Active differential type steering driver of crawler

Abstract

The active differential type steering driver is characterized by comprising a box body, a main shaft, a first output half shaft, a first planetary gear mechanism, a second output half shaft, a second planetary gear mechanism, a steering input shaft, a first worm, a second worm and a power input shaft. The first planetary gear mechanism is rotatably arranged on one side of the box body, first worm gear teeth are arranged on the outer side of the first planetary gear mechanism, one end of the first planetary gear mechanism is connected with one end of the main shaft, and the other end of the first planetary gear mechanism is connected with the first output half shaft; the first worm is rotatably arranged on the box body, one end of the first worm is provided with a first worm gear meshed with the first worm gear, and the other end of the first worm is provided with a second gear meshed with the first gear; and the power input shaft is rotatably arranged on the box body and is connected with the main shaft through a transmission mechanism. The problems that a traditional steering mechanism is large in steering angle and discontinuous in steering are solved, and in-situ steering is achieved.

Description

Technical Field

[0001] The invention relates to a driving transmission structure, and in particular to a steering drive device applied to a crawler vehicle. Background Art

[0002] Traditional crawler tractors mostly use single-side brake steering, with a large turning radius, which makes driving inconvenient compared to small fields and village roads. The brake device needs to work in real time when driving in a straight line, and the brakes need to be maintained and replaced frequently. The brake device needs to cooperate when turning, and it is necessary to stop and restart when switching from the steering direction. The control logic is complex, and once there is a mismatch, the abnormal wear of mechanical parts will increase. When driving in a straight line, if there is a large difference in the load of the left and right single-side crawlers, the brake device will slip, causing the output speed of the crawlers on both sides to be unbalanced, and there will be mis-turning and swinging when driving. There are too many power transfer levels between the steering mechanism and the main drive mechanism, and the reliability is not high for long-term use. Bevel gear transmission is usually used in the steering mechanism. Because there is radial force in the transmission link, a large number of tapered roller bearings with adjustable clearance are required, which makes assembly difficult and requires readjustment of the clearance after a period of use. For related literature, please refer to the Chinese invention patent application publication "A Planetary Differential Steering Drive Axle for Tracked Vehicles" (application publication number CN111022606A) with application number 201911229936.0. Summary of the invention

[0003] The first technical problem to be solved by the present invention is to provide an active differential steering drive for a tracked vehicle capable of turning in situ in view of the above-mentioned technical status.

[0004] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: an active differential steering drive for a crawler vehicle, characterized in that:

[0005] The box has space for contents;

[0006] A main shaft is rotatably disposed in the aforementioned housing;

[0007] A first output half shaft is rotatably disposed on one side of the housing;

[0008] A first planetary gear mechanism, rotatably disposed on one side of the housing and having first worm gear teeth on the outer side, one end of the first planetary gear mechanism being connected to one end of the main shaft, and the other end being connected to the first output half shaft;

[0009] A second output half shaft is rotatably disposed on the other side of the aforementioned housing;

[0010] A second planetary gear mechanism is rotatably disposed on the other side of the housing and has second worm gear teeth on the outer side, one end of the second planetary gear mechanism is connected to the other end of the aforementioned main shaft, and the other end is connected to the aforementioned second output half shaft;

[0011] A steering input shaft is rotatably disposed on the aforementioned housing, one end of which extends into the housing and has a first gear;

[0012] A first worm, rotatably disposed on the housing and having a first worm tooth meshing with the first worm wheel tooth at one end and a second gear meshing with the first gear at the other end;

[0013] a second worm, rotatably disposed on the housing and having a second worm tooth meshing with the second worm wheel tooth at one end and a third gear meshing with the first gear at the other end; and

[0014] The power input shaft is rotatably arranged on the aforementioned box body and is connected to the aforementioned main shaft through a transmission mechanism.

[0015] The transmission mechanism may include

[0016] Output bevel gear, arranged on the power input shaft;

[0017] A transmission shaft is rotatably disposed in the housing and arranged parallel to the main shaft;

[0018] An input bevel gear, disposed on the transmission shaft and meshing with the output bevel gear;

[0019] an output gear, disposed on the transmission shaft; and

[0020] The input gear is arranged on the main shaft and meshes with the aforementioned output gear.

[0021] Preferably, the output bevel gear and the input bevel gear are both arc bevel gears.

[0022] The first planetary gear mechanism at least includes a primary planetary reduction mechanism and a secondary planetary reduction mechanism connected to the primary planetary reduction mechanism, the primary planetary reduction mechanism having the first worm gear, and the secondary planetary reduction mechanism connected to the first output axle. The first planetary gear mechanism may also adopt a three-stage or more planetary gear speed change structure, which will not be elaborated here.

[0023] Preferably, the first-stage planetary reduction mechanism may include

[0024] A first gear ring, rotatably disposed in the housing and having first inner ring teeth and the first worm gear teeth;

[0025] A first sun gear, disposed at one end of the main shaft and located in the inner cavity of the first gear ring;

[0026] A first planet carrier rotatably disposed in the first gear ring and having a shaft extending out of the housing; and

[0027] A plurality of first planetary gears are rotatably disposed on the first planet carrier and arranged around the first sun gear, and two ends of the first planetary gears are respectively meshed with the first sun gear and the first inner ring gear;

[0028] The two-stage planetary reduction mechanism includes

[0029] A second gear ring, disposed outside the housing and having second inner ring teeth;

[0030] A second sun gear is disposed on the shaft of the first planet carrier and is located in the inner cavity of the second ring gear;

[0031] A second planet carrier is rotatably disposed on the housing and connected to the first output half shaft; and

[0032] There are multiple second planetary gears, which are rotatably disposed on the second planet carrier and arranged around the second sun gear. Both ends of the second planetary gears are respectively meshed with the second sun gear and the second inner ring gear.

[0033] Furthermore, the second planet carrier and the first output half shaft are an integral part.

[0034] Taking the arrangement of the driver into consideration, the power input shaft and the steering input shaft are located on opposite sides of the housing.

[0035] Compared with the prior art, the present invention has the advantages that the steering input shaft is transmitted to the first worm and the second worm through the gear set, and the first worm and the second worm are respectively meshed with the first worm gear and the second worm gear. Since the worm gear has a self-locking effect, the first gear ring remains stationary when driving in a straight line normally, and the power can be output normally at this time. When turning is required, the left and right inputs are input through the steering input shaft. At this time, the first gear rings of the left and right primary planetary reduction mechanisms turn in opposite directions, achieving the purpose of differential speed and realizing steering.

[0036] It solves the problem of large steering angle and discontinuous steering of traditional steering mechanism, and realizes in-situ steering. It can bear large torque and load, and is suitable for large load environments such as agricultural equipment and engineering machinery. The brake lock and friction brake device are cancelled, there are no wearing parts, higher reliability, and no frequent maintenance is required. Bevel gear is not used in the steering mechanism, and there is no radial force. The track wear is reduced during steering, and the tracks on both sides always maintain output, reducing the possibility of getting stuck and giving full play to the power. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the structure of an embodiment.

[0038] Figure 2 for Figure 1 Exploded view of some embodiments of the present invention from a viewing angle.

[0039] Figure 3It is a structural schematic diagram of another viewing angle of the embodiment.

[0040] Figure 4 for Figure 3 Exploded view of some embodiments of the present invention from a viewing angle.

[0041] Figure 5 middle Figure 4 An enlarged exploded view of the middle part from another perspective.

[0042] Figure 6 It is a three-dimensional cross-sectional view of an embodiment. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below with reference to the accompanying drawings.

[0044] like Figure 1 to Figure 6 As shown, the active differential steering drive of the crawler vehicle in this embodiment includes a housing 10, a main shaft 3, a first output half shaft 25, a first planetary gear mechanism 1, a second output half shaft 25b, a second planetary gear mechanism 2, a steering input shaft 4, a first worm 5, a second worm 5b and a power input shaft 6.

[0045] The box body 10 has a content space. The box body 7 in this embodiment includes a shell 72 and a shell cover 71 arranged at the end of the shell 72 and assembled by screws.

[0046] The main shaft 3 is rotatably disposed in the housing 10, and the first output half shaft 25 is rotatably disposed on one side of the housing 10; the first planetary gear mechanism 1 is rotatably disposed on one side of the housing 10 and has a first worm gear 111 on the outer side, one end of the first planetary gear mechanism 1 is connected to one end of the main shaft 3, and the other end is connected to the first output half shaft 25.

[0047] The second output half shaft 25b is rotatably disposed on the other side of the housing 10; the second planetary gear mechanism 2 is rotatably disposed on the other side of the housing 10 and has a second worm gear 111b on the outer side, one end of the second planetary gear mechanism 2 is connected to the other end of the main shaft 3, and the other end is connected to the second output half shaft 25b.

[0048] The first output half shaft 25 and the second output half shaft 25b are used for connecting and mounting tires.

[0049] The steering input shaft 4 is rotatably disposed on the housing 10, one end of which extends into the housing 10 and has a first gear 41; the first worm 5 is rotatably disposed on the housing 10 and has a first worm tooth 51 meshing with the first worm wheel tooth 111 at one end and a second gear 52 meshing with the first gear 41 at the other end; the second worm 5b is rotatably disposed on the housing 10 and has a second worm tooth 51b meshing with the second worm wheel tooth 111b at one end and a third gear 52b meshing with the first gear 41 at the other end.

[0050] The power input shaft 6 and the steering input shaft 4 are respectively located on opposite sides of the housing 10. The power input shaft 6 is rotatably disposed on the housing 10 and is connected to the main shaft 3 through a transmission mechanism.

[0051] The power input shaft 6 transmits power to the main shaft, and the two sides of the main shaft transmit power to the first output half shaft and the second output half shaft through the first planetary gear reduction mechanism and the second planetary reduction mechanism respectively. The first output half shaft 25 and the second output half shaft 25b are used to connect and install tires.

[0052] The transmission mechanism in this embodiment includes an output bevel gear 61, a transmission shaft 7, an input bevel gear 71, an output gear 72 and an input gear 31. The output bevel gear 61 is arranged on the power input shaft 6; the transmission shaft 7 is rotatably arranged in the housing 10 and arranged parallel to the main shaft 3; the input bevel gear 71 is arranged on the transmission shaft 7 and meshes with the output bevel gear 61; the output gear 72 is arranged on the transmission shaft 7; the input gear 31 is arranged on the main shaft 3 and meshes with the output gear 72. The output bevel gear 61 and the input bevel gear 71 in this embodiment are both arc bevel gears.

[0053] The rotation of the power input shaft 6 drives the output bevel gear 61 to rotate synchronously, and then drives the input bevel gear 71 to rotate, thereby driving the coaxial output gear 72 to rotate. Since the output gear 72 is meshed with the input gear 31, the main shaft 3 is driven to rotate.

[0054] The first planetary gear mechanism 1 includes a primary planetary reduction mechanism 1 and a secondary planetary reduction mechanism 2 connected to the primary planetary reduction mechanism 1 .

[0055] Specifically, the first-stage planetary reduction mechanism 1 includes a first gear ring 11, a first sun gear 12, a first planet carrier 13, and a first planetary gear 14. The first gear ring 11 is rotatably disposed in the housing 10 and has a first inner ring gear 112 and a first worm gear 111. A cover plate 15 is provided on the front end of the first gear ring 11. The first sun gear 12 is disposed at one end of the main shaft 3 and is located in the inner cavity of the first gear ring 11. The first planet carrier 13 is rotatably disposed in the first gear ring 11 and has a shaft extending out of the housing 10. There are three first planetary gears 14, which are rotatably disposed on the first planet carrier 13 and are evenly arranged around the first sun gear 12. The two ends of the first planetary gear 14 are respectively meshed with the first sun gear 12 and the first inner ring gear 112.

[0056] The two-stage planetary reduction mechanism 2 includes a second ring gear 21, a second sun gear 22, a second planet carrier 23 and a second planetary gear 24. The second ring gear 21 is arranged outside the housing 10 and has a second inner ring gear 211. The second sun gear 22 is arranged on the shaft of the first planet carrier 13 and is located in the inner cavity of the second ring gear 21. The second planet carrier 23 is rotatably arranged on the housing 10 and connected to the first output axle 25. There are three second planetary gears 24, which are rotatably arranged on the second planet carrier 23 and evenly arranged around the second sun gear 22. The two ends of the second planetary gear 24 are respectively meshed with the second sun gear 22 and the second inner ring gear 211. In this embodiment, the second planet carrier 23 and the first output axle 25 are integrated.

[0057] The first planetary gear mechanism adopts a two-stage setting to obtain a larger reduction ratio. At the same time, the design of the second ring gear being arranged on the outside of the housing has the following two advantages: first, when the first output half shaft needs maintenance, there is no need to open the housing, but only to disassemble the second ring gear, which is convenient for maintenance; second, the clearance of the first output half shaft needs to be adjusted during the connection and installation process with the tire, which is convenient for operation.

[0058] In this embodiment, the second planetary gear mechanism and the first planetary gear mechanism are symmetrically designed. Specifically, it includes a primary planetary reduction mechanism 1b and a secondary planetary reduction mechanism 2b connected to the primary planetary reduction mechanism 1b. The primary planetary reduction mechanism 1b and the secondary planetary reduction mechanism 2b refer to the design of the primary planetary reduction mechanism 1 and the secondary planetary reduction mechanism 2, and will not be described in detail here. The rotation connection involved in this embodiment can be connected by a deep groove ball bearing, and there is no need to adjust the clearance to improve reliability, and the details will not be described.

[0059] The steering input shaft is transmitted to the first worm and the second worm through the gear set, and the first worm and the second worm are respectively meshed with the first worm gear 111 and the second worm gear 111b. Since the worm gear has a self-locking effect, the first gear ring remains stationary when driving in a straight line normally, and the power can be output normally at this time. When turning is required, the left and right inputs are input through the steering input shaft. At this time, the first gear rings of the left and right primary planetary reduction mechanisms turn in opposite directions, achieving the purpose of differential speed and realizing steering.

[0060] It solves the problem of large steering angle and discontinuous steering of traditional steering mechanism, and realizes in-situ steering. It can bear large torque and load, and is suitable for large load environments such as agricultural equipment and engineering machinery. The brake lock and friction brake device are cancelled, there are no wearing parts, higher reliability, and no frequent maintenance is required. Bevel gear is not used in the steering mechanism, and there is no radial force. The track wear is reduced during steering, and the tracks on both sides always maintain output, reducing the possibility of getting stuck and giving full play to the power.

Claims

1. An active differential steering drive for a tracked vehicle, characterized in that: include A box body (10) having a content space; A main shaft (3) is rotatably disposed in the box (10); A first output half shaft (25) is rotatably disposed on one side of the housing (10); A first planetary gear mechanism (1) is rotatably disposed on one side of the housing (10) and has a first worm gear (111) on the outer side, one end of the first planetary gear mechanism (1) is connected to one end of the main shaft (3), and the other end is connected to the first output half shaft (25); A second output half shaft (25b) is rotatably disposed on the other side of the housing (10); A second planetary gear mechanism (2) is rotatably disposed on the other side of the housing (10) and has second worm gear teeth on the outer side, one end of the second planetary gear mechanism (2) is connected to the other end of the aforementioned main shaft (3), and the other end is connected to the aforementioned second output half shaft (25b); A steering input shaft (4) is rotatably disposed on the housing (10), one end of which extends into the housing (10) and has a first gear (41); A first worm (5) rotatably disposed on the housing (10) and having a first worm tooth (51) meshing with the first worm wheel tooth (111) at one end and a second gear (52) meshing with the first gear (41) at the other end; A second worm (5b) is rotatably disposed on the housing (10) and has a second worm tooth (51b) meshing with the second worm wheel tooth (111b) at one end and a third gear (52b) meshing with the first gear (41) at the other end; and The power input shaft (6) is rotatably disposed on the aforementioned box body (10) and is connected to the aforementioned main shaft (3) through a transmission mechanism.

2. The active differential steering drive for a tracked vehicle according to claim 1, characterized in that: The transmission mechanism comprises An output bevel gear (61) is arranged on the power input shaft (6); A transmission shaft (7) is rotatably disposed in the housing (10) and arranged parallel to the main shaft (3); An input bevel gear (71) is disposed on the transmission shaft (7) and meshes with the output bevel gear (61); an output gear (72) disposed on the transmission shaft (7); and The input gear (31) is disposed on the main shaft (3) and meshes with the aforementioned output gear (72).

3. The active differential steering drive for a crawler vehicle according to claim 1, characterized in that: The power input shaft (6) and the steering input shaft (4) are respectively located on two opposite sides of the box body (10).

4. The active differential steering drive for a crawler vehicle according to claim 2, characterized in that: The output bevel gear (61) and the input bevel gear (71) are both circular arc bevel gears.

5. The active differential steering drive for a crawler vehicle according to claim 1, characterized in that: The first planetary gear mechanism (1) comprises at least a first-stage planetary reduction mechanism (1) and a second-stage planetary reduction mechanism (2) connected to the first-stage planetary reduction mechanism (1), wherein the first-stage planetary reduction mechanism (1) has the first worm gear (111), and the second-stage planetary reduction mechanism (2) is connected to the first output half shaft (25).

6. The active differential steering drive for a crawler vehicle according to claim 5, characterized in that: The first-stage planetary reduction mechanism (1) comprises A first gear ring (11) is rotatably disposed in the housing (10) and comprises first inner ring teeth (112) and the first worm gear teeth (111); A first sun gear (12) is disposed at one end of the main shaft (3) and is located in the inner cavity of the first gear ring (11); A first planet carrier (13) rotatably disposed in the first gear ring (11) and having a shaft extending out of the housing (10); as well as A plurality of first planetary gears (14) are rotatably disposed on the first planet carrier (13) and arranged around the first sun gear (12), and two ends of the first planetary gears (14) are respectively meshed with the first sun gear (12) and the first inner ring gear (112); The two-stage planetary reduction mechanism (2) comprises A second gear ring (21), disposed outside the housing (10) and having second inner ring teeth (211); A second sun gear (22) is disposed on the shaft of the first planet carrier (13) and is located in the inner cavity of the second ring gear (21); A second planet carrier (23) is rotatably disposed on the housing (10) and connected to the first output half shaft (25); and The second planetary gears (24) are multiple and are rotatably disposed on the second planet carrier (23) and arranged around the second sun gear (22). The two ends of the second planetary gears (24) are respectively meshed with the second sun gear (22) and the second inner ring gear (211).

7. The active differential steering drive for a crawler vehicle according to claim 6, characterized in that: The second planet carrier (23) and the first output half shaft (25) are an integral part.

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