Hilly mountainous differential differential reverse wet type steering drive axle and control method thereof

Abstract

The application discloses a hilly land differential speed differential reverse wet type steering drive axle and a control method thereof. The hilly land differential speed differential reverse wet type steering drive axle is composed of an axle housing, a driving mechanism, a differential speed differential reverse mechanism, a half shaft I, a brake I, a half shaft II and a brake II. The driving mechanism is composed of a shaft, a gear I, a gear II, a gear III, a clutch I and a clutch II. The differential speed differential reverse mechanism is composed of a sun gear, a planet carrier, a planet gear, a half shaft gear I, a half shaft gear II, a brake, a clutch and a gear VI. After a controller receives a straight line driving instruction, a differential speed steering instruction, a differential reverse steering instruction or a brake instruction, the controller controls the combination and separation of the clutch, the clutch I, the clutch II, the brake, the brake I and the brake II, so as to realize straight line driving, differential speed steering driving, differential reverse steering or braking. The hilly land differential speed differential reverse wet type steering drive axle has the advantages of simple and compact structure, high transmission efficiency, simple control, reliable differential speed steering and differential reverse steering, avoidance of soil surface layer damage and great improvement of hilly land operation adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drive axle, in particular to a hilly and mountainous differential differential reverse wet steering drive axle and a control method thereof. BACKGROUND

[0002] There are 700 million mu of farmland in hilly and mountainous areas in China. These fields are unevenly distributed and scattered, which makes the agricultural mechanization in hilly and mountainous areas develop slowly and cannot keep up with the needs of modern agricultural development. Usually, the existing machinery in the plains is modified and then used in hilly and mountainous areas.

[0003] The traditional tracked mechanical chassis in hilly and mountainous areas generally has problems such as complex structure, single steering function and high operation intensity. Especially for the steering function, single-side braking is used for steering. On the one hand, the surface layer of the soil on the braking side is severely damaged, and the steering resistance is increased, which easily leads to engine stall. On the other hand, the turning radius of single-side braking steering is large, and it is difficult to turn around at the field head.

[0004] The drive axle is located at the end of the transmission system and transmits the rotational speed and torque to the driving wheel. The drive axle is generally composed of a speed reducer, a differential, an intermediate transmission device and an axle housing.

[0005] In the prior art, patent application publications CN 103703938 B and CN 111328488 A disclose a gearbox that realizes differential differential reverse function, but the arrangement form of the gearbox is relatively complex, and the transmission efficiency is low. The drive axles disclosed in CN 113978243 B, CN 110962507 B and CN 110014826 B do not have differential differential reverse steering function, which is not conducive to hilly and mountainous operations. SUMMARY

[0006] The present application provides a hilly and mountainous differential differential reverse wet steering drive axle to solve the problem of single steering function of the existing drive axle. The structure is compact and the control is simple. The differential steering, differential reverse steering and wet braking functions can be realized, and the steering function is diverse.

[0007] To achieve the above purpose, the technical scheme provided by the present application is as follows:

[0008] On the one hand, the present application provides a hilly and mountainous differential differential reverse wet steering drive axle, which is composed of an axle housing, a driving mechanism, a differential differential reverse mechanism, a half shaft I, a brake I, a half shaft II and a brake II, wherein:

[0009] The driving mechanism is composed of a shaft, gear I, gear II, gear III, clutch I and clutch II; the gear I is fixed on the shaft; the gear II and gear III are fixed on the shaft through bearings; the driving disc of the clutch I is fixed on the shaft, and the driven disc is fixed on the gear II; the driving disc of the clutch II is fixed on the shaft, and the driven disc is fixed on the gear III;

[0010] The differential differential reverse mechanism is composed of a sun gear, a planet carrier, planet gears, half shaft gears I and II, a brake, a clutch and gear VI; the sun gear is engaged with the gear II; the planet carrier is coaxially fixed with the sun gear; the planet gears are circumferentially distributed on the planet carrier and are engaged with the half shaft gears I and II; the half shaft gear I is fixed on the half shaft I; the half shaft gear II is fixed on the half shaft II; the brake fixed disc is fixed on the axle housing, and the movable disc is fixed on the planet carrier; the driving disc of the clutch is fixed on the planet carrier, and the driven disc is fixed on the half shaft I; the gear VI is fixed on the half shaft II and is engaged with the gear III;

[0011] The brake I fixed disc is fixed on the axle housing, and the movable disc is fixed on the half shaft I;

[0012] The brake II fixed disc is fixed on the axle housing, and the movable disc is fixed on the half shaft II.

[0013] In another aspect, the application also provides a control method of the hilly and mountainous differential differential reverse wet steering drive axle, when the controller receives a straight driving instruction, a differential steering instruction, a differential reverse steering instruction or a braking instruction, the combination and separation of the clutch, clutch I, clutch II, brake, brake I and brake II are controlled to realize straight driving, differential steering driving, differential reverse steering or braking action.

[0014] Further, when the controller receives a straight driving instruction, the controller controls the clutch to remain combined, the clutch I to remain combined, the clutch II to remain separated, the brake to remain separated, the brake I to remain separated and the brake II to remain separated.

[0015] Further, the control process of straight driving is that the external power is transmitted to the shaft through the gear I, the clutch I is combined to drive the gear II to rotate, the gear II drives the sun gear to rotate, the clutch is combined, the half shaft I and the half shaft II are synchronously rotated with the sun gear to form a rigid connection, and straight driving is realized.

[0016] Further, when the controller receives the differential left steering driving instruction, the controller controls the clutch to keep separated, the clutch I to keep combined, the clutch II to keep separated, the brake to keep separated, the brake I to keep combined, and the brake II to keep separated respectively.

[0017] Further, the control process of the differential steering driving is as follows: the external power is transmitted to the axle through the gear I, the clutch I is combined to drive the gear II to rotate, and the gear II drives the sun gear to rotate; the clutch is separated, the power is transmitted from the sun gear to the planet carrier and then to the planet gears, and the two half axle gears I and II are driven to rotate, so that the half axle I and the half axle II are rotated; when steering left, the brake I is combined to be in a half linkage state, the rotation speed of the half axle I is reduced, the rotation speed of the half axle II is increased, the right side rotation speed is greater than the left side rotation speed to realize left steering; the brake I combined force size interval is from 0% to 100%, when the brake I combined force is 100%, the brake I is completely braked, and when the brake I is completely braked, the turning radius is the smallest; when steering right, the brake II is combined to be in a half linkage state, the rotation speed of the half axle II is reduced, the rotation speed of the half axle I is increased, the left side rotation speed is greater than the right side rotation speed to realize right steering.

[0018] Further, when the controller receives the differential reverse steering driving instruction, the controller controls the clutch to keep separated, the clutch I to keep separated, the clutch II to keep combined, the brake to keep combined, the brake I to keep separated, and the brake II to keep separated respectively.

[0019] Further, the control process of the differential reverse steering driving is as follows: the external power is transmitted to the axle through the gear I, the clutch II is combined to drive the gear III to rotate, the gear III drives the gear VI to rotate, the brake is combined, the sun gear and the axle housing are in rigid connection, the sun gear, the planet gears and the two half axle gears form a fixed shaft gear train, the power is transmitted from the gear VI to the half axle gear II through the planet gears and then to the half axle gear I, the half axle gear I and the half axle gear II rotate in opposite directions to drive the half axle I and the half axle II to rotate in opposite directions to realize differential reverse steering. The rotation direction of the driving axle can be switched to realize the switching of left differential reverse steering and right differential reverse steering.

[0020] Further, when the controller receives the brake instruction, the controller controls the clutch to keep separated, the clutch I to keep separated, the clutch II to keep separated, the brake to keep separated, the brake I to keep combined, and the brake II to keep combined respectively.

[0021] Compared with the prior art, the technical effects of the present application are as follows:

[0022] The application provides a hilly land differential differential reverse wet type steering drive axle and a control method thereof. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0024] Figure 1 The application provides a hilly land differential differential reverse wet type steering drive axle structure schematic diagram.

[0025] Figure 2 The application provides a driving mechanism schematic diagram.

[0026] Figure 3 The application provides a differential differential reverse mechanism schematic diagram.

[0027] Figure 4 The application provides a straight line driving power flow schematic diagram.

[0028] Figure 5 The application provides a differential driving power flow schematic diagram.

[0029] Figure 6 The application provides a differential reverse driving power flow schematic diagram.

[0030] Figure 7 The application provides a hydraulic control principle diagram.

[0031] Figure 8 The application provides a control flow chart.

[0032] Figure 9 The application provides a control flow chart.

[0033] BRIEF DESCRIPTION OF DRAWINGS

[0034] 0-axle housing;

[0035] 1-driving mechanism; 100-shaft; 101-gear I; 102-gear II; 103-gear III; 104-clutch I; 105-clutch II;

[0036] 2 - differential differential inverse mechanism; 200 - sun gear; 201 - planet carrier; 202 - planet gear; 203 - axle half gear; 204 - axle half gear; 205 - brake; 206 - clutch; 207 - gear VI;

[0037] 3 - axle half I;

[0038] 4 - brake I;

[0039] 5 - axle half II;

[0040] 6 - brake II. DETAILED DESCRIPTION

[0041] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below in combination with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0042] As shown in Figure 1 The present application proposes a hilly and mountainous differential differential inverse wet steering drive axle, which is composed of an axle housing 0, a driving mechanism 1, a differential differential inverse mechanism 2, an axle half I 3, a brake I 4, an axle half II 5 and a brake II 6, wherein:

[0043] As shown in Figure 2 The driving mechanism is composed of a shaft 100, a gear I 101, a gear II 102, a gear III 103, a clutch I 104 and a clutch II 105; the gear I 101 is fixedly connected to the shaft 100; the gear II 102 and the gear III 103 are fixed to the shaft 100 through bearings; the driving disc of the clutch I 104 is fixedly connected to the shaft 100, and the driven disc is fixedly connected to the gear II 102; the driving disc of the clutch II 105 is fixedly connected to the shaft 100, and the driven disc is fixedly connected to the gear III 103;

[0044] As shown in Figure 3As shown, the differential differential mechanism is composed of the sun gear 200, the planet carrier 201, the planet gear 202, the half shaft gear I 203, the half shaft gear II 204, the brake 205, the clutch 206 and the gear VI 207; the sun gear 200 is engaged with the gear II 102; the planet carrier 201 is coaxially fixed with the sun gear 200; the planet gears 202 are circumferentially distributed on the planet carrier 201 and are engaged with the half shaft gear 203 and the half shaft gear 204; the half shaft gear I 203 is fixed on the half shaft I 3; the half shaft gear II 204 is fixed on the half shaft II 5; the brake 205 is fixed on the axle housing 0, and the movable disc is fixed on the planet carrier 201; the driving disc of the clutch 206 is fixed on the planet carrier 201, and the driven disc is fixed on the half shaft I 3; the gear VI 207 is fixed on the half shaft II 5 and is engaged with the gear III 103.

[0045] The brake I 4 is fixed on the axle housing 0, and the movable disc is fixed on the half shaft I 3.

[0046] The brake II 6 is fixed on the axle housing 0, and the movable disc is fixed on the half shaft II 5.

[0047] The application also provides a control method of the driving axle, which is specifically as follows: Figures 4-9 As shown, the controller receives the straight line driving instruction, the differential steering instruction, the differential reverse steering instruction or the brake instruction, and controls the combination and separation of the clutch 206, the clutch I 104, the clutch II 105, the brake 205, the brake I 4 and the brake II 6, so as to realize the straight line driving, the differential steering driving, the differential reverse steering or the brake action.

[0048] As shown in the figure, when the controller receives the straight line driving instruction, the controller controls the clutch 206 to keep combination, the clutch I 104 to keep combination, the clutch II 105 to keep separation, the brake 205 to keep separation, the brake I 4 to keep separation and the brake II 6 to keep separation. Figure 4

[0049] Specifically, the control process of the straight line driving is as follows: the external power is transmitted to the axle 100 through the gear I 101, the clutch I 104 is combined, the gear II 102 is driven to rotate, the sun gear 200 is driven to rotate by the gear II 102, the half shaft I 3 and the half shaft II 5 are synchronously rotated with the sun gear 200 to form a rigid connection, and the straight line driving is realized.

[0050] As shown in the figure, when the controller receives the straight line driving instruction, the controller controls the clutch 206 to keep combination, the clutch I 104 to keep combination, the clutch II 105 to keep separation, the brake 205 to keep separation, the brake I 4 to keep separation and the brake II 6 to keep separation. Figure 5 ​As shown, when the controller receives a differential left turn driving command, the controller controls clutch 206 to remain disengaged, clutch I104 to remain engaged, clutch II105 to remain disengaged, brake 205 to remain disengaged, brake I4 to remain engaged, and brake II6 to remain disengaged; when the controller receives a differential right turn driving command, the controller controls clutch 206 to remain disengaged, clutch I104 to remain engaged, clutch II105 to remain disengaged, brake 205 to remain disengaged, brake I4 to remain disengaged, and brake II6 to remain engaged.

[0051] Specifically, the control process of differential steering is as follows: external power is transmitted to shaft 100 via gear I101. After clutch I104 engages, it drives gear II102 to rotate, and gear II102 drives sun gear 200 to rotate. When clutch 206 disengages, power is transmitted from sun gear 200 to planetary gear 202 via planetary carrier 201, driving the two half-shaft gears I203 and II204 to rotate, thus realizing the rotation of half-shafts I3 and II5. When turning left, brake I4 engages, and the half-shaft I3 is in a semi-clutch state. The speed of half-shaft I3 decreases, and the speed of half-shaft II5 increases. The speed on the right side is greater than the speed on the left side, thus realizing left turning. The engagement force of brake I4 ranges from 0 to 100%. When the engagement force is 100%, brake I4 is fully engaged. When brake I4 is fully engaged, the turning radius is the smallest. When turning right, brake II6 engages, and the half-shaft II5 is in a semi-clutch state. The speed of half-shaft II5 decreases, and the speed of half-shaft I3 increases. The speed on the left side is greater than the speed on the right side, thus realizing right turning.

[0052] like Figure 6 As shown, when the controller receives a reverse driving command, the controller controls clutch 206 to remain disengaged, clutch I104 to remain disengaged, clutch II105 to remain engaged, brake 205 to remain engaged, brake I4 to remain disengaged, and brake II6 to remain disengaged.

[0053] Specifically, the control process for differential reverse driving is as follows: external power is transmitted to shaft 100 via gear I101. Clutch II105 engages, driving gear III103 to rotate. Gear III103 drives gear VI207 to rotate. After brake 205 engages, sun gear 200 forms a rigid connection with axle housing 0. Sun gear 200, planetary gear 202, and two half-shaft gears 203 and 204 form a fixed-axis gear train. Power is transmitted from gear VI207 to half-shaft gear II204, then through planetary gear 202, and finally to half-shaft gear I203. Half-shaft gears I203 and II204 rotate in opposite directions, driving half-shafts I3 and II5 to rotate in opposite directions, thus achieving differential reverse driving. Switching between left and right differential reverse driving can be achieved by changing the rotation direction of the drive shaft.

[0054] When the controller receives the brake instruction, the controller controls the clutch 206 to keep separated, the clutch I 104 to keep separated, the clutch II 105 to keep separated, the brake 205 to keep separated, the brake I 4 to keep combined, and the brake II 6 to keep combined, respectively.

[0055] The hydraulic principle of the present application is shown in Figure 7 The solenoid valve C1 controls the clutch, the solenoid valve C2 controls the clutch I, the solenoid valve C3 controls the clutch II, the solenoid valve B1 controls the brake, the solenoid valve B2 controls the brake I, and the solenoid valve B3 controls the brake II. The control flow is shown in Figure 8 The control block diagram is shown in Figure 9 The working mode state of the drive axle is summarized in the following table:

[0056]

[0057] The differential speed differential reverse wet type steering drive axle and the control method thereof, realize the differential steering, differential reverse steering, wet type brake and other functions, the steering function is various, avoids the damage of the surface layer of soil, the control is simple, the maneuverability is strong, greatly improves the adaptability of hilly and mountainous operation.

[0058] The above only describes certain exemplary embodiments of the present application by way of illustration, and it is needless to say that the described embodiments can be modified in various ways without departing from the spirit and scope of the present application for those skilled in the art. Therefore, the above figures and description are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the present application.

Claims

1. A control method of a hilly and mountainous differential differential reverse wet type steering drive axle, characterized by, The hilly mountain differential differential reverse wet type steering drive axle comprises an axle housing (0), a driving mechanism (1), a differential differential reverse mechanism (2), a half shaft I (3), a brake I (4), a half shaft II (5) and a brake II (6). The driving mechanism comprises a shaft (100), a gear I (101), a gear II (102), a gear III (103), a clutch I (104) and a clutch II (105). The gear I (101) is fixedly connected to the shaft (100). The gear II (102) and the gear III (103) are fixed to the shaft (100) through bearings. The driving disc of the clutch I (104) is fixed to the shaft (100), and the driven disc is fixed to the gear II (102). The driving disc of the clutch II (105) is fixed to the shaft (100), and the driven disc is fixed to the gear III (103). The differential differential reverse mechanism comprises a sun gear (200), a planet carrier (201), a planet gear (202), a half shaft gear I (203), a half shaft gear II (204), a brake (205), a clutch (206) and a gear VI (207). The sun gear (200) is engaged with the gear II (102). The planet carrier (201) is coaxially fixed to the sun gear (200). The planet gears (202) are circumferentially distributed on the planet carrier (201) and are engaged with the half shaft gear I (203) and the half shaft gear II (204). The half shaft gear I (203) is fixed to the half shaft I (3). The half shaft gear II (204) is fixed to the half shaft II (5). The brake (205) is fixed to the axle housing (0) by a fixed disc and is fixed to the planet carrier (201) by a movable disc. The driving disc of the clutch (206) is fixed to the planet carrier (201), and the driven disc is fixed to the half shaft I (3). The gear VI (207) is fixed to the half shaft II (5) and is engaged with the gear III (103). The brake I (4) is fixed to the axle housing (0) by a fixed disc and is fixed to the half shaft I (3) by a movable disc. The brake II (6) is fixed to the axle housing (0) by a fixed disc and is fixed to the half shaft II (5) by a movable disc. The method comprises the following steps: after the controller receives a straight line driving instruction, a differential steering instruction, a differential reverse steering instruction or a brake instruction, the combination and separation of the clutch (206), the clutch I (104), the clutch II (105), the brake (205), the brake I (4) and the brake II (6) are controlled to realize straight line driving, differential steering driving, differential reverse steering or braking action. When the controller receives a straight line driving instruction, the controller controls the clutch (206) to remain combined, the clutch I (104) to remain combined, the clutch II (105) to remain separated, the brake (205) to remain separated, the brake I (4) to remain separated and the brake II (6) to remain separated. When the controller receives the differential left steering driving instruction, the controller controls the clutch (206) to remain separated, the clutch I (104) to remain combined, the clutch II (105) to remain separated, the brake (205) to remain separated, the brake I (4) to remain combined, and the brake II (6) to remain separated.

2. The control method of the hilly land differential differential reverse wet type steering drive axle according to claim 1, characterized in that, The control process of straight driving is that the external power is transmitted to the shaft (100) through the gear I (101), the gear II (102) is driven to rotate after the clutch I (104) is combined, the sun gear (200) is driven to rotate by the gear II (102), the half shaft I (3) and the half shaft II (5) are synchronously rotated with the sun gear (200) to realize straight driving after the clutch (206) is combined.

3. The control method of the hilly land differential differential reverse wet type steering drive axle according to claim 1, characterized in that, The control process of differential steering driving is that the external power is transmitted to the shaft (100) through the gear I (101), the gear II (102) is driven to rotate after the clutch I (104) is combined, the sun gear (200) is driven to rotate by the gear II (102), the power is transmitted from the sun gear (200) to the planet carrier (201) and the planet gear (202) to drive the half shaft gear I (203) and the half shaft gear II (204) to rotate, and the rotation of the half shaft I (3) and the half shaft II (5) is realized after the clutch (206) is separated. The brake I (4) is combined in the half linkage state when steering to the left, the rotation speed of the half shaft I (3) is reduced, the rotation speed of the half shaft II (5) is increased, the rotation speed on the right side is greater than that on the left side, and thus the left steering is realized.

4. The control method of the hilly land differential differential reverse wet type steering drive axle according to claim 1, characterized in that, The brake I (4) is combined in the half linkage state when steering to the right, the rotation speed of the half shaft II (5) is reduced, the rotation speed of the half shaft I (3) is increased, the rotation speed on the left side is greater than that on the right side, and thus the right steering is realized. When the controller receives the differential reverse steering driving instruction, the controller controls the clutch (206) to remain separated, the clutch I (104) to remain separated, the clutch II (105) to remain combined, the brake (205) to remain combined, the brake I (4) to remain separated, and the brake II (6) to remain separated.

5. The control method of the hilly land differential differential reverse wet type steering drive axle according to claim 4, characterized in that, The control process of differential reverse steering is as follows: the external power is transmitted to the shaft (100) through gear I (101), the clutch II (105) is combined to drive the gear III (103) to rotate, the gear III (103) drives the gear VI (207) to rotate, the brake (205) is combined to form a rigid connection between the sun gear (200) and the axle housing (0), the sun gear (200), the planetary gear (202) and the two half shaft gears (203, 204) form a fixed shaft gear train, the power is transmitted from the gear VI (207) to the half shaft gear II (204) through the planetary gear (202) and then to the half shaft gear I (203), the half shaft gear I (203) and the half shaft gear II (204) rotate in opposite directions to drive the half shaft I (3) and the half shaft II (5) to rotate in opposite directions to realize differential reverse steering, and the switching of left differential reverse steering and right differential reverse steering can be realized by switching the rotating direction of the driving shaft.

6. The control method of the hilly land differential differential reverse wet type steering drive axle according to claim 1, characterized in that, When the controller receives the brake instruction, the controller controls the clutch (206) to remain separated, the clutch I (104) to remain separated, the clutch II (105) to remain separated, the brake (205) to remain separated, the brake I (4) to remain combined and the brake II (6) to remain combined.

Images