Three-motor steering power coupling device for tracked vehicle

Abstract

The application discloses a three-motor steering power coupling device for a tracked vehicle, which comprises a coaxially arranged first driving motor, a second driving motor, a steering motor, a first planetary reduction mechanism, a second planetary reduction mechanism, a first planetary variable speed mechanism, a second planetary variable speed mechanism, a steering power coupling mechanism, a first intermediate shaft, a second intermediate shaft, a first output shaft, a second output shaft, a first clutch and a second clutch. The three-motor steering power coupling device adopts two driving motors to be responsible for straight driving and steering in a low-speed working condition, and the two driving motors are only responsible for straight driving and propulsion, and the steering motor is responsible for steering in a high-speed working condition, and the steering power coupling mechanism is used for efficiently transmitting the steering backflow power of an inner track to an outer track, so that the power requirement of the driving motor is reduced.

Description

Technical Field

[0001] This invention relates to the field of tracked power transmission technology, and more specifically to a three-motor steering power coupling device for tracked vehicles. Background Technology

[0002] Traditional tracked vehicles steer by varying the speed of their tracks. The transmission system generates this speed difference through clutches / brakes or hydraulic / electrical speed-regulating components. Unlike wheeled vehicles, tracked vehicles use power steering, requiring engine power to overcome road resistance. On difficult terrains or in tight-radius turning situations, a larger steering torque is needed. To achieve steering, the inner track provides braking force, while the outer track provides driving force. At higher speeds, the inner track generates significant steering return power (braking power). If this braking power can be efficiently transferred to the outer track, it can greatly reduce engine input power.

[0003] Electrification is the development trend of vehicle power transmission systems. Tracked vehicles use electric motors for drive and steering, which can greatly improve mobility. Each track is driven by a separate motor. When turning at high speed, the inner track motor needs a larger capacity to ensure that the braking and steering return power is transferred to the outer track. This results in a larger size and weight of the drive motor, and the required capacity of the motor driver is correspondingly increased, usually reaching twice the rated drive power.

[0004] Multi-motor drive systems can achieve flexible power distribution and have become a development trend in electric drive systems. They can also easily achieve coupling and decoupling of drive and steering, which is the development direction of electric drive systems for tracked vehicles. Summary of the Invention

[0005] This invention provides a three-motor steering power coupling device for tracked vehicles. The three-motor steering power coupling device includes two drive motors and one steering motor. When the steering return power is small at low speeds, the two drive motors are used to handle straight driving and steering. When steering at high speeds, the two drive motors are only responsible for straight driving, while the steering motor is responsible for steering. The steering return power of the inner track is efficiently transferred to the outer track through the steering power coupling mechanism, thereby reducing the power requirements of the drive motors.

[0006] The present invention adopts the following specific technical solution:

[0007] A three-motor steering power coupling device for tracked vehicles includes a housing, a first drive motor, a second drive motor, a steering motor, a first planetary reduction mechanism, a second planetary reduction mechanism, a first planetary transmission mechanism, a second planetary transmission mechanism, a steering power coupling mechanism, a first intermediate shaft, a second intermediate shaft, a first output shaft, a second output shaft, a first clutch, a second clutch, a first brake, and a second brake.

[0008] The first drive motor and the second drive motor, the first planetary transmission mechanism and the second planetary transmission mechanism, the first planetary reduction mechanism and the second planetary reduction mechanism, the first intermediate shaft and the second intermediate shaft, the first output shaft and the second output shaft, the first clutch and the second clutch, and the first brake and the second brake are all symmetrically distributed on both sides of the steering motor.

[0009] The first drive motor, the second drive motor, the steering motor, the first planetary reduction mechanism, the second planetary reduction mechanism, the first planetary transmission mechanism, the second planetary transmission mechanism, the steering power coupling mechanism, the first intermediate shaft, the second intermediate shaft, the first output shaft, the second output shaft, the first clutch, and the second clutch are arranged coaxially.

[0010] The steering power coupling mechanism is installed inside the steering motor and is connected to the steering motor between the first intermediate shaft and the second intermediate shaft, and is used to transmit the steering return power of the inner track to the outer track.

[0011] The first planetary reduction mechanism is driven between the first drive motor and the first intermediate shaft; the second planetary reduction mechanism is driven between the second drive motor and the second intermediate shaft; the first intermediate shaft and the first output shaft are driven through the first planetary gear mechanism and the first clutch; the first brake is fixedly installed in the housing and connected to the first gear ring of the first planetary gear mechanism for braking the first gear ring; the second intermediate shaft and the second output shaft are driven through the second planetary gear mechanism and the second clutch; the second brake is fixedly installed in the housing and connected to the second gear ring of the second planetary gear mechanism for braking the second gear ring;

[0012] The three-motor steering power coupling device has parking condition, idling condition, low-speed straight driving condition, low-speed steering condition, high-speed straight driving condition, high-speed steering condition, and center condition;

[0013] When the tracked vehicle is in a parking or idling state, the gear shifting mechanism is in neutral, the first drive motor, the second drive motor, and the steering motor all stop working, and the first brake, the second brake, the first clutch, and the second clutch are all disengaged.

[0014] When the tracked vehicle is in a low-speed straight-driving condition, the gear shifting mechanism is in a low gear, the first drive motor and the second drive motor are both working and at the same speed, the steering motor is stopped, the first brake and the second brake are both engaged, and the first clutch and the second clutch are both disengaged.

[0015] When the tracked vehicle is in a low-speed steering condition, the gear shifting mechanism is in a low gear, both the first drive motor and the second drive motor are working, the steering motor is stopped, both the first brake and the second brake are engaged, and both the first clutch and the second clutch are disengaged. The steering return power of the inner track is generated by the inner drive motor and transmitted to the outer drive motor.

[0016] When the tracked vehicle is in a high-speed straight-line driving condition, the gear shifting mechanism is in high gear, the first drive motor and the second drive motor are both working and at the same speed, the steering motor is stopped, the first brake and the second brake are both disengaged, and the first clutch and the second clutch are both engaged.

[0017] When the tracked vehicle is in a high-speed turning condition, the gear shifting mechanism is in high gear, the first drive motor and the second drive motor are both working and have the same driving torque, the steering motor is working, the first brake and the second brake are both disengaged, the first clutch and the second clutch are both engaged, and steering is achieved through the torque of the steering motor. The steering return power of the inner track is transmitted to the outer track through the steering power coupling mechanism.

[0018] When the tracked vehicle is in the center working condition, the gear shifting mechanism is in low gear, the first drive motor and the second drive motor are both working, the steering motor is stopped, the first brake and the second brake are both engaged, the first clutch and the second clutch are both disengaged, the first drive motor and the second drive motor have the same speed and rotate in opposite directions, driving the tracks on both sides to rotate in opposite directions, realizing the track center turning in place.

[0019] Furthermore, the first planetary reduction mechanism includes a first reduction sun gear, a first reduction planetary carrier, and a first reduction ring gear; the first reduction sun gear is loosely fitted onto the first intermediate shaft and fixedly connected to the first motor shaft of the first drive motor; the first reduction ring gear is fixedly installed on the housing; the first reduction planetary carrier is fixedly connected to the first intermediate shaft;

[0020] The second planetary reduction mechanism includes a second reduction sun gear, a second reduction planetary carrier, and a second reduction ring gear; the second reduction sun gear is loosely fitted onto the second intermediate shaft and is fixedly connected to the second motor shaft of the second drive motor; the second reduction ring gear is fixedly installed on the housing; the second reduction planetary carrier is fixedly connected to the second intermediate shaft;

[0021] The first planetary gear transmission mechanism further includes a first transmission sun gear and a first transmission planet carrier; the first transmission sun gear is fixedly connected to the first intermediate shaft; the first transmission planet carrier is fixedly connected to the first output shaft, and the first clutch is connected between the first intermediate shaft and the first transmission sun gear.

[0022] The second planetary transmission mechanism further includes a second transmission sun gear and a second transmission planet carrier; the second transmission sun gear is fixedly connected to the second intermediate shaft; the second transmission planet carrier is fixedly connected to the second output shaft, and a second clutch is connected between the second transmission planet carrier and the second intermediate shaft.

[0023] Furthermore, the steering power coupling mechanism includes a first steering coupling gear ring, a second steering coupling gear ring, a first steering coupling sun gear, a first steering coupling planetary carrier, a second steering coupling sun gear, and a second steering coupling planetary carrier;

[0024] The first steering coupling planetary carrier is fixedly connected to the first intermediate shaft and meshes between the first steering coupling sun gear and the first steering coupling ring gear;

[0025] The second steering coupling planetary carrier is fixedly connected to the second intermediate shaft and meshes between the second steering coupling sun gear and the second steering coupling ring gear;

[0026] The first steering coupling sun gear is loosely fitted onto the first intermediate shaft and fixedly installed on the housing;

[0027] The second steering coupling sun gear is loosely fitted onto the second intermediate shaft and is fixedly connected to the steering motor shaft of the steering motor.

[0028] Furthermore, the first steering coupling gear ring and the second steering coupling gear ring form a double gear ring.

[0029] Furthermore, the steering power coupling mechanism includes a first steering coupling planetary gear, a second steering coupling planetary gear, a third steering coupling sun gear, a third steering coupling planetary carrier, a fourth steering coupling sun gear, and a fourth steering coupling planetary carrier;

[0030] The third steering coupling sun gear is fixedly mounted on the first intermediate shaft; the fourth steering coupling sun gear is fixedly mounted on the second intermediate shaft;

[0031] The first steering coupling planetary gear meshes with the third steering coupling sun gear and is rotatably mounted on the third steering coupling planetary carrier relative to the third steering coupling planetary carrier;

[0032] The second steering coupling planetary gear meshes with the fourth steering coupling sun gear and is rotatably mounted on the fourth steering coupling planetary carrier relative to the fourth steering coupling planetary carrier;

[0033] Both the third and fourth steering coupling planetary carriers are fixedly connected to the steering motor shaft of the steering motor.

[0034] The first steering coupling planetary gear and the second steering coupling planetary gear are a pair of planetary gears.

[0035] Furthermore, the first steering-coupled planetary carrier and the second steering-coupled planetary carrier are an integral structure.

[0036] Furthermore, the steering power coupling mechanism includes a fifth steering coupling sun gear, a sixth steering coupling sun gear, a third steering coupling ring gear, a third steering coupling planet gear, a fourth steering coupling planet gear, a fifth steering coupling planet carrier, and a sixth steering coupling planet carrier;

[0037] The fifth steering coupling sun gear is loosely fitted onto the first intermediate shaft and is fixedly connected to the steering motor shaft of the steering motor;

[0038] The sixth steering coupling sun gear is loosely fitted onto the second intermediate shaft and fixedly installed on the housing;

[0039] The third and fourth steering coupling planetary gears are both double planetary gears and both mesh with the third steering coupling ring gear.

[0040] The third steering coupling planetary gear is fixedly mounted on the fifth steering coupling planetary carrier and meshes with the fifth steering coupling sun gear;

[0041] The fourth steering coupling planetary gear is fixedly mounted on the sixth steering coupling planetary carrier and meshes with the sixth steering coupling sun gear;

[0042] The fifth steering coupling planetary carrier is fixedly connected to the first intermediate shaft;

[0043] The sixth steering coupling planetary carrier is fixedly connected to the second intermediate shaft.

[0044] Furthermore, it also includes the engine, generator, motor drive, and battery pack;

[0045] The output shaft of the engine is fixedly connected to the generator shaft;

[0046] The generator is used to convert the kinetic energy of the engine into electrical energy and is electrically connected to the motor driver;

[0047] The motor driver is electrically connected to the power battery pack, the first drive motor, the second drive motor and the steering motor, and is used for energy regulation and to drive the first drive motor, the second drive motor and the steering motor to rotate.

[0048] The power battery pack is used for charging and discharging.

[0049] Furthermore, it also includes shock absorbers;

[0050] The vibration damper is connected between the output shaft of the engine and the generator shaft.

[0051] Beneficial effects:

[0052] 1. The three-motor steering power coupling device for tracked vehicles of the present invention includes two drive motors and one steering motor. When the tracked vehicle is in low-speed operation, the two drive motors are responsible for straight-line driving and steering, and the steering return power is relatively small. When the tracked vehicle is in high-speed operation, the two drive motors are only responsible for providing straight-line propulsion power, and the steering motor is responsible for providing steering power. At this time, the steering return power is relatively large, and the steering return power of the inner track can be efficiently transferred to the outer track through the steering power coupling mechanism. Therefore, the steering torque of the tracked vehicle can be provided by the steering motor or the drive motor alone, or by the steering motor and the drive motor together, which can realize flexible power distribution among the three motors and reduce the power demand of the drive motors. The high-speed design of the three motors is conducive to achieving high power density of the motors.

[0053] 2. The three-motor steering power coupling device for tracked vehicles of the present invention can realize the power transmission of the motor through the planetary reduction mechanism, the planetary transmission mechanism, and the steering power coupling mechanism. At the same time, it can achieve power distribution in conjunction with the brake and the clutch to meet the high-efficiency driving requirements of different loads. The three motors have redundancy. If any one motor fails, the tracked vehicle can still achieve straight driving and steering functions, ensuring the mobility performance of the tracked vehicle.

[0054] 3. In the three-motor steering power coupling device for tracked vehicles of the present invention, the drive motor, steering motor, steering power coupling mechanism, reduction planetary mechanism, planetary transmission mechanism, intermediate shaft and output shaft are all arranged coaxially, and the steering power coupling mechanism is arranged inside the rotor of the steering motor, thereby shortening the axial length of the three-motor steering power coupling device, occupying less space, which is beneficial to the spatial arrangement of the whole vehicle, and making the structure simple. Attached Figure Description

[0055] Figure 1 This is a simplified transmission diagram of the three-motor steering power coupling device of the present invention;

[0056] Figure 2 for Figure 1 The structural layout of the steering power coupling device for the three-motor system;

[0057] Figure 3 for Figure 1 Schematic diagram of steering power flow of the three-motor steering power coupling device;

[0058] Figure 4 This is another simplified transmission diagram of the three-motor steering power coupling device of the present invention;

[0059] Figure 5 for Figure 4 The structural layout of the steering power coupling device for the three-motor system;

[0060] Figure 6 for Figure 4 Schematic diagram of steering power flow of the three-motor steering power coupling device;

[0061] Figure 7 This is another simplified transmission diagram of the three-motor steering power coupling device of the present invention;

[0062] Figure 8 for Figure 7 The structural layout of the steering power coupling device for the three-motor system;

[0063] Figure 9 for Figure 7 Schematic diagram of steering power flow of the three-motor steering power coupling device;

[0064] Figure 10 This invention relates to a steering torque control method for a three-motor steering power coupling device.

[0065] Among them, 1-engine, 2-engine output shaft, 3-shock absorber, 4-generator shaft, 5-generator, 6-motor driver, 7-power battery pack, 8a-first drive motor, 8b-second drive motor, 9a-first motor shaft, 9b-second motor shaft, 10a-first reduction sun gear, 10b-second reduction sun gear, 11a-first reduction planetary carrier, 11b-second reduction planetary carrier, 12a-first reduction ring gear, 12b-second reduction ring gear, 13a-first intermediate shaft, 13b-second intermediate shaft, 14a-first transmission sun gear, 14b-second transmission sun gear, 15a-first transmission planetary carrier, 15b-second transmission planetary carrier, 16a-first transmission ring gear, 16b-second transmission ring gear, 17a-first brake, 17b-second brake, 18a-first clutch, 18b-second clutch, 19a-first output shaft, 19b-second output shaft. 20-Steering motor, 21-Steering motor shaft, 22a-First steering coupling sun gear, 22b-Second steering coupling sun gear, 23a-First steering coupling planetary carrier, 23b-Second steering coupling planetary carrier, 24a-First steering coupling ring gear, 24b-Second steering coupling ring gear, 25a-First steering coupling planetary gear, 25b-Second steering coupling planetary gear, 26a-Third steering coupling sun gear, 26b-Fourth steering coupling sun gear, 27a-Third steering coupling planetary carrier, 27b-Fourth steering coupling planetary carrier, 28a-Fifth steering coupling sun gear, 28b-Sixth steering coupling sun gear, 29-Third steering coupling ring gear, 30a-Third steering coupling planetary gear, 30b-Fourth steering coupling planetary gear, 31-Housing, 32-Motor bearing, 33-Planetary carrier bearing, 34-Planetary carrier connecting bearing, 35a-Fifth steering coupling planetary carrier, 35b-Sixth steering coupling planetary carrier Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] like Figure 1 , Figure 4 and Figure 7As shown in the structure, this embodiment of the invention provides a three-motor steering power coupling device for tracked vehicles, which may include a front power chain and a rear power chain; the front power chain may consist of an engine 1, a shock absorber 3, a generator 5, a motor driver 6, and a power battery pack 7; the engine output shaft 2 is fixedly connected to the generator shaft 4, and the engine 1 provides power to the entire system; the engine output shaft 2 and the generator shaft 5 can be connected through the shock absorber 3; the generator 5 is used to convert the kinetic energy of the engine 1 into electrical energy and is electrically connected to the motor driver 6; the motor driver 6 is electrically connected to the power battery pack 7, the first drive motor 8a, the second drive motor 8b, and the steering motor 20, and is used for energy regulation and to drive the first drive motor 8a, the second drive motor 8b, and the steering motor 20 to rotate; the power battery pack 7 is used for charging and discharging;

[0068] The rear powertrain includes a first drive motor 8a, a second drive motor 8b, a steering motor 20, a first planetary reduction mechanism, a second planetary reduction mechanism, a first planetary transmission mechanism, a second planetary transmission mechanism, a steering power coupling mechanism, a first intermediate shaft 13a, a second intermediate shaft 13b, a first output shaft 19a, a second output shaft 19b, a first clutch 18a, a second clutch 18b, a first brake 17a, and a second brake 17b, all mounted on the housing 31.

[0069] The first drive motor 8a and the second drive motor 8b, the first planetary transmission mechanism and the second planetary transmission mechanism, the first planetary reduction mechanism and the second planetary reduction mechanism, the first intermediate shaft 13a and the second intermediate shaft 13b, the first output shaft 19a and the second output shaft 19b, the first clutch 18a and the second clutch 18b, and the first brake 17a and the second brake 17b are all symmetrically distributed on both sides of the steering motor 20; due to the completely symmetrical design, the overall structure is compact and has good manufacturability;

[0070] The first drive motor 8a, the second drive motor 8b, the steering motor 20, the first planetary reduction mechanism, the second planetary reduction mechanism, the first planetary transmission mechanism, the second planetary transmission mechanism, the steering power coupling mechanism, the first intermediate shaft 13a, the second intermediate shaft 13b, the first output shaft 19a, the second output shaft 19b, the first clutch 18a, and the second clutch 18b are arranged coaxially; Figure 2 , Figure 5 and Figure 8 As shown, the first drive motor 8a, the second drive motor 8b, and the steering motor 20 are all mounted in the housing via motor bearings 32;

[0071] The steering power coupling mechanism is installed inside the steering motor 20 and is connected between the steering motor 20 and the first intermediate shaft 13a and the second intermediate shaft 13b. It is used to transmit the steering return power of the inner track to the outer track; for example... Figure 3, Figure 6 and Figure 9 As shown, the steering return power of the inner track can be efficiently returned to the outer track through the steering power coupling mechanism;

[0072] The first planetary reduction mechanism is driven between the first drive motor 8a and the first intermediate shaft 13a; the second planetary reduction mechanism is driven between the second drive motor 8b and the second intermediate shaft 13b; the first intermediate shaft 13a and the first output shaft 19a are driven through the first planetary gear mechanism and the first clutch 18a; the first brake 17a is fixedly installed in the housing 31 and connected to the first gear ring 16a of the first planetary gear mechanism, for braking the first gear ring 16a; the second intermediate shaft 13b and the second output shaft 19b are driven through the second planetary gear mechanism and the second clutch 18b; the second brake 17b is fixedly installed in the housing 31 and connected to the second gear ring 16b of the second planetary gear mechanism, for braking the second gear ring 16b.

[0073] The three-motor steering power coupling device has parking condition, idling condition, low-speed straight driving condition, low-speed steering condition, high-speed straight driving condition, high-speed steering condition, and center condition;

[0074] When the tracked vehicle is in a parking or idling condition, the gear shifting mechanism is in neutral, the first drive motor 8a, the second drive motor 8b and the steering motor 20 all stop working, and the first brake 17a, the second brake 17b, the first clutch 18a and the second clutch 18b are all disengaged; when the vehicle is in a parking or idling condition, the generator 5 does not work and there is no power transmission.

[0075] When the tracked vehicle is in a low-speed straight-driving condition, the gear shifting mechanism is in a low gear, the first drive motor 8a and the second drive motor 8b are both working and at the same speed, the steering motor 20 is stopped, the first brake 17a and the second brake 17b are both engaged, and the first clutch 18a and the second clutch 18b are both disengaged. When the tracked vehicle is in a low-speed straight-driving condition, the power of the engine 1 is converted into electrical energy by the generator 5, and the first drive motor 8a and the second drive motor 8b are controlled to work by the motor driver 6 respectively, and the two drive motors are at the same speed.

[0076] When the tracked vehicle is in a low-speed steering condition, the gear shift mechanism is in a low gear, the first drive motor 8a and the second drive motor 8b are both working, the steering motor 20 is stopped, the first brake 17a and the second brake 17b are both engaged, the first clutch 18a and the second clutch 18b are both disengaged, and the steering return power of the inner track is generated by the inner drive motor and transmitted to the outer drive motor; the power of the engine 1 is converted into electrical energy by the generator 5, and the first drive motor 8a and the second drive motor 8b are controlled by the motor driver 6 respectively. When the speeds of the two drive motors are different, it is a low-speed straight-line propulsion condition; in the steering condition, the steering return power of the inner track is generated by the inner drive motor and transmitted to the outer drive motor through the motor driver 6.

[0077] When the tracked vehicle is traveling at high speed, the gear shift mechanism is in high gear, the first drive motor 8a and the second drive motor 8b are both working at the same speed, the steering motor 20 is stopped, the first brake 17a and the second brake 17b are both disengaged, and the first clutch 18a and the second clutch 18b are both engaged. Under this condition, the power of the engine 1 is converted into electrical energy by the generator 5, which controls the first drive motor 8a and the second drive motor 8b to work through the motor driver 6, and the two drive motors are at the same speed.

[0078] When the tracked vehicle is in a high-speed turning condition, the gear shift mechanism is in high gear, the first drive motor 8a and the second drive motor 8b are both working and have the same driving torque, the steering motor 20 is working, the first brake 17a and the second brake 17b are both disengaged, and the first clutch 18a and the second clutch 18b are both engaged. Steering is achieved through the torque of the steering motor 20, and the steering return power of the inner track is transmitted to the outer track through the steering power coupling mechanism. In this condition, the power of the engine 1 is converted into electrical energy by the generator 5, and the motor driver 6 controls the first drive motor 8a and the second drive motor 8b to work respectively. The two drive motors are only responsible for straight-line propulsion and have the same driving torque. The steering motor 20 controls the torque of the steering motor 20 according to the driver's steering angle requirements to achieve steering. In the turning condition, the steering return power of the inner track is transmitted to the outer track through the steering power coupling mechanism.

[0079] When the tracked vehicle is in the center working condition, the gear shifting mechanism is in low gear, both the first drive motor 8a and the second drive motor 8b are working, the steering motor 20 is stopped, both the first brake 17a and the second brake 17b are engaged, and both the first clutch 18a and the second clutch 18b are disengaged. The first drive motor 8a and the second drive motor 8b have the same speed but rotate in opposite directions, driving the tracks on both sides to rotate in opposite directions, achieving in-situ turning of the track center. In this working condition, the power of the engine 1 is converted into electrical energy by the generator 5, which controls the first drive motor 8a and the second drive motor 8b to work through the motor driver 6. The two drive motors have the same speed but rotate in opposite directions, driving the tracks on both sides to rotate in opposite directions, achieving in-situ turning of the track center.

[0080] In one specific implementation, such as Figure 1 , Figure 4 and Figure 7 As shown, the first planetary reduction mechanism includes a first reduction sun gear 10a, a first reduction planetary carrier 11a, and a first reduction ring gear 12a; the first reduction sun gear 10a is loosely fitted onto the first intermediate shaft 13a and is fixedly connected to the first motor shaft 9a of the first drive motor 8a; the first reduction ring gear 12a is fixedly installed on the housing 31; the first reduction planetary carrier 11a is fixedly connected to the first intermediate shaft 13a; the first reduction planetary carrier 11a serves as the output of the first planetary reduction mechanism.

[0081] The second planetary reduction mechanism includes a second reduction sun gear 10b, a second reduction planetary carrier 11b, and a second reduction ring gear 12b; the second reduction sun gear 10b is loosely fitted onto the second intermediate shaft 13b and is fixedly connected to the second motor shaft 9b of the second drive motor 8b; the second reduction ring gear 12b is fixedly installed on the housing 31; the second reduction planetary carrier 11b is fixedly connected to the second intermediate shaft 13b; the second reduction planetary carrier 11b serves as the output of the second planetary reduction mechanism.

[0082] The first planetary gear mechanism also includes a first gear sun gear 14a and a first gear planet carrier 15a; the first gear sun gear 14a is fixedly connected to the first intermediate shaft 13a; the first gear planet carrier 15a is fixedly connected to the first output shaft 19a, and a first clutch 18a is connected between it and the first intermediate shaft 13a; the first gear planet carrier 15a serves as the output of the first planetary gear mechanism.

[0083] The second planetary gear mechanism also includes a second variable speed sun gear 14b and a second variable speed planet carrier 15b; the second variable speed sun gear 14b is fixedly connected to the second intermediate shaft 13b; the second variable speed planet carrier 15b is fixedly connected to the second output shaft 19b, and a second clutch 18b is connected between it and the second intermediate shaft 13b; the second variable speed planet carrier 15b serves as the output of the second planetary gear mechanism.

[0084] Depending on the structure used in the steering power coupling mechanism, there are three possible implementation methods:

[0085] Implementation Method 1

[0086] like Figure 1 , Figure 2 and Figure 3 As shown, the steering power coupling mechanism includes a first steering coupling gear ring 24a, a second steering coupling gear ring 24b, a first steering coupling sun gear 22a, a first steering coupling planetary carrier 23a, a second steering coupling sun gear 22b, and a second steering coupling planetary carrier 23b; the first steering coupling gear ring 24a and the second steering coupling gear ring 24b form a double gear ring, or they can be a single gear ring with an integral structure;

[0087] The first steering coupling planetary carrier 23a is fixedly connected to the first intermediate shaft 13a and meshes between the first steering coupling sun gear 22a and the first steering coupling ring gear 24a;

[0088] The second steering coupling planetary carrier 23b is fixedly connected to the second intermediate shaft 13b and meshes between the second steering coupling sun gear 22b and the second steering coupling ring gear 24b;

[0089] like Figure 2 As shown, planetary carrier bearings 33 are installed on the outer periphery of both the first steering coupling planetary carrier 23a and the second steering coupling planetary carrier 23b; a planetary carrier connecting bearing 34 is installed between the first steering coupling planetary carrier 23a and the second steering coupling planetary carrier 23b, so that the first steering coupling planetary carrier 23a and the second steering coupling planetary carrier 23b can rotate relative to each other around the planetary carrier connecting bearing 34.

[0090] The first steering coupling sun gear 22a is loosely fitted onto the first intermediate shaft 13a and fixedly mounted on the housing 31;

[0091] The second steering coupling sun gear 22b is loosely fitted onto the second intermediate shaft 13b and is fixedly connected to the steering motor shaft 21 of the steering motor 20.

[0092] Implementation Method 2

[0093] like Figure 4 , Figure 5 and Figure 6 As shown, the steering power coupling mechanism includes a first steering coupling planetary gear 25a, a second steering coupling planetary gear 25b, a third steering coupling sun gear 26a, a third steering coupling planetary carrier 27a, a fourth steering coupling sun gear 26b, and a fourth steering coupling planetary carrier 27b.

[0094] The third steering coupling sun gear 26a is fixedly installed on the first intermediate shaft 13a; the fourth steering coupling sun gear 26b is fixedly installed on the second intermediate shaft 13b.

[0095] The first steering coupling planetary gear 25a meshes with the third steering coupling sun gear 26a and is rotatably mounted on the third steering coupling planetary carrier 27a relative to the third steering coupling planetary carrier 27a;

[0096] The second steering coupling planetary gear 25b meshes with the fourth steering coupling sun gear 26b and is rotatably mounted on the fourth steering coupling planetary carrier 27b relative to the fourth steering coupling planetary carrier 27b.

[0097] The third steering coupling planetary carrier 27a and the fourth steering coupling planetary carrier 27b are both fixedly connected to the steering motor shaft 21 of the steering motor 20; the first steering coupling planetary carrier 23a and the second steering coupling planetary carrier 23b can be an integral structure.

[0098] The first steering coupling planetary gear 25a and the second steering coupling planetary gear 25b are a pair of planetary gears.

[0099] Implementation Method 3

[0100] like Figure 7 , Figure 8 and Figure 9 As shown, the steering power coupling mechanism includes a fifth steering coupling sun gear 28a, a sixth steering coupling sun gear 28b, a third steering coupling ring gear 29, a third steering coupling planetary gear 30a, a fourth steering coupling planetary gear 30b, a fifth steering coupling planetary carrier 35a, and a sixth steering coupling planetary carrier 35b; the fifth steering coupling sun gear 28a and the sixth steering coupling sun gear 28b are symmetrically arranged; the fifth steering coupling planetary carrier 35a and the sixth steering coupling planetary carrier 35b are symmetrically arranged; the third steering coupling planetary gear 30a and the fourth steering coupling planetary gear 30b are symmetrically arranged.

[0101] The fifth steering coupling sun gear 28a is loosely fitted onto the first intermediate shaft 13a and is fixedly connected to the steering motor shaft 21 of the steering motor 20;

[0102] The sixth steering coupling sun gear 28b is loosely fitted onto the second intermediate shaft 13b and fixedly mounted on the housing 31;

[0103] Both the third steering coupling planetary gear 30a and the fourth steering coupling planetary gear 30b are double planetary gears and both mesh with the third steering coupling gear ring 29;

[0104] The third steering coupling planetary gear 30a is fixedly mounted on the fifth steering coupling planetary carrier 35a and meshes with the fifth steering coupling sun gear 28a;

[0105] The fourth steering coupling planetary gear 30b is fixedly mounted on the sixth steering coupling planetary carrier 35b and meshes with the sixth steering coupling sun gear 28b;

[0106] One of the external gears in the double gears of the third steering coupling planetary gear 30a and the fourth steering coupling planetary gear 30b simultaneously meshes with the third steering coupling ring gear 29, the other external gear in the double gears of the third steering coupling planetary gear 30a meshes with the fifth steering coupling sun gear 28a, and the other external gear in the double gears of the fourth steering coupling planetary gear 30b meshes with the sixth steering coupling sun gear 28b.

[0107] The fifth steering coupling planetary carrier 35a is fixedly connected to the first intermediate shaft 13a; the sixth steering coupling planetary carrier 35b is fixedly connected to the second intermediate shaft 13b; as shown Figure 8 As shown, planetary carrier bearings 33 are installed on the outer periphery of both the fifth steering coupling planetary carrier 35a and the sixth steering coupling planetary carrier 35b, and a planetary carrier connecting bearing 34 is installed between the fifth steering coupling planetary carrier 35a and the sixth steering coupling planetary carrier 35b, so that the fifth steering coupling planetary carrier 35a and the sixth steering coupling planetary carrier 35b can rotate relative to each other around the planetary carrier connecting bearing 34.

[0108] The aforementioned three-motor steering power coupling device for tracked vehicles includes two drive motors and one steering motor 20. When the tracked vehicle is in low-speed operation, the two drive motors are responsible for straight-line driving and steering, and the steering return power is relatively small. When the tracked vehicle is in high-speed operation, the two drive motors are only responsible for providing straight-line propulsion power, while the steering motor 20 is responsible for providing steering power. At this time, the steering return power is relatively large, and the steering return power of the inner track can be efficiently transferred to the outer track through the steering power coupling mechanism. Therefore, the steering torque of the tracked vehicle can be provided by the steering motor 20 or the drive motor alone, or it can be provided by the steering motor 20 and the drive motor together, which can realize flexible power distribution among the three motors and reduce the power demand of the drive motors. The high-speed design of the three motors is conducive to achieving high power density of the motors.

[0109] The aforementioned three-motor steering power coupling device for tracked vehicles can transmit power to the motors through a planetary reduction mechanism, a planetary transmission mechanism, and a steering power coupling mechanism. At the same time, it works with brakes and clutches to distribute power and meet the high-efficiency drive requirements of different loads. The three motors have redundancy. If any one motor fails, the tracked vehicle can still drive straight and turn, ensuring the vehicle's mobility.

[0110] In the above-mentioned three-motor steering power coupling device for tracked vehicles, the drive motor, steering motor 20, steering power coupling mechanism, reduction planetary mechanism, planetary transmission mechanism, intermediate shaft and output shaft are all arranged coaxially. Furthermore, the steering power coupling mechanism is arranged inside the rotor of the steering motor 20, thereby shortening the axial length of the three-motor steering power coupling device, occupying less space, which is beneficial to the spatial arrangement of the whole vehicle and makes the structure simple.

[0111] In the aforementioned three-motor steering power coupling device for tracked vehicles, the steering torque can be provided separately by the steering motor 20 and the drive motor, or jointly. A preferred control method is as follows: Figure 10 As shown, when the vehicle speed is less than 5% of the maximum vehicle speed, the steering torque is mainly provided by two drive motors; when the vehicle speed is greater than 40% of the maximum vehicle speed, the steering motor 20 provides the steering torque independently; when the vehicle speed is between 5% and 40%, the steering torque is jointly provided by the drive motor and the steering motor 20.

[0112] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A three-motor steering power coupling device for tracked vehicles, characterized in that, It includes a housing, a first drive motor, a second drive motor, a steering motor, a first planetary reduction mechanism, a second planetary reduction mechanism, a first planetary transmission mechanism, a second planetary transmission mechanism, a steering power coupling mechanism, a first intermediate shaft, a second intermediate shaft, a first output shaft, a second output shaft, a first clutch, a second clutch, a first brake, and a second brake; The first drive motor and the second drive motor, the first planetary transmission mechanism and the second planetary transmission mechanism, the first planetary reduction mechanism and the second planetary reduction mechanism, the first intermediate shaft and the second intermediate shaft, the first output shaft and the second output shaft, the first clutch and the second clutch, and the first brake and the second brake are all symmetrically distributed on both sides of the steering motor. The first drive motor, the second drive motor, the steering motor, the first planetary reduction mechanism, the second planetary reduction mechanism, the first planetary transmission mechanism, the second planetary transmission mechanism, the steering power coupling mechanism, the first intermediate shaft, the second intermediate shaft, the first output shaft, the second output shaft, the first clutch, and the second clutch are arranged coaxially. The steering power coupling mechanism is installed inside the steering motor and is connected to the steering motor between the first intermediate shaft and the second intermediate shaft, and is used to transmit the steering return power of the inner track to the outer track. The first planetary reduction mechanism is driven between the first drive motor and the first intermediate shaft; the second planetary reduction mechanism is driven between the second drive motor and the second intermediate shaft; the first intermediate shaft and the first output shaft are driven through the first planetary gear mechanism and the first clutch; the first brake is fixedly installed in the housing and connected to the first gear ring of the first planetary gear mechanism for braking the first gear ring; the second intermediate shaft and the second output shaft are driven through the second planetary gear mechanism and the second clutch; the second brake is fixedly installed in the housing and connected to the second gear ring of the second planetary gear mechanism for braking the second gear ring; The three-motor steering power coupling device has parking condition, idling condition, low-speed straight driving condition, low-speed steering condition, high-speed straight driving condition, high-speed steering condition, and center condition; When the tracked vehicle is in a parking or idling state, the gear shifting mechanism is in neutral, the first drive motor, the second drive motor, and the steering motor all stop working, and the first brake, the second brake, the first clutch, and the second clutch are all disengaged. When the tracked vehicle is in a low-speed straight-driving condition, the gear shifting mechanism is in a low gear, the first drive motor and the second drive motor are both working and at the same speed, the steering motor is stopped, the first brake and the second brake are both engaged, and the first clutch and the second clutch are both disengaged. When the tracked vehicle is in a low-speed steering condition, the gear shifting mechanism is in a low gear, both the first drive motor and the second drive motor are working, the steering motor is stopped, both the first brake and the second brake are engaged, and both the first clutch and the second clutch are disengaged. The steering return power of the inner track is generated by the inner drive motor and transmitted to the outer drive motor. When the tracked vehicle is in a high-speed straight-line driving condition, the gear shifting mechanism is in high gear, the first drive motor and the second drive motor are both working and at the same speed, the steering motor is stopped, the first brake and the second brake are both disengaged, and the first clutch and the second clutch are both engaged. When the tracked vehicle is in a high-speed turning condition, the gear shifting mechanism is in high gear, the first drive motor and the second drive motor are both working and have the same driving torque, the steering motor is working, the first brake and the second brake are both disengaged, the first clutch and the second clutch are both engaged, and steering is achieved through the torque of the steering motor. The steering return power of the inner track is transmitted to the outer track through the steering power coupling mechanism. When the tracked vehicle is in the center working condition, the gear shifting mechanism is in low gear, the first drive motor and the second drive motor are both working, the steering motor is stopped, the first brake and the second brake are both engaged, the first clutch and the second clutch are both disengaged, the first drive motor and the second drive motor have the same speed and rotate in opposite directions, driving the tracks on both sides to rotate in opposite directions, realizing the track center turning in place.

2. The three-motor steering power coupling device as described in claim 1, characterized in that, The first planetary reduction mechanism includes a first reduction sun gear, a first reduction planetary carrier, and a first reduction ring gear; the first reduction sun gear is loosely fitted onto the first intermediate shaft and is fixedly connected to the first motor shaft of the first drive motor; the first reduction ring gear is fixedly installed on the housing; the first reduction planetary carrier is fixedly connected to the first intermediate shaft; The second planetary reduction mechanism includes a second reduction sun gear, a second reduction planetary carrier, and a second reduction ring gear; the second reduction sun gear is loosely fitted onto the second intermediate shaft and is fixedly connected to the second motor shaft of the second drive motor; the second reduction ring gear is fixedly installed on the housing; the second reduction planetary carrier is fixedly connected to the second intermediate shaft; The first planetary gear transmission mechanism further includes a first transmission sun gear and a first transmission planet carrier; the first transmission sun gear is fixedly connected to the first intermediate shaft; the first transmission planet carrier is fixedly connected to the first output shaft, and the first clutch is connected between the first intermediate shaft and the first transmission sun gear. The second planetary transmission mechanism further includes a second transmission sun gear and a second transmission planet carrier; the second transmission sun gear is fixedly connected to the second intermediate shaft; the second transmission planet carrier is fixedly connected to the second output shaft, and a second clutch is connected between the second transmission planet carrier and the second intermediate shaft.

3. The three-motor steering power coupling device as described in claim 2, characterized in that, The steering power coupling mechanism includes a first steering coupling gear ring, a second steering coupling gear ring, a first steering coupling sun gear, a first steering coupling planetary carrier, a second steering coupling sun gear, and a second steering coupling planetary carrier; The first steering coupling planetary carrier is fixedly connected to the first intermediate shaft and meshes between the first steering coupling sun gear and the first steering coupling ring gear; The second steering coupling planetary carrier is fixedly connected to the second intermediate shaft and meshes between the second steering coupling sun gear and the second steering coupling ring gear; The first steering coupling sun gear is loosely fitted onto the first intermediate shaft and fixedly installed on the housing; The second steering coupling sun gear is loosely fitted onto the second intermediate shaft and is fixedly connected to the steering motor shaft of the steering motor.

4. The three-motor steering power coupling device as described in claim 3, characterized in that, The first steering coupling gear ring and the second steering coupling gear ring form a double gear ring.

5. The three-motor steering power coupling device as described in claim 2, characterized in that, The steering power coupling mechanism includes a first steering coupling planetary gear, a second steering coupling planetary gear, a third steering coupling sun gear, a third steering coupling planetary carrier, a fourth steering coupling sun gear, and a fourth steering coupling planetary carrier; The third steering coupling sun gear is fixedly installed on the first intermediate shaft; The fourth steering coupling sun gear is fixedly mounted on the second intermediate shaft; The first steering coupling planetary gear meshes with the third steering coupling sun gear and is rotatably mounted on the third steering coupling planetary carrier relative to the third steering coupling planetary carrier; The second steering coupling planetary gear meshes with the fourth steering coupling sun gear and is rotatably mounted on the fourth steering coupling planetary carrier relative to the fourth steering coupling planetary carrier; Both the third and fourth steering coupling planetary carriers are fixedly connected to the steering motor shaft of the steering motor. The first steering coupling planetary gear and the second steering coupling planetary gear are a pair of planetary gears.

6. The three-motor steering power coupling device as described in claim 5, characterized in that, The first steering-coupled planetary carrier and the second steering-coupled planetary carrier are an integral structure.

7. The three-motor steering power coupling device as described in claim 2, characterized in that, The steering power coupling mechanism includes a fifth steering coupling sun gear, a sixth steering coupling sun gear, a third steering coupling ring gear, a third steering coupling planet gear, a fourth steering coupling planet gear, a fifth steering coupling planet carrier, and a sixth steering coupling planet carrier; The fifth steering coupling sun gear is loosely fitted onto the first intermediate shaft and is fixedly connected to the steering motor shaft of the steering motor; The sixth steering coupling sun gear is loosely fitted onto the second intermediate shaft and fixedly installed on the housing; The third and fourth steering coupling planetary gears are both double planetary gears and both mesh with the third steering coupling ring gear. The third steering coupling planetary gear is fixedly mounted on the fifth steering coupling planetary carrier and meshes with the fifth steering coupling sun gear; The fourth steering coupling planetary gear is fixedly mounted on the sixth steering coupling planetary carrier and meshes with the sixth steering coupling sun gear; The fifth steering coupling planetary carrier is fixedly connected to the first intermediate shaft; The sixth steering coupling planetary carrier is fixedly connected to the second intermediate shaft.

8. The three-motor steering power coupling device as described in any one of claims 1-7, characterized in that, It also includes the engine, generator, motor drive, and battery pack; The output shaft of the engine is fixedly connected to the generator shaft; The generator is used to convert the kinetic energy of the engine into electrical energy and is electrically connected to the motor driver; The motor driver is electrically connected to the power battery pack, the first drive motor, the second drive motor and the steering motor, and is used for energy regulation and to drive the first drive motor, the second drive motor and the steering motor to rotate. The power battery pack is used for charging and discharging.

9. The three-motor steering power coupling device as described in claim 8, characterized in that, It also includes vibration dampers; The vibration damper is connected between the output shaft of the engine and the generator shaft.

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