A crawler travel platform transmission and a crawler travel platform

Abstract

The present invention provides a crawler travel platform transmission and a crawler travel platform, which relate to the technical field of crawler travel platforms and include an engine, a planetary gear train, and an electric motor. The engine has a first output shaft; the planetary gear train includes a sun gear, planetary gears, a ring gear, and a planet carrier; the electric motor is connected to the sun gear to drive the sun gear to rotate; wherein, the first output shaft is connected to the ring gear of the planetary gear train to drive the ring gear to rotate. There are two planetary gear trains, and the two planetary gear trains are respectively arranged on both sides of the first output shaft. The number of electric motors is 2, and the two electric motors are respectively arranged corresponding to the planetary gear trains. The two planet carriers are respectively used to drive the half shafts of the crawler travel platform to rotate. By arranging an electric motor corresponding to each planetary gear train, when the engine keeps the rotational speed unchanged, the forward movement, reverse movement, and turning of the crawler travel platform can be realized by respectively adjusting the motor control parameters of the two electric motors.

Description

Technical Field

[0001] The present invention relates to the field of crawler traveling platforms, and particularly to a transmission for a crawler traveling platform and a crawler traveling platform. Background Art

[0002] A crawler traveling platform is a special traveling platform that uses crawlers as the traveling mechanism. The crawlers on it replace the wheels on traditional traveling platforms, which reduces the unit pressure of the crawler traveling platform on the ground and the degree of subsidence. At the same time, since a relatively powerful engine is installed in the crawler traveling platform, it has good ground adhesion and a large traction force. At the same time, due to the low center of gravity of the crawler traveling platform, it has excellent off-road performance, can travel on uneven ground, and has good wading performance. Therefore, it is widely used in agriculture, construction, industry, military and other fields.

[0003] Currently, some crawler traveling platforms use an HST hydrostatic continuously variable transmission for continuously variable speed. However, during the use of the HST hydrostatic continuously variable transmission, since the speed needs to be adjusted hydraulically, the power loss is relatively large during the transmission process. And during the speed regulation process of using the HST hydrostatic continuously variable transmission, the speed of the crawler traveling platform will decrease due to the increase in its load weight, so it is difficult to achieve precise speed regulation for the crawler traveling platform. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a transmission for a crawler traveling platform and a crawler traveling platform, which are used to solve the problems such as large power loss during the power transmission process of the automatic transmission in the prior art and difficulty in achieving precise speed regulation.

[0005] To achieve the above purpose and other related purposes, the present invention provides a transmission for a crawler traveling platform, including:

[0006] An engine, the engine having a first output shaft;

[0007] A planetary gear train, the planetary gear train including a sun gear, planetary gears, a ring gear and a planet carrier;

[0008] An electric motor, the electric motor being connected to the sun gear to drive the sun gear to rotate;

[0009] Wherein, the first output shaft is connected to the ring gear of the planetary gear train to drive the ring gear to rotate. There are two planetary gear trains, and the two planetary gear trains are respectively arranged on both sides of the first output shaft. The number of the electric motors is 2, the two electric motors are respectively arranged corresponding to the planetary gear trains, and the two planet carriers are respectively used to drive the half shafts of the crawler traveling platform to rotate;

[0010] The motor has motor control parameters, which at least include rotational speed and rotation direction. The motor has a critical speed corresponding to the rotational speed of the engine. When the rotational speed of the motor is the critical speed, the output speed of the half shaft is 0. The crawler running platform transmission has at least straight and turning states;

[0011] When the crawler running platform transmission is in the straight state, based on the rotational speed of the engine, the critical speed is obtained. The two motor control parameters are the same, and the output rotational speeds of the two motors are both rotational speeds other than the critical speed;

[0012] When the crawler running platform transmission is in the turning state, the turning angle and the rotational speed of the engine are obtained. Based on the turning angle and the rotational speed of the engine, the output turning rotational speeds and turning time of the two motors are obtained. During the turning time period, the output rotational speeds of the two motors are the output turning rotational speeds to make the crawler running platform turn.

[0013] Optionally, a first two-stage reduction gear set is provided between each planetary gear train and the corresponding motor, and the motor transmits kinetic energy to the corresponding planetary gear train through the corresponding first two-stage reduction gear set.

[0014] Optionally, the first two-stage reduction gear set includes a sixth gear, a seventh gear and an eighth gear. The motors all have a second output shaft. The sixth gear is arranged on the second output shaft. The seventh gear is arranged between the sixth gear and the eighth gear and meshes with the sixth gear and the eighth gear respectively. The eighth gear and the sun gear are connected by a first transmission shaft and rotate together.

[0015] Optionally, the engine drives the two ring gears to rotate respectively through a second two-stage reduction gear set.

[0016] Optionally, the second two-stage reduction gear set includes a first shaft, a first gear, a second gear, a third gear, a fourth gear and a fifth gear. The first gear, the second gear and the third gear are arranged on the first output shaft. The fourth gear and the fifth gear are arranged on the first shaft. The first gear and the fourth gear mesh and drive the first shaft to rotate. The first shaft drives the fifth gear to rotate. The fifth gear meshes with the second gear. The second gear is fixedly connected to the third gear and rotates together. The two third gears drive the planetary gear trains to move respectively.

[0017] Optionally, the ring gear has a plurality of external teeth and a plurality of internal teeth. Along the circumferential direction of the ring gear, the plurality of internal teeth are arranged in sequence around the inner wall of the ring gear, and the plurality of external teeth are arranged in sequence around the outer wall of the ring gear. The internal teeth mesh with the planet gears, and the external teeth mesh with the third gear. Along the extending direction of the first output shaft, the external teeth and the internal teeth are arranged in a staggered manner in sequence.

[0018] Optionally, the crawler travel platform transmission further includes a power battery for supplying power to the motor. When the sun gear drives the corresponding motor to rotate, the two motors generate electricity to charge the power battery.

[0019] Optionally, the planet carrier drives the half shaft to rotate through a third two-stage reduction gear set.

[0020] Optionally, the straight running state includes forward and reverse. When the crawler travel platform transmission drives the crawler travel platform forward, the output speeds of the two motors are both greater than the critical speed. When the crawler travel platform transmission drives the crawler travel platform in reverse, the output speeds of the two motors are both less than the critical speed.

[0021] The present invention provides a crawler travel platform transmission, including the crawler travel platform transmission as described above.

[0022] As described above, the crawler travel platform transmission and the crawler travel platform of the present invention have the following beneficial effects:

[0023] By providing a motor corresponding to each planetary gear train, when the engine maintains a constant speed, the forward, reverse and turning of the crawler travel platform can be realized by respectively adjusting the motor control parameters of the two motors. At the same time, the transmission structure of the transmission is simple, the speed regulation accuracy is high after the cooperation of the motor, the engine and the planetary gear train, and the stepless speed change of the crawler travel platform can be realized, the speed change effect is good, the transmission loss is small, and it has good market promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It shows a schematic diagram of the transmission structure of the crawler vehicle transmission according to an embodiment of the present invention.

[0025] Label description: 1. Engine; 2. First output shaft; 3. Eighth gear; 4. Seventh gear; 5. Sixth gear; 6. Second output shaft; 7. Motor; 8. Fourth gear; 9. First shaft; 10. First gear; 11. Fifth gear; 12. Second gear; 13. First transmission shaft; 14. Planetary gear; 15. Sun gear; 16. Ring gear; 17. Planet carrier; 18. Third gear; 19. First bevel gear; 20. Second bevel gear; 21. Second shaft; 22. Ninth gear; 23. Tenth gear; 24. Half shaft. Detailed implementation manners

[0026] The following uses specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0027] Please refer to Figure 1 . It should be noted that the drawings provided in this embodiment only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex. The structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in this technology to understand and read, and are not used to limit the limiting conditions under which the present invention can be implemented. Therefore, they do not have technical substance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration, rather than used to limit the scope under which the present invention can be implemented. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope under which the present invention can be implemented.

[0028] Such as Figure 1As shown in the figure, the present invention provides a crawler travel platform transmission, which includes an engine 1, a planetary gear train, and a motor 7. The engine 1 has a first output shaft 2. The planetary gear train includes a sun gear 15, a planetary gear 14, a ring gear 16, and a planet carrier 17. The motor 7 is connected to the sun gear 15 to drive the sun gear 15 to rotate. Among them, the first output shaft 2 is connected to the ring gear 16 of the planetary gear train to drive the ring gear 16 to rotate. There are two planetary gear trains, and the two planetary gear trains are respectively arranged on both sides of the first output shaft 2. The number of motors 7 is 2, and the two motors 7 are respectively arranged corresponding to the planetary gear trains. The two planet carriers 17 are respectively used to drive the half shafts 24 of the crawler travel platform to rotate. The motor 7 has motor 7 control parameters, and the motor 7 control parameters at least include an output speed and a rotation direction. The motor 7 has a critical speed corresponding to the speed of the engine 1. When the motor 7 is at the critical speed, the output speed of the half shaft 24 is 0. The crawler travel platform transmission has at least a straight-ahead and a turning state. When the crawler travel platform transmission is in the straight-ahead state, based on the speed of the engine 1, the critical speed is obtained. The control parameters of the two motors 7 are the same, and the output speeds of the two motors 7 are both speeds other than the critical speed. When the crawler travel platform transmission is in the turning state, the turning angle and the speed of the engine 1 are obtained. Based on the turning angle and the speed of the engine 1, the output turning speeds and the turning time of the two motors 7 are obtained. During the turning time period, the output speeds of the two motors 7 are the output turning speeds to make the crawler travel platform turn. It should be noted that when the crawler travel platform turns, the output turning speeds of the two motors are different to achieve the turning of the crawler travel platform. By arranging the motor 7 corresponding to each planetary gear train, when the engine 1 keeps the speed unchanged, the traveling, backward movement, and turning of the crawler travel platform can be realized by respectively adjusting the motor 7 control parameters of the two motors 7. At the same time, the transmission structure of the transmission is simple, the accuracy of speed regulation after the cooperation of the motor 7, the engine 1, and the planetary gear train is high, and the infinitely variable speed of the crawler travel platform can be realized, the speed change effect is good, and the transmission loss is small.

[0029] In this embodiment, there are four planetary gears 14. The four planetary gears 14 are arranged between the ring gear 16 and the sun gear 15 and are respectively meshed with the ring gear 16 and the sun gear 15. The number of planetary gears 14 can be adjusted according to actual working requirements.

[0030] Among them, a first two-stage reduction gear set is provided between each planetary gear train and the corresponding motor 7, and the motor 7 transmits kinetic energy to the corresponding planetary gear train through the corresponding first two-stage reduction gear set. By setting the first two-stage reduction gear set, the output speed of the motor 7 can be made to match the output speed of the engine 1. In this embodiment, the first two-stage reduction gear set includes a sixth gear 5, a seventh gear 4, and an eighth gear 3. The motor 7 all has a second output shaft 6. The sixth gear 5 is arranged on the second output shaft 6. The seventh gear 4 is arranged between the sixth gear 5 and the eighth gear 3 and meshes with the sixth gear 5 and the eighth gear 3 respectively. The eighth gear 3 and the sun gear 15 are connected by a first transmission shaft 13 and rotate together. By setting the sixth gear 5, the seventh gear 4, and the eighth gear 3, while ensuring the transmission efficiency, the distance between the motor 7 and the first output shaft 2 can be increased to meet the layout space requirements inside the crawler running platform.

[0031] Among them, the second two-stage reduction gear set includes a first shaft 9, a first gear 10, a second gear 12, a third gear 18, a fourth gear 8, and a fifth gear 11. The first gear 10, the second gear 12, and the third gear 18 are arranged on the first output shaft 2. The fourth gear 8 and the fifth gear 11 are arranged on the first shaft 9. The first gear 10 and the fourth gear 8 mesh and drive the first shaft 9 to rotate. The first shaft 9 drives the fifth gear 11 to rotate. The fifth gear 11 meshes with the second gear 12. The second gear 12 is fixedly connected to the third gear 18 and rotates together. The two third gears 18 respectively drive the planetary gear train to move. The second two-stage reduction gear set has a simple structure and is convenient to assemble.

[0032] Among them, the ring gear 16 has a plurality of external teeth and a plurality of internal teeth. Along the circumferential direction of the ring gear 16, the plurality of internal teeth are arranged in sequence around the inner wall of the ring gear 16, and the plurality of external teeth are arranged in sequence around the outer wall of the ring gear 16. The internal teeth mesh with the planetary gears 14, and the external teeth mesh with the third gears 18. Along the extending direction of the first output shaft 2, the external teeth and the internal teeth are arranged in a staggered manner in sequence. By arranging the internal teeth and the external teeth in a staggered manner along the extending direction of the first output shaft 2, the installation position of the two-stage reduction gear set can be avoided, and the space utilization rate inside the crawler running platform can be improved.

[0033] Specifically, the motor 7 is a servo motor 7. The servo motor 7 has the advantages of high precision, high speed, fast dynamic response, etc., and the reliability and stability of the servo motor 7 during operation are high.

[0034] It can be understood that the control parameters of the motor 7 at least include speed and rotation direction. The rotation direction of the motor 7 has positive and negative. Taking the output speed of the motor 7 and the speed of the engine 1 can be superimposed as positive, and taking the output speed of the motor 7 and the speed of the engine 1 can be offset as negative. The output speed in the positive rotation direction of the motor 7 is positive, and the output speed in the reverse rotation direction of the motor 7 is negative.

[0035] Among them, the crawler travel platform transmission further includes a power battery for supplying power to the motor 7. When the sun gear 15 drives the corresponding motor 7 to rotate, the two motors 7 generate electricity to charge the power battery. As described above, when the power battery supplies power to the motor 7, the motor 7 has an output speed to drive the sun gear 15 to rotate; when the power battery does not supply power to the motor 7 and the sun gear 15 drives the second output shaft 6 to rotate, the motor 7 generates electricity to charge the power battery. It can be understood that during the operation of the crawler travel platform, the engine 1 is preferably used to drive the crawler travel platform forward. During the forward movement of the crawler travel platform, the power battery can be charged so that the motor 7 has sufficient electrical energy to switch the travel state of the crawler travel platform.

[0036] In this embodiment, the straight-ahead state includes forward and reverse. When the crawler travel platform transmission drives the crawler travel platform forward, the output speeds of the two motors 7 are both greater than the critical speed. When the crawler travel platform transmission drives the crawler travel platform in reverse, the output speeds of the two motors 7 are both less than the critical speed.

[0037] In this embodiment, forward includes decelerated forward and accelerated forward; when the travel state command is decelerated forward, the output speeds of the two motors 7 decrease, and the output speeds of the motors 7 are both greater than the critical speed; when the travel state command is accelerated forward, the output speeds of the two motors 7 increase, and the output speeds of the motors 7 are both greater than the critical speed.

[0038] Among them, when the engine 1 starts and the motors 7 are all in the output power state, the sun gear 15 drives the corresponding motor 7 to rotate to charge the motor 7. When the motor 7 is not in the discharge state, the sun gear 15 drives the motor 7 to rotate to charge the motor 7. Charging the motor 7 intermittently during the forward movement of the crawler travel platform can ensure that the electrical energy in the motor 7 is sufficient and avoid problems during the operation of the crawler travel platform. As described above, when the power battery supplies power to the motor 7, the motor 7 has an output speed to drive the sun gear 15 to rotate; when the power battery does not supply power to the motor 7 and the sun gear 15 drives the second output shaft 6 to rotate, the motor 7 generates electricity to charge the power battery. It can be understood that during the operation of the crawler travel platform, the engine 1 is preferably used to drive the crawler travel platform forward. During the forward movement of the crawler travel platform, the power battery can be charged so that the motor 7 has sufficient electrical energy to switch the travel state of the crawler travel platform.

[0039] Among them, the planet carrier 17 drives the half shaft 24 to rotate through the third two-stage reduction gear set. The third two-stage reduction gear set includes a first bevel gear 19, a second bevel gear 20, a second shaft 21, a ninth gear 22 and a tenth gear 23. The planet carrier 17 is connected to the first bevel gear 19. The first bevel gear 19 and the second bevel gear 20 are meshed to change the transmission direction of the track driving platform transmission. The second bevel gear 20 is arranged on the second shaft 21. The second shaft 21 is also provided with the ninth gear 22. The tenth gear 23 is arranged on the half shaft 24 and meshed with the ninth gear 22. When the planet carrier 17 outputs kinetic energy, the rotational speed output to the half shaft 24 is further reduced through the third two-stage reduction gear set, thereby increasing the torque output by the half shaft 24 to meet the torque requirement of the track driving platform.

[0040] The present invention provides a track driving platform, including the track driving platform transmission as above.

[0041] In summary, by setting the motors 7 corresponding to each planetary gear train, when the engine 1 keeps the rotational speed unchanged, the forward movement, backward movement and turning of the track driving platform can be realized by respectively adjusting the control parameters of the two motors 7. At the same time, the transmission structure of the transmission is simple, the accuracy of speed regulation after the cooperation of the motors 7, the engine 1 and the planetary gear train is high, and the infinitely variable speed of the track driving platform can be realized, the speed change effect is good, the transmission loss is small, and it has good market promotion value.

[0042] The above embodiments are only illustrative of the principles and effects of the present invention, rather than limiting the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A crawler travel platform transmission, characterized in that, Comprising: An engine having a first output shaft; A planetary gear train including a sun gear, planetary gears, a ring gear and a planet carrier; An electric motor connected to the sun gear to drive the sun gear to rotate; Wherein, the first output shaft is connected to the ring gear of the planetary gear train to drive the ring gear to rotate. There are two planetary gear trains, and the two planetary gear trains are respectively arranged on both sides of the first output shaft. The number of electric motors is 2, and the two electric motors are respectively arranged corresponding to the planetary gear trains. The two planet carriers are respectively used to drive the half shafts of the crawler running platform to rotate; The electric motor has motor control parameters, and the motor control parameters at least include rotational speed and rotation direction. The electric motor has a critical speed corresponding to the rotational speed of the engine. When the rotational speed of the electric motor is the critical speed, the output speed of the half shaft is 0. The crawler running platform transmission has at least straight and turning states; When the crawler running platform transmission is in the straight state, based on the rotational speed of the engine, the critical speed is obtained. The two motor control parameters are the same, and the output rotational speeds of the two electric motors are both rotational speeds other than the critical speed; When the crawler running platform transmission is in the turning state, the turning angle and the rotational speed of the engine are obtained. Based on the turning angle and the rotational speed of the engine, the output turning rotational speeds and turning time of the two electric motors are obtained. During the turning time period, the output rotational speeds of the two electric motors are the output turning rotational speeds to make the crawler running platform turn; A first two-stage reduction gear set is arranged between each planetary gear train and the corresponding electric motor, and the electric motor transmits kinetic energy to the corresponding planetary gear train through the corresponding first two-stage reduction gear set; The first two-stage reduction gear set includes a sixth gear, a seventh gear and an eighth gear. The electric motors all have a second output shaft. The sixth gear is arranged on the second output shaft. The seventh gear is arranged between the sixth gear and the eighth gear and meshes with the sixth gear and the eighth gear respectively. The eighth gear and the sun gear are connected by a first transmission shaft and rotate together; The engine drives the two ring gears to rotate respectively through a second two-stage reduction gear set. The second two-stage reduction gear set includes a first shaft, a first gear, a second gear, a third gear, a fourth gear and a fifth gear. The first gear, the second gear and the third gear are arranged on the first output shaft. The fourth gear and the fifth gear are arranged on the first shaft. The first gear and the fourth gear mesh and drive the first shaft to rotate. The first shaft drives the fifth gear to rotate. The fifth gear meshes with the second gear. The second gear is fixedly connected to the third gear and rotates together. The two third gears respectively drive the planetary gear trains to move; The ring gear has a plurality of external teeth and a plurality of internal teeth. Along the circumferential direction of the ring gear, the plurality of internal teeth are arranged in sequence around the inner wall of the ring gear, and the plurality of external teeth are arranged in sequence around the outer wall of the ring gear. The internal teeth mesh with the planet gears, and the external teeth mesh with the third gear. Along the extension direction of the first output shaft, the external teeth and the internal teeth are arranged in a staggered manner in sequence.

2. The crawler travel platform transmission according to claim 1, wherein: The crawler travel platform transmission further includes a power battery for supplying power to the motor. When the sun gear drives the corresponding motor to rotate, the two motors generate electricity to charge the power battery.

3. The crawler travel platform transmission according to claim 1, wherein: The planet carrier drives the half shaft to rotate through a third two-stage reduction gear set.

4. The crawler travel platform transmission according to claim 1, wherein: The straight running state includes forward and reverse. When the crawler travel platform transmission drives the crawler travel platform forward, the output speeds of the two motors are both greater than the critical speed. When the crawler travel platform transmission drives the crawler travel platform in reverse, the output speeds of the two motors are both less than the critical speed.

5. A crawler travel platform, characterized in that, It includes the crawler travel platform transmission according to any one of claims 1-4.

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