Power back and flow transmission system for tracked platforms

Abstract

The application discloses a power backflow and confluence transmission system for a tracked platform, which comprises a gearbox, a differential motor, a differential gear ring, a left sun gear, a right sun gear, a planetary gear and a reverse mechanism; the differential gear ring, the left sun gear and the right sun gear are coaxially connected to the gearbox, the planetary gear is rotationally connected to the differential gear ring, and the left sun gear and the right sun gear are symmetrically engaged on the two sides of the planetary gear; the differential motor is connected in transmission with the differential gear ring, the left sun gear is connected with a left electric transmission mechanism, and the right sun gear is connected with a right electric transmission mechanism in sequence. The application is applied to the field of engineering machinery, simplifies the structure, and can realize dynamic adjustment of backflow power, can dynamically change the output power by adjusting the output torque of the differential motor according to the characteristics that the differential bevel gear in the differential axle has a large reverse force and is equal to half of the output force of the intermediate differential motor, and realizes efficient differential control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and particularly relates to a power backflow and confluence transmission system for a tracked platform. BACKGROUND

[0002] The electric vehicle can fully utilize the advantages of each power source, and can reduce fuel consumption and emission without reducing the performance of the vehicle. Compared with the traditional mechanical transmission mode, the electric drive technology has many advantages in improving the vehicle maneuverability, including realizing stepless speed change, stepless steering at any radius, high acceleration, and no shift impact and vibration of the mechanical transmission, and regenerative braking energy feedback. In addition, the power transmission system is flexible in arrangement, and can also provide sufficient electric energy supply for other systems of the vehicle. Therefore, from the perspectives of energy crisis, environmental pollution, energy saving and environmental protection requirements for vehicle driving, high maneuverability requirements of modern vehicles, and development cycle of transmission technology updating, developing the electric drive technology for tracked vehicles becomes an important direction.

[0003] With the development of core key component technologies such as power electronics technology, control technology, high-power permanent magnet synchronous motor, and high-performance battery, electric transmission is applied to tracked vehicles more and more. The tracked vehicle is generally heavier than the wheeled vehicle, the space on the vehicle is narrow, and the transmission function is multiple, so the power index, power volume ratio, and power weight ratio of the components such as the motor and the battery are very high. How to organically integrate the motor and the machine under the premise of limited component technology level, meet the arrangement requirements of the electric transmission system on the vehicle, and realize the functions such as power transmission, speed change, steering, braking, and control of the tracked vehicle is very important. At present, the electric transmission technology will develop towards the direction of compactness, integration, light weight, and transmission diversification. Therefore, many research works have been carried out at home and abroad. In the past, the electric transmission technology was mainly classified into four basic schemes as shown in the following table. Figures 1-4

[0004] REFERENCE Figure 1 The first existing scheme of the electric transmission technology is as follows: in the scheme, the engine drives the generator to generate power, the power control unit supplies power to the left and right traction motors of the vehicle, the traction motors drive the left and right drive wheels to realize straight driving, and when steering, the traction motors on the left and right sides generate a speed difference to realize steering.

[0005] REFERENCE Figure 2 The second existing scheme of the electric transmission technology is as follows: in the scheme, the engine drives the generator to generate power, and supplies power to the straight driving traction motor, the straight driving traction motor drives the left and right drive wheels through the speed change mechanism and the side transmission to realize straight driving, and when steering, the steering motor drives the confluence rail to form a speed difference at the output end to realize steering.

[0006] REFERENCE Figure 3 ​The third scheme is the existing scheme of electric drive technology: the main difference between the third scheme and the second scheme is that the driving traction motor changes from single to left and right two;

[0007] Reference Figure 4 The fourth scheme is the existing scheme of electric drive technology: in the first three schemes, the energy of the traction motor is provided by the generator, the driving power of the fourth scheme is composed of two parallel paths, one path is provided by the engine to directly drive the mechanical structure, the other path is provided by the engine to drive the generator, and then the electric energy is provided to the motor drive, and the two paths jointly drive the vehicle to run, and when steering, the same as the structure schemes two and three.

[0008] In order to solve the problem of power backflow in the steering process of the electric drive tracked vehicle, the mechanical structure is coupled with the left and right driving motors, which is a good solution. From the above four existing schemes, it can be seen that most of the existing mechanical coupling power backflow devices use planetary gear mechanism, but the planetary gear mechanism has the problems of complex structure, high cost and heavy weight. SUMMARY

[0009] In view of the deficiencies in the prior art, the present application provides a power backflow and confluence transmission system for a tracked platform, which not only simplifies the system structure, but also realizes dynamic adjustment of the backflow power.

[0010] To achieve the above object, the present application provides a power backflow and confluence transmission system for a tracked platform, comprising a left electric drive mechanism and a right electric drive mechanism, further comprising a case, a differential motor, a differential gear ring, a left sun gear, a right sun gear, a planetary gear and a reverse mechanism;

[0011] The differential gear ring, the left sun gear and the right sun gear are coaxially connected to the case, the planetary gear is rotatably connected to the differential gear ring, and the left sun gear and the right sun gear are symmetrically engaged on both sides of the planetary gear;

[0012] The differential motor is connected in transmission with the differential gear ring, the left sun gear is connected with the left electric drive mechanism, and the right sun gear is connected with the right electric drive mechanism in sequence.

[0013] In one embodiment, the right end of the differential gear ring is provided with a support plate extending to the right;

[0014] A support shaft is rotatably connected to the support plate, and the support shaft is perpendicular to the rotation shaft of the differential gear ring, and the planetary gear is fixedly connected to the support shaft.

[0015] In one embodiment, the output end of the differential motor is provided with a first transmission gear, the differential gear ring is provided with a gear ring, and the first transmission gear is engaged with the gear ring.

[0016] In one of the embodiments, the power return and confluence transmission system further comprises a first transmission shaft, a second transmission shaft and a third transmission shaft coaxially connected to the casing, and the first transmission shaft is coaxial with the differential gear ring;

[0017] The left electric transmission mechanism comprises a left drive motor, a left motor output shaft and a left drive wheel connected in sequence, and the right electric transmission mechanism comprises a right drive motor, a right motor output shaft and a right drive wheel connected in sequence;

[0018] One end of the first transmission shaft is connected to the left sun gear, and the other end of the first transmission shaft is connected to the left drive motor, one end of the second transmission shaft is connected to the right sun gear, and the other end of the second transmission shaft is connected to one end of the third transmission shaft through a reverse mechanism, and the other end of the third transmission shaft is connected to the right drive motor.

[0019] In one of the embodiments, the reverse mechanism comprises a first bevel gear, a second bevel gear and two third bevel gears;

[0020] The two third bevel gears are symmetrically connected to the casing, and the rotation axis is perpendicular to the second transmission shaft, and the first bevel gear and the second bevel gear are symmetrically meshed on both sides of the third bevel gear;

[0021] The second bevel gear is connected to the end of the second transmission shaft, and the third bevel gear is connected to the end of the third transmission shaft.

[0022] In one of the embodiments, the left electric transmission mechanism comprises a left drive motor, a left drive wheel, a second transmission gear, a third transmission gear and a fourth transmission gear;

[0023] The second transmission gear is fixedly connected to the output end of the left drive motor, the third transmission gear is connected to the left sun gear through a fourth transmission shaft, and the fourth transmission gear is connected to the left drive wheel through a fifth transmission shaft;

[0024] The second transmission gear and the fourth transmission gear are symmetrically meshed on both sides of the third transmission gear.

[0025] In one of the embodiments, the right electric transmission mechanism comprises a right drive motor, a right drive wheel, a fifth transmission gear, a sixth transmission gear and a seventh transmission gear;

[0026] The fifth transmission gear is fixedly connected to the output end of the right drive motor, the sixth transmission gear is connected to the right drive wheel through a sixth transmission shaft, and the seventh transmission gear is connected to the right sun gear through a seventh transmission shaft.

[0027] The seventh transmission gear and the sixth transmission gear are symmetrically engaged on both sides of the fifth transmission gear.

[0028] The power backflow and confluence transmission system for the tracked platform provided by the application ingeniously uses a reverse mechanism and a differential bridge to realize the mechanism coupling and power backflow between the left electric transmission mechanism and the right electric transmission mechanism. Not only the planetary gear mechanism structure is greatly simplified, but also the dynamic adjustment of the backflow power is realized. According to the characteristics that the force of the differential bevel gear in the differential bridge is equal in magnitude and opposite in direction, and the force output by the differential motor is equal to half of the force output by the intermediate differential motor, the output power can be dynamically changed by adjusting the output torque of the differential motor, and the high-efficiency differential control is realized. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in the drawings without creative labor.

[0030] Figure 1 It is a schematic diagram of the principle of the prior art scheme one;

[0031] Figure 2 It is a schematic diagram of the principle of the prior art scheme two;

[0032] Figure 3 It is a schematic diagram of the principle of the prior art scheme three;

[0033] Figure 4 It is a schematic diagram of the principle of the prior art scheme four;

[0034] Figure 5 It is a schematic diagram of the structure principle of the power backflow and confluence transmission system in the embodiment 1 of the application;

[0035] Figure 6 It is a working principle diagram of the power backflow and confluence transmission system in the embodiment 1-2 of the application under the following conditions;

[0036] Figure 7 It is a working principle diagram of the power backflow and confluence transmission system in the embodiment 1-2 of the application under the following conditions;

[0037] Figure 8 It is a schematic diagram of the structure principle of the power backflow and confluence transmission system in the embodiment 2 of the application.

[0038] Corresponding reference signs:

[0039] The gearbox 1, the first transmission shaft 101, the second transmission shaft 102, the third transmission shaft 103, the fourth transmission shaft 104, the fifth transmission shaft 105, the sixth transmission shaft 106, and the seventh transmission shaft 107;

[0040] The differential motor 2 and the first transmission gear 201;

[0041] The differential ring gear 3, the support plate 301, the support shaft 302, and the ring gear 303;

[0042] The left sun gear 4, the right sun gear 5, and the planet gear 6;

[0043] The left drive motor 701, the left drive wheel 702, the left motor output shaft 703, the second transmission gear 704, the third transmission gear 705, and the fourth transmission gear 706;

[0044] The right drive motor 801, the right drive wheel 802, the right motor output shaft 803, the fifth transmission gear 804, the sixth transmission gear 805, and the seventh transmission gear 806;

[0045] The first bevel gear 901, the second bevel gear 902, and the third bevel gear 903.

[0046] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0048] It should be noted that all the directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0049] In addition, the description such as “first”, “second” and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first”, “second” can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of “multiple” is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0050] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixing", and the like should be understood broadly, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection, or physical connection, or wireless communication connection; can be direct connection, or indirect connection through intermediate medium, can be internal communication of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0051] In addition, the technical solutions among various embodiments of the present application can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection required by the present application.

[0052] Embodiment 1

[0053] As Figure 5 It is a power backflow and confluence transmission system for a tracked platform, which mainly comprises a left electric transmission mechanism, a right electric transmission mechanism, a casing 1, a differential motor 2, a differential ring gear 3, a left sun gear 4, a right sun gear 5, a planetary gear 6 and a reverse mechanism.

[0054] The differential ring gear 3, the left sun gear 4 and the right sun gear 5 are rotatably connected to the casing 1 through bearings, and rotate around the same central shaft. The right end of the differential ring gear 3 is provided with support plates 301 extending to the right on the upper side and the lower side, which are parallel to the central shaft. The support plates 301 are rotatably connected to support shafts 302 through bearings, and the support shafts 302 are perpendicular to the central shaft. The planetary gears 6 are two in number and correspond to the support shafts 302 one by one, and the planetary gears 6 are fixedly connected to the ends of the corresponding support shafts 302, that is, the planetary gears 6 and the differential ring gear 3 can rotate relative to each other, transmit motion and power, and the left sun gear 4 and the right sun gear 5 are symmetrically engaged on both sides of the planetary gears 6. The differential motor 2 is fixedly arranged on the casing 1, and a first transmission gear 201 is arranged on the output end of the differential motor 2, and a gear ring 303 is arranged on the differential ring gear 3, and the first transmission gear 201 is engaged with the gear ring 303.

[0055] In the embodiment, the left electric transmission mechanism comprises a left driving motor 701, a left motor output shaft 703 and a left driving wheel 702, and the right electric transmission mechanism comprises a right driving motor 801, a right motor output shaft 803 and a right driving wheel 802, wherein the left motor output shaft 703 and the right motor output shaft 803 are coaxial with the central shaft. The left driving motor 701 is connected with the left driving wheel 702 through the left motor output shaft 703 to realize left power output. The right driving motor 801 is connected with the right driving wheel 802 through the right motor output shaft 803 to realize right power output.

[0056] The left sun gear 4 is connected with the left electric transmission mechanism, and the right sun gear 5 is connected with the right electric transmission mechanism in sequence. The first transmission shaft 101, the second transmission shaft 102 and the third transmission shaft 103 are also rotatably connected to the casing 1 through bearings, and the first transmission shaft 101, the second transmission shaft 102 and the third transmission shaft 103 are coaxial with the central shaft.

[0057] In the specific implementation process, one end of the first transmission shaft 101 is fixedly connected with the central position of the left end of the left sun gear 4 through welding or key connection, and the other end of the first transmission shaft 101 is fixedly connected with the left driving motor 701 through bolt connection, and the first transmission shaft 101 is coaxial with the output shaft of the left driving motor 701.

[0058] The right transmission system is similar to the left one, except that a reverse mechanism is additionally arranged in the right transmission system to make the rotations of the second transmission shaft 102 and the third transmission shaft 103 equal and opposite. Specifically, the reverse mechanism comprises a first bevel gear 901, a second bevel gear 902 and two third bevel gears 903. The two third bevel gears 903 are symmetrically transmissionally connected to the casing 1 through bearings, and the rotation axes of the third bevel gears 903 are perpendicular to the second transmission shaft 102 and the third transmission shaft 103, and the first bevel gear 901 and the second bevel gear 902 are symmetrically meshed on the two sides of the third bevel gear 903. One end of the second transmission shaft 102 is fixedly connected with the central position of the right end of the right sun gear 5 through welding or key connection, the other end of the second transmission shaft 102 is fixedly connected with the central position of the left end of the first bevel gear 901 through welding or key connection, one end of the third transmission shaft 103 is fixedly connected with the central position of the right end of the second bevel gear 902 through welding or key connection, and the other end of the third transmission shaft 103 is connected with the right driving motor 801, and the third transmission shaft 103 is coaxial with the output shaft of the right driving motor 801.

[0059] In the embodiment, the working principle of the power backflow and confluence transmission system is as follows:

[0060] When the track platform advances and retreats, the speeds of the two tracks are basically consistent, that is, the left driving wheel 702 and the right driving wheel 802 rotate in the same direction at the same speed under the driving of the left driving motor 701 and the right driving motor 801 respectively, at this time, the left sun gear 4 and the right sun gear 5 rotate in opposite directions at high speed, the differential motor 2 works in a follow-up state, the torque of the differential motor 2 is zero, at the same time, the planetary gear 6 rotates around the support shaft 302 at high speed at this time, and does not transmit power.

[0061] When the track platform turns, the speeds of the left and right tracks are inconsistent, that is, the left driving wheel 702 and the right driving wheel 802 rotate in the same direction at different speeds under the driving of the left driving motor 701 and the right driving motor 801 respectively. At this time, the left sun gear 4 and the right sun gear 5 rotate in opposite directions, but the speeds are inconsistent, under the driving of the left sun gear 4 and the right sun gear 5, the planetary gear 6 starts to rotate around the central shaft. If the differential motor 2 works in a follow-up state at this time, there is no torque transmission between the left driving motor 701 and the right driving motor 801, and the turning torque of the track platform is the torque difference between the left driving motor 701 and the right driving motor 801. If a torque is set for the differential motor 2 at this time, the force conditions of the left sun gear 4, the right sun gear 5 and the planetary gear 6 can be represented as Figures 6-7 indicated;

[0062] The torque acting on the planetary gear 6 is replaced by an equivalent force, assuming that the torque acting on the left sun gear 4 and the right sun gear 5 is perpendicular to the plane outward, at this time, the force acting on the rotating shaft of the planetary gear 6 is perpendicular to the paper outward, which can be specifically divided into Figure 6 and Figure 7 Two cases:

[0063] Reference Figure 6 Case one: the speed of the left track is greater than that of the right track, the force on the left sun gear 4 is opposite to its rotation direction, doing negative work, the force on the planetary gear 6 is the same as its rotation direction, doing positive work, the force on the right sun gear 5 is the same as its rotation direction, doing positive work. The power is transmitted from the left sun gear 4 to the right sun gear 5. At this time, the rotation speeds of the left sun gear 4, the right sun gear 5 and the planetary gear 6 satisfy the following relationship:

[0064] v l +v r =2v s

[0065] In the formula, v l is the rotation speed of the left sun gear 4, v r is the rotation speed of the right sun gear 5, and v s is the rotation speed of the planetary gear 6.

[0066] The forces on the left sun gear 4, the right sun gear 5 and the planetary gear 6 satisfy the following relationship:

[0067] F l +F r =F s

[0068] F l =F r

[0069] In the formula, F l is the equivalent force of the left sun gear 4, F r is the equivalent force of the right sun gear 5, and F s is the equivalent force of the planet gear 6.

[0070] Then the power of the left sun gear 4, the right sun gear 5 and the planet gear 6 has the following relationship:

[0071] p l +p r =p s

[0072] In the formula, p l is the power of the left sun gear 4, p r is the power of the right sun gear 5, and p s is the power of the planet gear 6.

[0073] The above formula shows that the sum of the power of the left sun gear 4 and the right sun gear 5 is equal to the power of the steering motor.

[0074] In the limit case, when the speed of one side track is zero, the side track does not do work, and the steering torque is T turn =T l +T s .

[0075] Reference Figure 7 is case two: the speed of the left track is less than the speed of the right track. This case is similar to case one, and the only difference is that the direction of the steering of the tracked platform is different, so it is not repeated here.

[0076] In summary, the embodiment is designed to solve the problem of large steering torque required by tracked vehicles. The double-sided power mechanical coupling device based on the coupling mechanism of bevel gear differential is more simple and reliable than the existing mechanical power backflow device which mainly uses the planetary gear 6 system. Meanwhile, the embodiment skillfully uses the characteristics of equal torque of the left and right output shafts of the bevel gear differential. On the basis of the original, a reverse mechanism is added to one side of the differential, which skillfully changes the output characteristics of the differential. When the differential motor 2 outputs, the optimized bevel gear differential has two shafts with equal and opposite torque. It is equivalent to reducing the power on one side, and achieving the purpose of increasing the power on the other side through mechanical backflow. At the same time, the power backflow and confluence transmission system in the embodiment uses three motors (left drive motor 701, right drive motor 801, differential motor 2), which has the mode of three motors working together, and has the characteristics of power backflow and power superposition, which can effectively improve the output torque of the transmission system, fully utilize the capacity of each motor, and improve the overall energy utilization rate.

[0077] Embodiment 2

[0078] As Figure 8 shown is a power backflow and confluence transmission system for a tracked platform, which mainly includes a left electric transmission mechanism, a right electric transmission mechanism, a gearbox 1, a differential motor 2, a differential gear ring 3, a left sun gear 4, a right sun gear 5, a planetary gear 6 and a reverse mechanism.

[0079] The differential gear ring 3, the left sun gear 4 and the right sun gear 5 are rotatably connected to the gearbox 1 by bearings, and rotate around the same center shaft. The right end of the differential gear ring 3 is provided with support plates 301 extending to the right on the upper and lower sides, which are parallel to the center shaft. Two support plates 301 are rotatably connected to support shafts 302 by bearings, and the support shafts 302 are perpendicular to the center shaft. The number of planetary gears 6 is two and corresponds to the support shafts 302 one by one, and the planetary gears 6 are fixedly connected to the ends of the corresponding support shafts 302, i.e. the planetary gears 6 and the differential gear ring 3 can rotate relatively to transmit motion and power, and the left sun gear 4 and the right sun gear 5 are symmetrically engaged on both sides of the planetary gear 6. The differential motor 2 is fixedly arranged on the gearbox 1, and the output end of the differential motor 2 is provided with a first transmission gear 201, and the differential gear ring 3 is provided with a gear ring 303, and the first transmission gear 201 is engaged with the gear ring 303.

[0080] In this embodiment, the left electric transmission mechanism includes a left drive motor 701, a left drive wheel 702, a second transmission gear 704, a third transmission gear 705 and a fourth transmission gear 706. The second transmission gear 704 is fixedly connected on the output end of the left drive motor 701 by welding or key connection. The third transmission gear 705 is connected with the left sun gear 4 through a fourth transmission shaft 104. Specifically, the fourth transmission shaft 104 is rotatably connected on the machine case 1 through a bearing and coaxial with the central shaft. One end of the fourth transmission shaft 104 is fixedly connected with the central position of the left side end of the left sun gear 4 by welding or key connection, and the other end is fixedly connected with the central position of the third transmission gear 705 by welding or key connection. The second transmission gear 704 and the fourth transmission gear 706 are engaged on both sides of the third transmission gear 705. The fourth transmission gear 706 is connected with the left drive wheel 702 through a fifth transmission shaft 105. Specifically, the fifth transmission shaft 105 is rotatably connected on the machine case 1 through a bearing. One end of the fifth transmission shaft 105 is fixedly connected with the central position of the fourth transmission gear 706 by welding or key connection, and the other end is fixedly connected with the central position of the left drive wheel 702 by welding or key connection.

[0081] In this embodiment, the right electric transmission mechanism includes a right drive motor 801, a right drive wheel 802, a fifth transmission gear 804, a sixth transmission gear 805 and a seventh transmission gear 806. The fifth transmission gear 804 is fixedly connected on the output end of the right drive motor 801 by welding or key connection. The sixth transmission gear 805 is connected with the right drive wheel 802 through a sixth transmission shaft 106. Specifically, the sixth transmission shaft 106 is rotatably connected on the machine case 1 through a bearing. One end of the sixth transmission shaft 106 is fixedly connected with the central position of the right drive wheel 802 by welding or key connection, and the other end is fixedly connected with the central position of the sixth transmission gear 805 by welding or key connection. The seventh transmission gear 806 and the sixth transmission gear 805 are symmetrically engaged on both sides of the fifth transmission gear 804. The seventh transmission gear 806 is connected with the right sun gear 5 through a seventh transmission shaft 107. Specifically, the seventh transmission shaft 107 is rotatably connected on the machine case 1 through a bearing and coaxial with the central shaft. One end of the seventh transmission shaft 107 is fixedly connected with the central position of the seventh transmission gear 806 by welding or key connection, and the other end is fixedly connected with the central position of the right side end of the right sun gear 5 by welding or key connection.

[0082] In this embodiment, the working principle of the power backflow and confluence transmission system is the same as that of embodiment 1, and thus the same will not be described herein.

[0083] The power return and confluence transmission system of the embodiment is simpler and more reliable than the existing mechanical power return device, and uses a planetary gear 6 system structure scheme. The output characteristics of the differential are ingeniously changed. When the differential motor 2 outputs, the two shaft output torques of the optimized bevel gear differential are equal and opposite. It is equivalent to reducing the power on one side, and achieving the purpose of increasing the power on the other side through mechanical return. At the same time, the power return and confluence transmission system in the embodiment uses three motors (left drive motor 701, right drive motor 801, differential motor 2), has a mode of common output of the three motors, has the characteristics of power return and power superposition, can effectively improve the output torque of the transmission system, fully exert the capacity of each motor, and improve the overall energy utilization rate.

[0084] The above only describes the preferred embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like made under the inventive concept of the present application, using the content of the present application specification and drawings, is included in the patent protection scope of the present application.

Claims

1. A power regenerative and converging drive system for a tracked platform comprising a left side electric drive mechanism and a right side electric drive mechanism, characterized in that, The gearbox, differential motor, differential ring gear, left sun gear, right sun gear, planetary gear and reverse mechanism are further included. The differential ring gear, the left sun gear and the right sun gear are coaxially connected to the gearbox, the planetary gear is connected to the differential ring gear, and the left sun gear and the right sun gear are symmetrically engaged on both sides of the planetary gear. The differential motor is connected to the differential ring gear in transmission, the left sun gear is connected to the left electric transmission mechanism, and the right sun gear is connected to the right electric transmission mechanism in sequence. The first transmission shaft, the second transmission shaft and the third transmission shaft are coaxially connected to the gearbox, and the first transmission shaft is coaxial with the differential ring gear. The left electric transmission mechanism includes a left drive motor, a left motor output shaft and a left drive wheel connected in sequence, and the right electric transmission mechanism includes a right drive motor, a right motor output shaft and a right drive wheel connected in sequence. One end of the first transmission shaft is connected to the left sun gear, the other end of the first transmission shaft is connected to the left drive motor, one end of the second transmission shaft is connected to the right sun gear, the other end of the second transmission shaft is connected to one end of the third transmission shaft through the reverse mechanism, and the other end of the third transmission shaft is connected to the right drive motor. The reverse mechanism includes a first bevel gear, a second bevel gear and two third bevel gears. The two third bevel gears are symmetrically connected in transmission to the gearbox, and the rotation axis is perpendicular to the second transmission shaft, the first bevel gear and the second bevel gear are symmetrically engaged on both sides of the third bevel gear. The second bevel gear is connected to the end of the second transmission shaft, and the third bevel gear is connected to the end of the third transmission shaft.

2. The power back and merge drive system for a tracked platform of claim 1 wherein, The right end of the differential ring gear is provided with a support plate extending to the right. A support shaft is rotatably connected to the support plate, and the support shaft is perpendicular to the rotation axis of the differential ring gear, and the planetary gear is fixedly connected to the support shaft.

3. The power back and merge drive system for a track-based platform of claim 1 wherein, The output end of the differential motor is provided with a first transmission gear, and the differential ring gear is provided with a ring gear, and the first transmission gear is engaged with the ring gear.

4. The power back and merge drive system for a track-based platform of claim 1 or 2 or 3, wherein, The left electric transmission mechanism includes a left drive motor, a left drive wheel, a second transmission gear, a third transmission gear and a fourth transmission gear. The second transmission gear is fixedly connected to the output end of the left drive motor, the third transmission gear is connected to the left sun gear through a fourth transmission shaft, and the fourth transmission gear is connected to the left drive wheel through a fifth transmission shaft. The second transmission gear and the fourth transmission gear are symmetrically engaged on both sides of the third transmission gear.

5. The power back and merge drive system for a track-based platform of claim 4, wherein, The right electric transmission mechanism includes a right drive motor, a right drive wheel, a fifth transmission gear, a sixth transmission gear and a seventh transmission gear. The fifth transmission gear is fixedly connected to the output end of the right drive motor, the sixth transmission gear is connected to the right drive wheel through a sixth transmission shaft, and the seventh transmission gear is connected to the right sun gear through a seventh transmission shaft. The seventh transmission gear and the sixth transmission gear are symmetrically engaged on both sides of the fifth transmission gear.

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