary rows in the two dual-motor drive systems are dynamically coupled through a differential planetary gear coupling mechanism.

进一步，还包括电机控制模块、动力电池模块；两个双电机驱动系统中的第一电机和第二电机均与电机控制模块和动力电池模块连接；Further, it also includes a motor control module and a power battery module; the first motor and the second motor in the two dual-motor drive systems are both connected to the motor control module and the power battery module;

所述第一电机与第二电机平行布置，所述定轴齿轮减速机构设于减速行星排与变速行星齿轮机构之间；两个双电机驱动系统中的第二电机同轴布置。The first motor and the second motor are arranged in parallel, and the fixed-axis gear reduction mechanism is arranged between the reduction planetary gear and the speed-changing planetary gear mechanism; the second motors in the two dual-motor drive systems are arranged coaxially.

进一步，所述差速行星齿轮耦合机构包括两个差速行星齿轮机构，两个差速行星齿轮机构中的行星架与齿圈彼此交叉连接，即其中任意一个差速行星齿轮机构的行星架与另一个差速行星齿轮机构的齿圈固定连接；Further, the differential planetary gear coupling mechanism includes two differential planetary gear mechanisms, and the planet carrier and the ring gear in the two differential planetary gear mechanisms are cross-connected to each other, that is, the planet carrier of any one of the differential planetary gear mechanisms is connected to the ring gear. The ring gear of another differential planetary gear mechanism is fixedly connected;

所述减速行星排与差速行星齿轮机构中的太阳轮连接；差速行星齿轮机构中的行星架上连接有耦合输出轴，并通过耦合输出轴与所述两挡变速行星齿轮机构连接。The deceleration planet row is connected to the sun gear in the differential planetary gear mechanism; the planet carrier in the differential planetary gear mechanism is connected to a coupling output shaft, and is connected to the two-speed planetary gear mechanism through the coupling output shaft.

进一步，所述两挡变速行星齿轮机构包括两挡变速太阳轮、两挡变速行星架、两挡变速齿圈、制动器、同步器；所述耦合输出轴与两挡变速太阳轮连接，所述两挡变速行星架通过行星轮转动设于两挡变速齿圈内；所述两挡变速行星架上设有输出构件，通过输出构件与履带机构传动连接；Further, the two-speed planetary gear mechanism includes a two-speed sun gear, a two-speed planet carrier, a two-speed ring gear, a brake, and a synchronizer; the coupling output shaft is connected to the two-speed sun gear, and the two The two-gear transmission planet carrier is arranged in the two-gear transmission ring gear through the rotation of the planet wheel; the two-gear transmission planet carrier is provided with an output member, and is drivingly connected to the crawler mechanism through the output member;

所述两挡变速行星架与两挡变速太阳轮之间设有所述同步器，并通过所述同步器切换实现两挡变速行星架与两挡变速太阳轮之间动力直接传递；所述两挡变速齿圈上设有所述制动器，并通过制动器切换实现两挡变速齿圈的固定与自由旋转。The synchronizer is provided between the two-speed planetary carrier and the two-speed sun gear, and the synchronizer is switched to realize direct power transmission between the two-speed planetary carrier and the two-speed sun gear; the brake is provided on the two-speed gear ring, and the fixation and free rotation of the two-speed gear ring are realized by the brake switching.

进一步，所述减速行星排包括减速太阳轮、减速行星架、减速齿圈；用于对第一电机和第二电机进行减速增扭；Furthermore, the deceleration planetary gear comprises a deceleration sun gear, a deceleration planetary carrier, and a deceleration ring gear; and is used to decelerate and increase torque of the first motor and the second motor;

所述定轴齿轮减速机构与减速行星架啮合传动，所述减速行星架通过行星轮转动设于减速齿圈内，所述减速齿圈的两侧设有制动器；所述第二电机与减速太阳轮连接；所述减速行星架与差速行星齿轮耦合机构中的太阳轮连接。The fixed-axis gear reduction mechanism is engaged with the reduction planet carrier for transmission. The reduction planet carrier is arranged in the reduction ring gear through the rotation of the planet wheel. Brakes are provided on both sides of the reduction ring gear; the second motor and the deceleration sun The deceleration planet carrier is connected with the sun gear in the differential planetary gear coupling mechanism.

进一步，所述变速行星齿轮机构包括变速太阳轮、变速行星架、变速齿圈；发动机与变速行星架连接，变速行星架通过行星轮转动设于变速齿圈内，所述第一电机与变速太阳轮连接，变速齿圈与定轴齿轮减速机构啮合传动。Further, the variable speed planetary gear mechanism includes a variable speed sun gear, a variable speed planet carrier, and a variable speed ring gear; the engine is connected to the variable speed planet carrier, and the variable speed planet carrier is installed in the variable speed ring gear through the rotation of the planet wheel. The first motor is connected to the variable speed sun gear. The gear wheel is connected, and the speed change ring gear meshes with the fixed-axis gear reduction mechanism for transmission.

进一步，所述定轴齿轮减速机构包括定轴减速齿轮和外齿圈，所述外齿圈固定设于所述变速齿圈上，并与定轴减速齿轮啮合传动，所述定轴减速齿轮同时与减速行星排啮合传动。Further, the fixed-axis gear reduction mechanism includes a fixed-axis reduction gear and an external ring gear. The external ring gear is fixedly provided on the variable speed ring gear and meshes with the fixed-axis reduction gear for transmission. The fixed-axis reduction gear simultaneously It is meshed with the deceleration planetary row for transmission.

进一步，履带车辆用四电机机电复合传动装置的工作模式根据工况进行相应控制，控制方式如下：Furthermore, the working mode of the four-motor electromechanical compound transmission device for crawler vehicles is controlled accordingly according to the working conditions. The control method is as follows:

停车工况：两个双电机驱动系统中的第一电机和第二电机均停止工作，所有制动器和离合器均分离，两挡变速行星齿轮机构处于空挡，发动机不工作，没有动力传递，整车处于停车或怠速工况；Parking conditions: The first motor and the second motor in the two dual-motor drive systems stop working, all brakes and clutches are separated, the two-speed planetary gear mechanism is in neutral, the engine does not work, there is no power transmission, and the entire vehicle is in Parking or idling conditions;

前进直驶工况：两个双电机驱动系统中的第一电机均处于发电状态，发动机通过两个第一电机对动力电池模块进行充电，两个第二电机均处于驱动状态，当两挡变速行星齿轮机构中的制动器结合、同步器分离时，两挡变速行星齿轮机构处于低挡，低速行驶；当两挡变速行星齿轮机构中的制动器分离、同步器结合时，两挡变速行星齿轮机构处于高挡，高速行驶；Forward straight driving condition: The first motor in the two dual-motor drive system is in the power generation state. The engine charges the power battery module through the two first motors. The two second motors are both in the driving state. When the two-speed gear change When the brake in the planetary gear mechanism is combined and the synchronizer is separated, the two-speed planetary gear mechanism is in low gear and drives at low speed; when the brake in the two-speed planetary gear mechanism is separated and the synchronizer is combined, the two-speed planetary gear mechanism is in low gear. High gear, high speed driving;

倒车行驶工况：两个双电机驱动系统中的第一电机均处于驱动状态，两个第二电机均处于发电状态，发动机通过两个第二电机对动力电池模块进行充电，当两挡变速行星齿轮机构中的制动器结合、同步器分离时，两挡变速行星齿轮机构处于低挡，低速行驶；当两挡变速行星齿轮机构中的制动器分离、同步器结合时，两挡变速行星齿轮机构处于高挡，高速行驶；Reverse driving conditions: The first motor in the two dual-motor drive systems is in the driving state, and the two second motors are in the power generation state. The engine charges the power battery module through the two second motors. When the two-speed planetary gearbox When the brake in the gear mechanism is combined and the synchronizer is separated, the two-speed planetary gear mechanism is in low gear and drives at low speed; when the brake in the two-speed planetary gear mechanism is separated and the synchronizer is combined, the two-speed planetary gear mechanism is in high gear. gear, driving at high speed;

小半径转向工况：其中一个双电机驱动系统中的第一电机与第二电机均处于发电状态，另一个双电机驱动系统中的第一电机与第二电机均处于驱动状态；发动机通过处于发电状态的第一电机和第二电机对电池动力模块进行充电；当两挡变速行星齿轮机构中的制动器结合、同步器分离时，两挡变速行星齿轮机构处于低挡，低速转向；当两挡变速行星齿轮机构中的制动器分离、同步器结合时，两挡变速行星齿轮机构处于高挡，高速转向；Small radius steering condition: the first motor and the second motor in one of the dual-motor drive systems are both in the power generation state, and the first motor and the second motor in the other dual-motor drive system are both in the driving state; the engine charges the battery power module through the first motor and the second motor in the power generation state; when the brake in the two-speed planetary gear mechanism is engaged and the synchronizer is disengaged, the two-speed planetary gear mechanism is in low gear and low-speed steering; when the brake in the two-speed planetary gear mechanism is disengaged and the synchronizer is engaged, the two-speed planetary gear mechanism is in high gear and high-speed steering;

中心转向工况：其中一个双电机驱动系统中的第一电机与另一个双电机驱动系统中的第二电机均处于发电状态，另一个第一电机与第二电机均处于驱动状态；发动机通过处于发电状态的第一电机和第二电机对电池动力模块进行充电；当两挡变速行星齿轮机构中的制动器结合、同步器分离时，两挡变速行星齿轮机构处于低挡，低速转向；当两挡变速行星齿轮机构中的制动器分离、同步器结合时，两挡变速行星齿轮机构处于高挡，高速转向。Center steering working condition: The first motor in one dual-motor drive system and the second motor in the other dual-motor drive system are both in the power-generating state, and the other first motor and the second motor are both in the driving state; the engine is in the The first motor and the second motor in the power generation state charge the battery power module; when the brake in the two-speed planetary gear mechanism is combined and the synchronizer is separated, the two-speed planetary gear mechanism is in low gear and turns at low speed; when the two-speed planetary gear mechanism is in low gear, it turns at low speed. When the brake in the variable speed planetary gear mechanism is separated and the synchronizer is combined, the two-speed variable speed planetary gear mechanism is in high gear and turns at high speed.

本发明的有益效果在于：The beneficial effects of the present invention are:

1、本发明整体采用对称结构布置，电机、变速行星齿轮机构、减速行星排、定轴齿轮减速机构、两挡变速行星齿轮机构均呈对称布置，结构和工艺简单，有利于整车的空间布置。1. The present invention adopts a symmetrical structural arrangement as a whole. The motor, variable speed planetary gear mechanism, reduction planetary row, fixed axis gear reduction mechanism, and two-speed variable speed planetary gear mechanism are all symmetrically arranged. The structure and process are simple, which is conducive to the spatial layout of the entire vehicle. .

2、本发明中的差速行星齿轮耦合机构，可实现转向功率回流，不仅可以减少耗能还能降低电机的功率等级。2. The differential planetary gear coupling mechanism in the present invention can realize the steering power reflux, which can not only reduce energy consumption but also reduce the power level of the motor.

3、四台电机可采用高转速设计，有利于提高电机的功率密度；可实现4台电机与发动机间的动力分配，满足不同负荷的高效驱动要求；保证车辆的机动性能。3. The four motors can be designed with high speed, which is helpful to increase the power density of the motors; it can realize the power distribution between the four motors and the engine to meet the efficient driving requirements of different loads; and ensure the maneuverability of the vehicle.

4、两侧输出端均有高低两个档位，可以实现两侧多段差速输出。4. The output ends on both sides have two gears, high and low, which can realize multi-stage differential output on both sides.

本发明的其他优点、目标和特征在某种程度上将在随后的说明书中进行阐述，并且在某种程度上，基于对下文的考察研究对本领域技术人员而言将是显而易见的，或者可以从本发明的实践中得到教导。本发明的目标和其他优点可以通过下面的说明书来实现和获得。Other advantages, objects, and features of the present invention will, to the extent that they are set forth in the description that follows, and to the extent that they will become apparent to those skilled in the art upon examination of the following, or may be derived from This invention is taught by practicing it. The objects and other advantages of the invention may be realized and obtained by the following description.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作优选的详细描述，其中：In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings, in which:

图1为本发明履带车辆用四电机机电复合传动装置原理图。Figure 1 is a schematic diagram of a four-motor electromechanical compound transmission device for a tracked vehicle according to the present invention.

图2为本发明履带车辆用四电机机电复合传动装置直行工况功率流示意图。Figure 2 is a schematic diagram of the power flow of the four-motor electromechanical compound transmission device for a tracked vehicle in straight-running mode according to the present invention.

图3为本发明履带车辆用四电机机电复合传动装置中心转向工况功率流示意图。Figure 3 is a schematic diagram of the power flow in the center steering condition of the four-motor electromechanical compound transmission device for a tracked vehicle of the present invention.

图4为本发明履带车辆用四电机机电复合传动装置小半径转弯工况功率流示意图。FIG4 is a schematic diagram of power flow in a small radius turning condition of the four-motor electromechanical composite transmission device for a tracked vehicle according to the present invention.

图5为本发明履带车辆用四电机机电复合传动装置倒车工况功率流示意图。Figure 5 is a schematic diagram of the power flow of the four-motor electromechanical compound transmission device for tracked vehicles in reversing mode according to the present invention.

附图标记：1-电机控制模块；2-动力电池模块；3-发动机；4a、b-变速齿圈；5a、b-变速行星架；6a、b-变速太阳轮；7a、b-电机定子；8a、b-第一电机；9a、b-外齿圈；10a、b-定轴减速齿轮；11a、b-减速行星架；12a、b-制动器；13a、b-减速齿圈；14a、b-减速太阳轮；15a、b-太阳轮；16a、b-行星架；17a、b-齿圈；18a、b-制动器；19a、b-耦合输出轴；20a、b-太阳轮轴；21a、b-第二电机；22a、b-两挡变速太阳轮；23a、b-行星轮；24a、b-两挡变速齿圈；25a、b-同步器；26a、b-制动器；27a、b-输出构件；28a、b-行星轮；29a、b-行星轮；30a、b-行星轮。Reference symbols: 1-motor control module; 2-power battery module; 3-engine; 4a, b-speed gear ring gear; 5a, b-speed gear carrier; 6a, b-speed gear sun gear; 7a, b-motor stator ; 8a, b-first motor; 9a, b-external ring gear; 10a, b-fixed shaft reduction gear; 11a, b-reduction planet carrier; 12a, b-brake; 13a, b-reduction ring gear; 14a, b-reduction sun gear; 15a, b-sun gear; 16a, b-planet carrier; 17a, b-ring gear; 18a, b-brake; 19a, b-coupling output shaft; 20a, b-sun gear shaft; 21a, b-second motor; 22a, b-two-speed variable sun gear; 23a, b-planetary gear; 24a, b-two-speed variable ring gear; 25a, b-synchronizer; 26a, b-brake; 27a, b- Output member; 28a, b - planetary gear; 29a, b - planetary gear; 30a, b - planetary gear.

具体实施方式Detailed ways

以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需要说明的是，以下实施例中所提供的图示仅以示意方式说明本发明的基本构想，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. The following embodiments and the features in the embodiments can be combined with each other as long as there is no conflict.

其中，附图仅用于示例性说明，表示的仅是示意图，而非实物图，不能理解为对本发明的限制；为了更好地说明本发明的实施例，附图某些部件会有省略、放大或缩小，并不代表实际产品的尺寸；对本领域技术人员来说，附图中某些公知结构及其说明可能省略是可以理解的。The drawings are only for illustrative purposes, and represent only schematic diagrams rather than actual drawings, which cannot be understood as limitations of the present invention. In order to better illustrate the embodiments of the present invention, some components of the drawings will be omitted. The enlargement or reduction does not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

本发明实施例的附图中相同或相似的标号对应相同或相似的部件；在本发明的描述中，需要理解的是，若有术语“上”、“下”、“左”、“右”、“前”、“后”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此附图中描述位置关系的用语仅用于示例性说明，不能理解为对本发明的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。In the drawings of the embodiments of the present invention, the same or similar numbers correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms "upper", "lower", "left" and "right" The orientation or positional relationship indicated by "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must be It has a specific orientation and is constructed and operated in a specific orientation. Therefore, the terms describing the positional relationships in the drawings are only for illustrative purposes and cannot be understood as limitations of the present invention. For those of ordinary skill in the art, they can determine the specific position according to the specific orientation. Understand the specific meaning of the above terms.

请参阅图1，为一种履带车辆用四电机机电复合传动装置，包括发动机3以及呈左右对称设于发动机3两侧的两个双电机驱动系统，两个双电机驱动系统分别对应驱动两侧的履带机构；发动机3的两端连接有2个变速行星齿轮机构，两个双电机驱动系统分别通过变速行星齿轮机构与发动机3进行动力耦合；两个双电机驱动系统之间设置有差速行星齿轮耦合机构，两个双电机驱动系统通过差速行星齿轮耦合机构进行动力耦合。Please refer to Figure 1, which shows a four-motor electromechanical composite transmission device for a tracked vehicle, including an engine 3 and two dual-motor drive systems symmetrically arranged on both sides of the engine 3, the two dual-motor drive systems respectively corresponding to driving the track mechanisms on both sides; two variable speed planetary gear mechanisms are connected to both ends of the engine 3, and the two dual-motor drive systems are power coupled with the engine 3 through the variable speed planetary gear mechanisms; a differential planetary gear coupling mechanism is arranged between the two dual-motor drive systems, and the two dual-motor drive systems are power coupled through the differential planetary gear coupling mechanism.

还包括电机控制模块1、动力电池模块2；两个双电机驱动系统中的第一电机和第二电机21均与电机控制模块1和动力电池模块2连接；第一电机与第二电机21平行布置，定轴齿轮减速机构设于减速行星排与变速行星齿轮机构之间；两个双电机驱动系统中的第二电机21同轴布置。It also includes a motor control module 1 and a power battery module 2; the first motor and the second motor 21 in the two dual-motor drive systems are both connected to the motor control module 1 and the power battery module 2; the first motor and the second motor 21 are parallel The fixed-axis gear reduction mechanism is arranged between the reduction planetary row and the variable speed planetary gear mechanism; the second motor 21 in the two dual-motor drive systems is coaxially arranged.

由于两个双电机驱动系统为对称结构，因此在图中以a、b标记作为区分，以其中一个为例，进行详细结构介绍：Since the two dual-motor drive systems are symmetrical in structure, they are distinguished by a and b in the figure. Taking one of them as an example, the detailed structure is introduced:

双电机驱动系统包括第一电机8a、第二电机21a、减速行星排、定轴齿轮减速机构、两挡变速行星齿轮机构；第一电机8a、变速行星齿轮机构、定轴齿轮减速机构、减速行星排依次传动连接；第二电机21a、减速行星排连接、差速行星齿轮耦合机构、两挡变速行星齿轮机构依次传动连接；两挡变速行星齿轮机构与履带机构传动连接；第一电机8a与发动机3之间通过变速行星齿轮机构进行动力耦合，第二电机21a通过减速行星排与第一电机和/或发动机3进行动力耦合；两个双电机驱动系统中的减速行星排之间通过差速行星齿轮耦合机构进行动力耦合。The dual-motor drive system includes a first motor 8a, a second motor 21a, a reduction planetary gear, a fixed-axis gear reduction mechanism, and a two-speed variable-speed planetary gear mechanism; the first motor 8a, the variable-speed planetary gear mechanism, the fixed-axis gear reduction mechanism, and the reduction planetary gear are sequentially connected in transmission; the second motor 21a, the reduction planetary gear connection, the differential planetary gear coupling mechanism, and the two-speed variable-speed planetary gear mechanism are sequentially connected in transmission; the two-speed variable-speed planetary gear mechanism is transmission-connected to the track mechanism; the first motor 8a is power-coupled with the engine 3 through the variable-speed planetary gear mechanism, and the second motor 21a is power-coupled with the first motor and/or the engine 3 through the reduction planetary gear; the reduction planetary gears in the two dual-motor drive systems are power-coupled through the differential planetary gear coupling mechanism.

四个电机的结构相同，以第一电机8a为例，包括电机定子7a和电机转子。The four motors have the same structure. Taking the first motor 8a as an example, it includes a motor stator 7a and a motor rotor.

两挡变速行星齿轮机构包括两挡变速太阳轮22a、两挡变速行星架、两挡变速齿圈24a、制动器26a、同步器25a；耦合输出轴19a与两挡变速太阳轮22a连接，两挡变速行星架通过行星轮23a转动设于两挡变速齿圈24a内；两挡变速行星架上设置有输出构件27a，通过输出构件27a与履带机构传动连接；The two-speed planetary gear mechanism includes a two-speed sun gear 22a, a two-speed planet carrier, a two-speed ring gear 24a, a brake 26a, and a synchronizer 25a; the coupling output shaft 19a is connected to the two-speed sun gear 22a. The planet carrier rotates through the planet wheel 23a and is installed in the two-speed transmission ring gear 24a; the two-speed transmission planet carrier is provided with an output member 27a, which is drivingly connected to the crawler mechanism through the output member 27a;

两挡变速行星架5a与两挡变速太阳轮22a之间设置有同步器25a，并通过同步器25a切换实现两挡变速行星架与两挡变速太阳轮22a之间动力直接传递；两挡变速齿圈24a上设置有制动器26a，并通过制动器26a切换实现两挡变速齿圈24a的固定与自由旋转。A synchronizer 25a is provided between the two-gear transmission planet carrier 5a and the two-gear transmission sun gear 22a, and the direct transmission of power between the two-gear transmission planet carrier and the two-gear transmission sun gear 22a is realized through the switching of the synchronizer 25a; the two-gear transmission gear A brake 26a is provided on the ring 24a, and the two-speed gear ring gear 24a is fixed and freely rotated by switching the brake 26a.

减速行星排包括减速太阳轮14a、减速行星架11a、减速齿圈13a；用于对第一电机8a和第二电机21a进行减速增扭；The deceleration planet row includes a deceleration sun gear 14a, a deceleration planet carrier 11a, and a deceleration ring gear 13a; it is used to decelerate the first motor 8a and the second motor 21a and increase torque;

定轴齿轮减速机构与减速行星架11a啮合传动，减速行星架11a通过行星轮29a转动设于减速齿圈13a内，减速齿圈13a的两侧设置有制动器12a、18a；第二电机21a通过太阳轮轴20a与减速太阳轮14a连接；减速行星架11a与差速行星齿轮耦合机构中的太阳轮15a连接。The fixed-axis gear reduction mechanism meshes with the reduction planet carrier 11a for transmission. The reduction planet carrier 11a rotates through the planetary gear 29a and is installed in the reduction ring gear 13a. Brakes 12a and 18a are provided on both sides of the reduction ring gear 13a; the second motor 21a passes through the sun. The wheel shaft 20a is connected to the deceleration sun gear 14a; the deceleration planet carrier 11a is connected to the sun gear 15a in the differential planetary gear coupling mechanism.

变速行星齿轮机构包括变速太阳轮6a、变速行星架5a、变速齿圈4a；发动机3与变速行星架5a连接，变速行星架5a通过行星轮28a转动设于变速齿圈4a内，第一电机与变速太阳轮6a连接，变速齿圈4a与定轴齿轮减速机构啮合传动。The variable speed planetary gear mechanism includes a variable speed sun gear 6a, a variable speed planetary carrier 5a, and a variable speed ring gear 4a; the engine 3 is connected to the variable speed planetary carrier 5a, and the variable speed planetary carrier 5a is rotated in the variable speed ring gear 4a through the planetary gear 28a, and the first motor is connected to the variable speed planetary carrier 5a. The speed change sun gear 6a is connected, and the speed change ring gear 4a meshes with the fixed shaft gear reduction mechanism for transmission.

定轴齿轮减速机构包括定轴减速齿轮10a和外齿圈9a，外齿圈9a固定安装在变速齿圈4a上，并与定轴减速齿轮10a啮合传动，定轴减速齿轮10a同时与减速行星排啮合传动。The fixed-shaft gear reduction mechanism includes a fixed-shaft reduction gear 10a and an external ring gear 9a. The external ring gear 9a is fixedly installed on the speed change ring gear 4a and meshes with the fixed-shaft reduction gear 10a for transmission. The fixed-shaft reduction gear 10a is simultaneously connected with the reduction planetary gearbox Engagement transmission.

其中，差速行星齿轮耦合机构包括两个差速行星齿轮机构，两个差速行星齿轮机构中的行星架16a通过行星轮30a转动安装在齿圈17a中，行星架16b通过行星轮30b转动安装在齿圈17b中，其中，行星架16a与齿圈17b固定连接，行星架16b与齿圈17a固定连接。Among them, the differential planetary gear coupling mechanism includes two differential planetary gear mechanisms. The planet carrier 16a of the two differential planetary gear mechanisms is rotatably installed in the ring gear 17a through the planet gear 30a. The planet carrier 16b is rotatably installed through the planet gear 30b. In the ring gear 17b, the planet carrier 16a is fixedly connected to the ring gear 17b, and the planet carrier 16b is fixedly connected to the ring gear 17a.

减速行星排中的行星架16a与差速行星齿轮机构中的太阳轮15a连接；差速行星齿轮机构中的行星架16a上同时连接有耦合输出轴19a，并通过耦合输出轴19a与两挡变速行星齿轮机构的两挡变速太阳轮22a连接。The planet carrier 16a in the deceleration planet row is connected to the sun gear 15a in the differential planetary gear mechanism; the planet carrier 16a in the differential planetary gear mechanism is also connected to a coupling output shaft 19a, and is connected to the two-speed gearbox through the coupling output shaft 19a The two speed change sun gears 22a of the planetary gear mechanism are connected.

发动机3放置在传动系统的中心位置，可向两侧的变速行星齿轮机构输出动力，第一电机8a、第一电机21a在传动系统右侧，第二电机8b、第二电机21b在传动系统左侧，五个动力部件通过多排行星齿轮机构与两侧输出构件相连。The engine 3 is placed in the center of the transmission system and can output power to the variable speed planetary gear mechanisms on both sides. The first motor 8a and the first motor 21a are on the right side of the transmission system, and the second motor 8b and the second motor 21b are on the left side of the transmission system. On the other side, the five power components are connected to the output components on both sides through multi-row planetary gear mechanisms.

前动力链中，发动机3两侧输出的动力与两侧的第一电机8a、b耦合后，经固定减速比后与经减速后的第二电机21a、b进行动力耦合，经差速行星齿轮耦合机构和两挡变速行星齿轮机构后动力传动至两侧动力输出构件27a、b。In the front power chain, the power output from both sides of the engine 3 is coupled with the first motors 8a and b on both sides, and then is coupled with the decelerated second motors 21a and b through a fixed reduction ratio, and then through the differential planetary gear. After the coupling mechanism and the two-speed planetary gear mechanism, the power is transmitted to the power output components 27a and b on both sides.

履带车辆用四电机机电复合传动装置的工作模式根据工况进行相应控制，控制方式如表1所示：The working mode of the four-motor electromechanical composite transmission device for crawler vehicles is controlled accordingly according to the working conditions. The control method is shown in Table 1:

表1本发明的工作模式Table 1 Working mode of the present invention

停车工况：两个双电机驱动系统中的第一电机和第二电机均停止工作，所有制动器和离合器均分离，两挡变速行星齿轮机构处于空挡，发动机不工作，没有动力传递，整车处于停车或怠速工况。Parking conditions: The first motor and the second motor in the two dual-motor drive systems stop working, all brakes and clutches are separated, the two-speed planetary gear mechanism is in neutral, the engine does not work, there is no power transmission, and the entire vehicle is in Parking or idling conditions.

如图2所示，前进直驶工况：发动机3为整个系统提供动力，两个双电机驱动系统中的第一电机8a、b均处于发电状态，发动机3通过第一电机8a、b对动力电池模块2进行充电，第二电机21a、b均处于驱动状态，当低速行驶时，同步器25a、b分离，制动器26a、b结合，通过两侧输出构件27a、b输出动力。当高速行驶时，同步器25a、b结合，制动器26a、b分离，输出轴19a、b通过同步器25a、b与两侧输出构件27a、b连接，直接输出动力。As shown in Figure 2, forward straight driving condition: the engine 3 provides power for the entire system, the first motors 8a and b in the two dual-motor drive systems are both in the power generation state, the engine 3 charges the power battery module 2 through the first motors 8a and b, and the second motors 21a and b are both in the driving state. When driving at low speed, the synchronizers 25a and b are separated, the brakes 26a and b are engaged, and the power is output through the output components 27a and b on both sides. When driving at high speed, the synchronizers 25a and b are engaged, the brakes 26a and b are separated, and the output shafts 19a and b are connected to the output components 27a and b on both sides through the synchronizers 25a and b to directly output power.

如图3所示，中心转向工况：第一电机8a与第二电机21b均处于发电状态，第一电机8b与第二电机21a均处于驱动状态；发动机3通过第一电机8a与第二电机21b对电池动力模块2进行充电。当低速行驶时，同步器25a分离，制动器26a结合，两挡变速太阳轮22a与行星轮23a连接，通过输出构件27a输出动力。当高速行驶时，同步器25a结合，制动器26a分离，耦合输出轴19a通过同步器25a与输出构件27a连接，直接输出动力。电机控制模块1驱动第一电机8b与第二电机21a，发动机3反拖第一电机8a与第二电机21b。As shown in Figure 3, the center steering working condition: the first motor 8a and the second motor 21b are both in the power generation state, the first motor 8b and the second motor 21a are both in the driving state; the engine 3 passes through the first motor 8a and the second motor 21b charges the battery power module 2. When running at low speed, the synchronizer 25a is disengaged, the brake 26a is engaged, the two-speed transmission sun gear 22a is connected to the planetary gear 23a, and power is output through the output member 27a. When traveling at high speed, the synchronizer 25a is engaged, the brake 26a is disengaged, and the coupling output shaft 19a is connected to the output member 27a through the synchronizer 25a to directly output power. The motor control module 1 drives the first motor 8b and the second motor 21a, and the engine 3 reversely drags the first motor 8a and the second motor 21b.

如图4所示，小半径转向工况：第一电机8a与第二电机21a均处于驱动状态，第一电机8b与第二电机21b均处于发电状态；发动机3通过处于发电状态的第一电机8b与第二电机21b对电池动力模块2进行充电。当低速行驶时，同步器25a分离，制动器26a结合，两挡变速太阳轮22a与行星轮23a连接，通过输出构件27a输出动力。当高速行驶时，同步器25a结合，制动器26a分离，耦合输出轴19a通过同步器25a与输出构件27a连接，直接输出动力。As shown in Figure 4, small radius steering conditions: the first motor 8a and the second motor 21a are both in the driving state, the first motor 8b and the second motor 21b are both in the power generation state; the engine 3 passes through the first motor in the power generation state. 8b and the second motor 21b charge the battery power module 2. When running at low speed, the synchronizer 25a is disengaged, the brake 26a is engaged, the two-speed transmission sun gear 22a is connected to the planetary gear 23a, and power is output through the output member 27a. When traveling at high speed, the synchronizer 25a is engaged, the brake 26a is disengaged, and the coupling output shaft 19a is connected to the output member 27a through the synchronizer 25a to directly output power.

如图5所示，倒车工况：第一电机8a、b均处于驱动状态，第二电机21a、b均处于发电状态，发动机3通过第二电机21a、b对动力电池模块2进行充电。当低速行驶时，同步器25a、b分离，制动器26a、b结合，两挡变速太阳轮22a、b与行星轮23a、b连接，通过输出构件27a、b输出动力。当高速行驶时，同步器25a、b结合，制动器26a、b分离，输出轴19a、b通过同步器25a、b与输出构件27a、b连接，直接输出动力。As shown in Figure 5, the reverse working condition: the first motors 8a and b are both in the driving state, the second motors 21a and b are both in the power generation state, and the engine 3 charges the power battery module 2 through the second motors 21a and b. When running at low speed, the synchronizers 25a and b are separated, the brakes 26a and b are combined, the two-speed variable speed sun gear 22a and b are connected to the planetary gears 23a and b, and power is output through the output members 27a and b. When traveling at high speed, the synchronizers 25a and b are combined, the brakes 26a and b are separated, and the output shafts 19a and b are connected to the output members 27a and b through the synchronizers 25a and b to directly output power.

最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified. Modifications or equivalent substitutions without departing from the purpose and scope of the technical solution shall be included in the scope of the claims of the present invention.

Claims (9)

1. The utility model provides a four motor electromechanical composite transmission for tracked vehicle which characterized in that: the crawler belt mechanism comprises an engine and two double-motor driving systems which are symmetrically arranged on two sides of the engine, wherein the two double-motor driving systems respectively and correspondingly drive crawler belt mechanisms on two sides;
two ends of the engine are connected with 2 speed-changing planetary gear mechanisms, and the two double-motor driving systems are respectively in power coupling with the engine through the speed-changing planetary gear mechanisms; and a differential planetary gear coupling mechanism is arranged between the two double-motor driving systems, and the two double-motor driving systems are in power coupling through the differential planetary gear coupling mechanism.
2. The four-motor electromechanical compound transmission for a tracked vehicle of claim 1, wherein: the double-motor driving system comprises a first motor, a second motor, a speed reduction planetary row, a fixed shaft gear speed reduction mechanism and a two-gear speed change planetary gear mechanism;
the first motor, the variable speed planetary gear mechanism, the fixed shaft gear speed reducing mechanism and the speed reducing planetary row are sequentially in transmission connection; the second motor, the speed reduction planetary row are connected, the differential planetary gear coupling mechanism and the two-gear speed change planetary gear mechanism are sequentially in transmission connection; the two-gear speed-changing planetary gear mechanism is in transmission connection with the crawler mechanism; the first motor is in power coupling with the engine through a speed-changing planetary gear mechanism, and the second motor is in power coupling with the first motor and/or the engine through a speed-reducing planetary gear;
and the two decelerating planetary rows in the two double-motor driving systems are in power coupling through a differential planetary gear coupling mechanism.
3. The four-motor electromechanical compound transmission for a tracked vehicle of claim 2, wherein: the motor control module and the power battery module are also included; the first motor and the second motor in the two double-motor driving systems are connected with the motor control module and the power battery module;
the first motor and the second motor are arranged in parallel, and the fixed-axis gear reduction mechanism is arranged between the speed reduction planetary gear row and the speed change planetary gear mechanism; the second motor of the two dual motor drive systems is coaxially arranged.
4. The four-motor electromechanical compound transmission for a tracked vehicle of claim 2, wherein: the differential planetary gear coupling mechanism comprises two differential planetary gear mechanisms, wherein a planet carrier in the two differential planetary gear mechanisms is in cross connection with a gear ring, namely, the planet carrier of any one differential planetary gear mechanism is fixedly connected with the gear ring of the other differential planetary gear mechanism;
the speed reduction planetary row is connected with a sun gear in the differential planetary gear mechanism; and a planet carrier in the differential planetary gear mechanism is connected with a coupling output shaft and is connected with the two-gear speed-changing planetary gear mechanism through the coupling output shaft.
5. The four-motor electromechanical compound transmission for a tracked vehicle of claim 4, wherein: the two-gear speed-changing planetary gear mechanism comprises a two-gear speed-changing sun gear, a two-gear speed-changing planetary carrier, a two-gear speed-changing gear ring, a brake and a synchronizer; the coupling output shaft is connected with a two-gear speed change sun gear, and the two-gear speed change planet carrier is rotationally arranged in the two-gear speed change gear ring through a planet gear; the two-gear speed-changing planet carrier is provided with an output member which is in transmission connection with the crawler mechanism;
the synchronizer is arranged between the two-gear speed changing planet carrier and the two-gear speed changing sun gear, and the direct power transmission between the two-gear speed changing planet carrier and the two-gear speed changing sun gear is realized through the switching of the synchronizer; the two-gear speed change gear ring is provided with the brake, and the two-gear speed change gear ring is fixed and freely rotated through the switching of the brake.
6. The four-motor electromechanical compound transmission for a tracked vehicle of claim 2, wherein: the speed reduction planetary row comprises a speed reduction sun gear, a speed reduction planetary carrier and a speed reduction gear ring; the motor is used for decelerating and increasing the torque of the first motor and the second motor;
the fixed-axis gear speed reducing mechanism is in meshed transmission with a speed reducing planet carrier, the speed reducing planet carrier is arranged in a speed reducing gear ring in a rotating mode through a planet wheel, and brakes are arranged on two sides of the speed reducing gear ring; the second motor is connected with the speed reduction sun gear; the reduction planet carrier is connected with a sun gear in the differential planet gear coupling mechanism.
7. The four-motor electromechanical compound transmission for a tracked vehicle of claim 2, wherein: the speed-changing planetary gear mechanism comprises a speed-changing sun gear, a speed-changing planet carrier and a speed-changing gear ring; the engine is connected with a speed-changing planet carrier, the speed-changing planet carrier is arranged in a speed-changing gear ring in a rotating mode through a planet wheel, the first motor is connected with a speed-changing sun wheel, and the speed-changing gear ring is meshed with a fixed-shaft gear speed-reducing mechanism for transmission.
8. The four-motor electromechanical compound transmission for a tracked vehicle of claim 7, wherein: the fixed shaft gear speed reducing mechanism comprises a fixed shaft speed reducing gear and an outer gear ring, wherein the outer gear ring is fixedly arranged on the speed changing gear ring and is meshed with the fixed shaft speed reducing gear for transmission, and the fixed shaft speed reducing gear is meshed with the speed reducing planetary gear row for transmission.
9. The four-motor electromechanical compound transmission for a tracked vehicle of claim 5, wherein: the working mode of the four-motor electromechanical compound transmission device for the tracked vehicle is correspondingly controlled according to working conditions, and the control mode is as follows:
parking conditions: the first motor and the second motor in the two double-motor driving systems stop working, all the brakes and the clutches are separated, the two-gear speed-changing planetary gear mechanism is in neutral gear, the engine does not work, no power is transmitted, and the whole vehicle is in a parking or idling working condition;
forward straight running condition: the first motors in the two double-motor driving systems are in a power generation state, the engine charges the power battery module through the two first motors, the two second motors are in a driving state, and when a brake in the two-gear speed change planetary gear mechanism is combined and a synchronizer is separated, the two-gear speed change planetary gear mechanism is in a low gear and runs at a low speed; when the brake in the two-gear speed-changing planetary gear mechanism is separated and the synchronizer is combined, the two-gear speed-changing planetary gear mechanism is in a high gear and runs at a high speed;
reversing running conditions: the two-gear speed-changing planetary gear mechanism is in a low gear and runs at a low speed when a brake in the two-gear speed-changing planetary gear mechanism is combined and a synchronizer is separated; when the brake in the two-gear speed-changing planetary gear mechanism is separated and the synchronizer is combined, the two-gear speed-changing planetary gear mechanism is in a high gear and runs at a high speed;
small radius steering conditions: the first motor and the second motor in one double-motor driving system are in a power generation state, and the first motor and the second motor in the other double-motor driving system are in a driving state; the engine charges the battery power module through the first motor and the second motor which are in a power generation state; when the brake in the two-gear speed changing planetary gear mechanism is combined and the synchronizer is separated, the two-gear speed changing planetary gear mechanism is in a low gear and turns at a low speed; when a brake in the two-gear speed changing planetary gear mechanism is separated and a synchronizer is combined, the two-gear speed changing planetary gear mechanism is in a high gear and turns at a high speed;
center steering conditions: the first motor in one double-motor driving system and the second motor in the other double-motor driving system are both in a power generation state, and the other first motor and the second motor are both in a driving state; the engine charges the battery power module through the first motor and the second motor which are in a power generation state; when the brake in the two-gear speed changing planetary gear mechanism is combined and the synchronizer is separated, the two-gear speed changing planetary gear mechanism is in a low gear and turns at a low speed; when the brake in the two-gear speed changing planetary gear mechanism is separated and the synchronizer is combined, the two-gear speed changing planetary gear mechanism is in a high gear and turns at a high speed.
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JPH0642607A (en) * 1992-07-21 1994-02-18 Komatsu Ltd Transmission steering device for tracked vehicle
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