Wheel driving system for agricultural machine chassis and control method of wheel driving system

Abstract

The invention discloses a wheel driving system for an agricultural machine chassis and a control method of the wheel driving system, and relates to the technical field of vehicle transmission. A first planetary gear train is transversely mounted in a cavity on one side of a center hole of the mounting seat; a first brake assembly is arranged between a first gear ring of the first planetary gear train and the mounting seat; a first sun gear of the first planetary gear train is connected with the power shaft; a second brake assembly is arranged between the power shaft and the first gear ring; a first planet carrier of the first planetary gear train is connected with the driven shaft; a sliding sleeve is arranged on the driven shaft and is connected with the second planet carrier or the mounting seat through a plurality of transverse driving devices; a plurality of second sun gears are arranged on the sliding sleeve, each second sun gear is connected with a second planet gear of a second planet gear set, each second planet gear is connected with a second gear ring, and the second gear ring is connected with the rim. The wheel driving device has the advantages of being compact in structure, efficient in transmission and flexible in speed change.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle transmission technology, in particular to a wheel drive system for agricultural machine chassis and a control method thereof. BACKGROUND

[0002] With the accelerating development trend of vehicle electrification and intelligentization, higher requirements are put forward for the integration, lightweight and high efficiency of the wheel drive device. The traditional wheel drive system adopts a centralized motor combined with a mechanical differential arrangement, which has defects such as complex structure, long transmission chain and large energy loss, and is difficult to meet the stringent requirements of modern electric vehicles on space utilization rate and transmission efficiency. Although the distributed electric drive technology simplifies the transmission structure to some extent, the direct drive of the motor to the wheel lacks speed regulation capability, which makes it difficult to balance the power and economy of the vehicle under different working conditions such as starting, climbing and high-speed cruising, and the motor often operates in a non-efficient zone, which restricts the further improvement of the vehicle's endurance. Therefore, a compact wheel drive system integrating speed regulation and drive device is urgently needed. SUMMARY

[0003] The present application aims to overcome the deficiencies of the prior art and provide a wheel drive system for agricultural machine chassis, which realizes the organic integration of compact structure, efficient transmission and flexible speed regulation. The technical scheme adopted by the present application is as follows. A wheel drive system for agricultural machine chassis, characterized in that: an installation seat is arranged transversely along the center axis, a center hole is arranged transversely in the center of the installation seat, and a cavity is arranged on one side of the center hole; a driven shaft is inserted transversely into the center hole and a part of the driven shaft is located on the side of the center hole away from the cavity; a first planetary gear train is installed transversely in the cavity; a first brake assembly is arranged between the first ring gear of the first planetary gear train and the installation seat; a first sun gear of the first planetary gear train is connected to a power shaft arranged transversely and coaxially; a second brake assembly is arranged between the power shaft and the first ring gear; a first planetary carrier of the first planetary gear train is connected to the driven shaft; A second planetary carrier is fixed to the side of the installation seat away from the cavity, and a plurality of second planetary gear sets are arranged transversely on the second planetary carrier, each second planetary gear set comprising a plurality of second planetary gears arranged on the same plane perpendicular to the driven shaft; the second planetary carrier comprises a plurality of crankshafts arranged transversely, the crankshafts are arranged in a ring array along the driven shaft, and a plurality of second planetary gears are installed on each crankshaft; the driven shaft is sleeved with a sliding sleeve, and the driven shaft and the sliding sleeve are transversely and slidably connected by a key; a plurality of second sun gears with different diameters are arranged transversely on the sliding sleeve; the sliding sleeve is connected to the second planetary carrier or the installation seat by a plurality of transverse driving devices; each second planetary gear is connected to a second ring gear arranged transversely outside the second planetary carrier; and the second ring gear is connected to a rim; When each transverse driving device drives the sliding sleeve to move along the passive shaft, each second sun gear is connected with a second planetary gear of a second planetary gear set respectively; the second ring gear is connected with the mounting base through a third brake assembly; the power shaft is connected with the motor. When the second brake assembly locks the first ring gear and the power shaft and the first brake assembly does not lock the first ring gear and the mounting base, power is transmitted from the power shaft to drive the first sun gear to rotate, and is transmitted to the first planetary carrier through the first planetary gear set, and the first planetary carrier rotates at low speed to drive the passive shaft to output power; at this time, the sliding sleeve moves along the passive shaft under the action of the transverse driving device, so that the second sun gears with different diameters are engaged with each second planetary gear set in turn, the transmission ratio of the second planetary gear set is adjusted, and is output to the external load through the second planetary carrier, so that multi-stage variable speed output is realized in low speed state. When the second brake assembly does not lock the first ring gear and the power shaft and the first brake assembly locks the first ring gear and the mounting base, the relative motion between the first ring gear and the power shaft is released, power is transmitted from the power shaft to drive the first sun gear to rotate, and is transmitted to the first planetary carrier through the first planetary gear set, and the first planetary carrier rotates at high speed to drive the passive shaft to output power; at this time, the sliding sleeve moves along the passive shaft under the action of the transverse driving device, so that the second sun gears with different diameters are engaged with each second planetary gear set in turn, the transmission ratio of the second planetary gear set is adjusted, and is output to the external load through the second planetary carrier, so that multi-stage variable speed output is realized in high speed state. When the second brake assembly locks the first ring gear and the power shaft and the first brake assembly locks the first ring gear and the mounting base, the passive shaft cannot rotate, and the passive shaft and the first planetary carrier cannot rotate, and the agricultural chassis wheel driving system is in a whole braking state; at this time, the third brake assembly further assists the second ring gear or the wheel ring to brake. When the second brake assembly does not lock the first ring gear and the power shaft and the first brake assembly does not lock the first ring gear and the mounting base, each part of the first planetary carrier and each part of the second planetary carrier are in a free state, and the free agricultural chassis wheel driving system is in a whole free state; at this time, the third brake assembly further assists the second ring gear or the wheel ring to brake. The third brake assembly fixes the second ring gear or the wheel ring, further constrains the movement freedom degree of the second planetary gear set, so that power is transmitted to the corresponding second planetary gear set through the selected second sun gear, and is output to the external load through the second planetary carrier. When the second sun gears with different diameters are switched to engage, the speed ratio gradient of the second planetary gear set can be changed to realize high-precision speed regulation. The whole device has compact structure and high integration, and is suitable for driving scenes with limited space, and meets the strict requirements for variable speed range and response speed in multiple working conditions while maintaining high efficient transmission. As a preferred technical solution, the third brake assembly comprises a brake disc, a friction plate and a friction plate hydraulic drive device. The brake disc is fixed on the second ring gear or the wheel rim and rotates synchronously with the second ring gear or the wheel rim. The friction plate is arranged on both sides of the brake disc on the mounting seat and is connected with the friction plate hydraulic drive device. The brake torque is generated by driving the friction plate to press the brake disc through the friction plate hydraulic drive device to achieve braking. As a preferred technical solution, the radially outer surface of the driven shaft is provided with a first transverse key groove, and the radially inner surface of the sliding sleeve is provided with a first transverse rack matched with the first transverse key groove. The mounting seat is provided with a plurality of transverse driving devices away from the first sun gear. Each transverse driving device is arranged in a ring shape along the driven shaft. As a preferred technical solution, the transverse driving device comprises a micro motor and a transverse lead screw connected with the micro motor. A sliding nut is arranged on the transverse lead screw. The sliding nut is connected with the sliding sleeve through a connecting piece. The micro motor drives the transverse lead screw to rotate, drives the sliding sleeve to move transversely along the power shaft, and realizes the meshing switching of different second sun gears and second planetary gears. The micro motor is installed on the second planet carrier or the mounting seat. The transverse strip is embedded in the transverse key groove to realize circumferential fixation and allow the sliding sleeve to slide transversely along the power shaft. When the transverse lead screw drives the sliding sleeve to move horizontally, the first transverse rack cooperates with the first transverse key groove to guide the sliding sleeve to reach the target position stably and accurately, and the switching meshing of the second sun gear is completed. This structure effectively transmits torque and limits relative rotation, improves the response accuracy and system reliability of gear shifting. The transverse movement accuracy of the sliding sleeve is controlled by the micro motor in a closed loop, ensuring the accurate meshing position of the second sun gear and the second planetary gear set. The control system dynamically plans the gear shifting strategy according to the real-time vehicle speed, load and driver's intention, and realizes the switching without power interruption in combination with the cooperative action of each brake assembly. The whole device has the advantages of quick response, high transmission efficiency and compact layout, and can still maintain stable output performance under complex working conditions. As a preferred technical solution, the sun gear is provided with a barrier ring on both sides of each second sun gear. As a preferred technical solution, the first brake assembly comprises a first movable sleeve arranged on the inner surface of the cavity of the mounting seat. The first movable sleeve is located outside the first ring gear. A plurality of first brake friction rings are arranged equidistantly and transversely on the inner surface of the first movable sleeve. A plurality of second brake friction rings are arranged equidistantly and transversely on the radially outer surface of the first ring gear. The first brake friction ring and the second brake friction ring are both perpendicular to the central axis of the power shaft, and are arranged in a spaced manner. The first movable sleeve is connected with the first spring ring away from the first planet carrier end. The first spring ring is connected with the ring sleeve. The ring sleeve is connected with the cavity of the mounting seat away from the first planet carrier end. Specifically, the ring sleeve is threadedly connected with the cavity of the mounting seat away from the first planet carrier end. The radially outer peripheral surface of the first movable sleeve is provided with a second transverse key, and the inner peripheral surface of the cavity of the mounting seat is provided with a second transverse key groove, and the second transverse key is located in the second transverse key groove. The inner peripheral surface of the cavity of the mounting seat is provided with a first oil ring near the first side of the second transverse key, and the inner peripheral surface of the cavity of the mounting seat is provided with a second oil ring away from the first side of the second transverse key, and the first oil ring and the second oil ring are communicated; the first oil ring and the second oil ring are connected in communication and externally connected to a hydraulic device; under the action of the first spring ring, the second brake friction ring is combined with the first brake friction ring to lock the mounting seat and the first gear ring. When hydraulic oil is injected into the first oil ring, the first movable sleeve moves transversely away from the first planetary carrier, and the second brake friction ring is separated from the second brake friction ring. As a preferred technical solution, the second brake assembly includes a third movable sleeve provided on the inner peripheral surface of the ring sleeve, a third transverse key on the radially outer peripheral surface of the third movable sleeve, a third transverse key groove provided on the inner peripheral surface of the ring sleeve, and the third transverse key located in the third transverse key groove. The third transverse key on the ring sleeve is provided with a third oil ring near the first side of the first planetary carrier, and the third transverse key on the ring sleeve is provided with a fourth oil ring away from the first side of the first planetary carrier. The third oil ring and the fourth oil ring are communicated and externally connected to a hydraulic device; the first gear ring is provided with a plurality of fourth brake friction rings equidistantly arranged on the first outer peripheral surface, and the first gear ring is provided with a second movable sleeve; a plurality of third brake friction rings are equidistantly arranged on the inner peripheral surface of the second movable sleeve, the third brake friction ring and the fourth brake friction ring are perpendicular to the central axis of the power shaft, the third brake friction ring and the fourth brake friction ring are arranged in a spaced manner, the third movable sleeve is connected with the second spring ring, the second spring ring is connected with the second movable sleeve, and the second spring ring is located in the first gear ring and outside the driven shaft. Under the action of the second spring ring, the third brake friction ring is combined with the fourth brake friction ring to lock the driven shaft and the first gear ring. When hydraulic oil is injected into the third oil ring, the third movable sleeve moves transversely away from the first planetary carrier, and the third brake friction ring is separated from the fourth brake friction ring. As a preferred technical solution, the second planetary carrier is provided with three second planetary gear sets transversely, and the diameter of the second planetary gears of the second planetary gear set located in the middle is greater than that of the second planetary gears of the second planetary gear sets on both sides. In this way, the second planetary gear set located in the middle can bear greater torque when transmitting power, and the second planetary gear sets on both sides can help achieve smoother gear shifting. This design not only enhances the overall carrying capacity of the device, but also optimizes the power transmission efficiency during gear shifting, making the agricultural chassis wheel drive system perform better and more stable in complex working conditions. At the same time, the layout of the three second planetary gear sets also fully considers the compactness and space utilization, so that the entire device can realize efficient and reliable gear shifting in limited space. As a preferred technical solution, the mounting seat has a part outside the second ring gear, the radial outer circumferential surface of the mounting seat outside the second ring gear is connected with the second ring gear through the first bearing; the second ring gear is provided with a sealing plate away from the first planetary carrier side, the center side of the sealing plate close to the first planetary carrier side is connected with the driven shaft through the second bearing in a transverse direction; the first planetary carrier is provided with a connecting sleeve away from the first sun gear side, the driven shaft passes through the connecting sleeve and is fixedly connected with the connecting sleeve, the outer periphery of the connecting sleeve is connected with the center hole of the mounting seat through the third bearing, Through the above structural design, the running stability and sealing reliability of the agricultural chassis wheel driving system are effectively improved, the risk of external impurities invading is reduced, and the service life of the device is prolonged; at the same time, the internal power transmission path is optimized, the energy loss is reduced, and the transmission efficiency is improved, which meets the high-strength operation demand, realizes more accurate speed control and better response performance. In addition, the cooperation of the first bearing and the second bearing further enhances the coaxiality and stability of the driven shaft during rotation, effectively inhibits the vibration and deflection phenomenon under high-speed operation. The closed cavity formed by the sealing plate and the second ring gear, combined with the precise hydraulic oil path design, not only guarantees the lubrication condition, but also significantly improves the adaptability of the system in harsh environments.

[0004] The control method of any one of the agricultural chassis wheel driving systems, characterized in that: the agricultural chassis wheel driving system comprises a control system and a vehicle running state monitoring system for monitoring input speed, output speed and load changes in real time, the vehicle running state monitoring system, the first brake assembly, the second brake assembly, the third brake assembly, the transverse driving device and the motor are electrically connected with the control system, the control system adjusts the locking and releasing states of each brake assembly according to the vehicle running state and the driver's instruction, controls the transverse position of the sliding sleeve, and controls the rotation speed of the wheel rim. BRIEF DESCRIPTION OF DRAWINGS Figure 1 is a structural schematic diagram of a preferred embodiment of the agricultural chassis wheel driving system of the present application. Figure 2 is Figure 1 is a sectional view along A-A' of the agricultural chassis wheel driving system shown in Figure 3 is Figure 2 is a partial enlarged view of part D of Figure 4 is Figure 3 is a partial enlarged view of part G of Figure 5 is Figure 3 is a partial enlarged view of part H of Figure 6 is Figure 2 is a partial enlarged view of part E of Figure 7 is Figure 6 is a partial enlarged view of part I of Figure 8 is Figure 6 is a partial enlarged view of part J of Figure 9 isFigure 2 is a partial enlarged view of F portion of Figure 10 is Figure 9 is a partial enlarged view of K portion of Figure 11 is Figure 2 is a sectional view along B-B' of the wheel drive system for agricultural machine chassis shown in Figure 12 is Figure 11 is a partial enlarged view of L portion of Figure 13 is Figure 2 is a sectional view along C-C' of the wheel drive system for agricultural machine chassis shown in Figure 14 is Figure 1 is a state diagram of the wheel drive system for agricultural machine chassis shown in Figure 15 is Figure 14 is a partial enlarged view of M portion of Figure 16 is Figure 1 is a state diagram of the wheel drive system for agricultural machine chassis shown in Figure 17 is Figure 16 is a partial enlarged view of N portion of Figure 18 is Figure 1 is a state diagram of the wheel drive system for agricultural machine chassis shown in Figure 19 is Figure 18 is a partial enlarged view of O portion of Figure 20 is Figure 18 is a partial enlarged view of P portion of Figure 21 is Figure 18 is a partial enlarged view of Q portion of Figure 22 is Figure 1 is a state diagram of the wheel drive system for agricultural machine chassis shown in Figure 23 is Figure 22 is a partial enlarged view of R portion of Figure 24 is Figure 1 is a state diagram of the wheel drive system for agricultural machine chassis shown in Figure 25 is Figure 24 is a partial enlarged view of S portion of Figure 26 is Figure 1 is a state diagram of the wheel drive system for agricultural machine chassis shown in Figure 27 is Figure 26 is a partial enlarged view of T portion of Figure 28 is Figure 26 is a partial enlarged view of U portion of Figure 29 is Figure 1 is a state diagram of the wheel drive system for agricultural machine chassis shown in Figure 30 is Figure 29 is a partial enlarged view of V portion of Figure 31 is Figure 29 is a partial enlarged view of W portion of Figure 32 is a structural schematic diagram of another preferable embodiment of the wheel drive system for agricultural machine chassis of the present application. Figure 33 isFigure 32 A magnified view of part X. Figure 34 yes Figure 32 A magnified view of the Y-section.

[0005] Wherein: Mounting base-1; Center hole of mounting base-10; First bearing-11; Passive shaft-2; First keyway-20; Drive shaft-3; First gear ring-31; First sun gear-32; First planetary carrier-33; First planetary gear-34; Connecting sleeve-331; Third bearing-35; First brake assembly-4; First movable sleeve-41; First brake friction ring-42; Second brake friction ring-43; First spring ring-44; Ring sleeve-45; Second keyway-46; Second keyway-47; First oil ring-48; Second oil ring-49; Second brake assembly-5; Second movable sleeve-50; Third movable sleeve-51; Third keyway-52; 53. Three transverse keyways; 54. Third oil ring; 55. Fourth oil ring; 56. Third brake friction ring; 57. Fourth brake friction ring; 58. Second spring ring; 6. Second planetary carrier; 61. Second planetary gear; 62. Crankshaft; 63. Lateral drive device; 631. Micro motor; 632. Lead screw; 633. Sliding nut; 634. Connector; 64. Sliding sleeve; 65. First transverse rack; 66. Second sun gear; 67. Second gear ring; 671. Sealing plate; 68. Barrier ring; 69. Second bearing; 7. Third brake assembly; 71. Brake disc; 72. Friction pad; 73. Friction pad hydraulic drive device; 8. Wheel rim; 9. Motor. Detailed Implementation The present invention will now be further described with reference to the accompanying drawings and embodiments. Example 1. As... Figures 1-13 As shown, the mounting base 1 has a central hole 10 laterally at its center, and a cavity 100 on one side of the central hole; the driven shaft 2 is laterally inserted into the central hole 10, with a portion located on the side of the central hole 10 away from the cavity; a first planetary gear train is laterally mounted in the cavity; a first braking assembly 4 is provided between the first ring gear 31 of the first planetary gear train and the mounting base 1; the first sun gear 32 of the first planetary gear train is connected to a power shaft 3 arranged laterally and coaxially; a second braking assembly 5 is provided between the power shaft 3 and the first ring gear 31. The first planet carrier 33 of the first planetary gear train is connected to the driven shaft 2. In another example, a cavity is provided on the left side of the central hole 10. The second planetary carrier 6 is fixed to the mounting base 1 away from the cavity 100, and a plurality of second planetary gear sets are transversely arranged on the second planetary carrier 6. Each second planetary gear set includes three second planetary gears 61 in the same plane perpendicular to the driven shaft 2. The second planetary carrier 6 includes three crankshafts 62 arranged transversely, each of which is arranged in a ring array along the driven shaft 2, and each of which is provided with three second planetary gears 61. The driven shaft 2 is sleeved with a sliding sleeve 64, and the driven shaft 2 is transversely and slidably connected with the sliding sleeve 64. Three second sun gears 66 of different diameters are arranged transversely on the sliding sleeve 64. The sliding sleeve 64 is connected with the mounting base 1 through a plurality of transverse driving devices 63. Each second planetary gear 61 is connected with a second ring gear 67 arranged transversely outside the second planetary carrier 6. The second ring gear 67 is connected with the rim 8. When each transverse driving device 63 drives the sliding sleeve 64 to move along the driven shaft 2, each second sun gear 66 is connected with the second planetary gears 61 of a second planetary gear set, respectively. The second ring gear 67 is connected with the mounting base 1 through the third brake assembly 7. The mounting base 1 is provided with a wheel speed sensor. The first planetary gear train includes three first planetary gears 34 uniformly distributed, each of which is mounted on the first planetary carrier 33. The first ring gear 31 is engaged with the first planetary gear, and the first sun gear 32 is engaged with the first planetary gear. The rim 8 is connected with the wheel. In this embodiment, the first planetary gear train includes three first planetary gears uniformly distributed, each of which is mounted on the first planetary carrier 33. The first ring gear 31 is engaged with the first planetary gear 34, and the first sun gear 32 is engaged with the first planetary gear 34. Three second planetary gear sets are transversely arranged on the second planetary carrier 6. In another example, four second planetary gear sets are arranged on the second planetary carrier 6, each of which is uniformly distributed around the driven shaft 2, and each of which is engaged with the second planetary gear 61 through the corresponding second sun gear 66 to realize the switching of different transmission ratios, thereby realizing the multi-stage speed change function. The second planetary carrier 6 includes three crankshafts 62 arranged transversely. In another example, the second planetary carrier 6 includes four crankshafts 62 arranged transversely. The number of transverse driving devices 63 is four, and each transverse driving device 63 is arranged in a ring array along the driven shaft 2. As shown in Figures 2-10 When the second brake assembly 5 locks the first ring gear 31 and the power shaft 3 and the first brake assembly 4 does not lock the first ring gear 31 and the mounting base 1, power is transmitted from the power shaft 3 to drive the first sun gear 32 to rotate, and is transmitted to the first planetary carrier 33 through the first planetary gear train. The first planetary carrier 33 rotates at low speed and drives the driven shaft 2 to output power. At this time, the sliding sleeve 64 moves along the driven shaft 2 under the action of the transverse driving device 63, as shown in Figure 3 、 Figure 15 、 Figures 17As shown, the second sun gear 66 of different diameters is sequentially engaged with the second planetary gear 61 of each second planetary gear set to adjust the transmission ratio of the second planetary gear 61, drive the second ring gear 67 to rotate through the second planetary gear 61 of the second planetary carrier 6, and output to the external load, i.e. the wheel rim 8, to drive the wheel to move, thereby realizing multi-stage speed output in low-speed state. As shown in Figures 18-24 When the second brake assembly 5 does not lock the first ring gear 31 and the power shaft 3, and the first brake assembly 4 locks the first ring gear 31 and the mounting base 1, the relative motion between the first ring gear 31 and the power shaft 3 is released, power is transmitted from the power shaft 3 to drive the first sun gear 32 to rotate, transmitted to the first planetary carrier 33 through the first planetary gear set, and the first planetary carrier 33 rotates at high speed to drive the driven shaft 2 to output power; at this time, the sliding sleeve 64 moves along the driven shaft 2 under the action of the transverse driving device 63, as shown in Figure 19 、 Figure 23 、 Figures 25 The second sun gear 66 of different diameters is sequentially engaged with the second planetary gear 61 of each second planetary gear set to adjust the transmission ratio of the second planetary gear 61, drive the second ring gear 67 to rotate and output to the external load, i.e. the wheel rim 8, thereby realizing multi-stage speed output in high-speed state. As shown in Figures 26-28 When the second brake assembly 5 does not lock the first ring gear 31 and the power shaft 3, and the first brake assembly 4 does not lock the first ring gear 31 and the mounting base 1, each part of the first planetary carrier 33 and each part of the second planetary carrier 6 are in a free state, and the overall free state of the agricultural chassis wheel driving system is in a free state. At this time, only the third brake assembly 7 is used to slow down the second ring gear 67 to realize auxiliary braking. As shown in Figures 29-31 When the second brake assembly 5 locks the first ring gear 31 and the power shaft 3, and the first brake assembly 4 locks the first ring gear 31 and the mounting base 1, the driven shaft 2 cannot rotate, and the driven shaft 2 and the first planetary carrier 33 cannot rotate, and the overall braking state of the agricultural chassis wheel driving system is in a free state. The third brake assembly 7 fixes the second ring gear 67, further constrains the freedom degree of motion of the second planetary gear 61, transmits power to the second ring gear 67 through the selected second sun gear 66, and then outputs to the external load through the second ring gear 67. When the second sun gear 66 of different diameters is switched to engage, the speed ratio gradient can be changed to realize high-precision speed regulation. The whole device has compact structure and high integration, and is suitable for driving scenes with limited space. While maintaining high efficiency, it meets the strict requirements of speed range and response speed in multiple working conditions. The vehicle wheel driving system for the agricultural machine chassis can comprise a control system and a vehicle running state monitoring system for monitoring the input rotating speed of the motor 9, the output rotating speed of the wheel and the load change. The vehicle running state monitoring system, the first brake assembly 4, the second brake assembly 5, the third brake assembly 7 and the lateral driving device 63 are electrically connected with the control system. The control system adjusts the locking and releasing states of the brake assemblies according to the vehicle running state or the driver's instruction, controls the lateral position of the sliding sleeve 64 and controls the rotating speed of the wheel rim 8. The mounting seat 1 is provided with a wheel speed sensor. The output rotating speed of the wheel is obtained through the wheel speed sensor. As shown in Figure 8 The third brake assembly 7 comprises a brake disc 71, a friction plate 72 and a friction plate hydraulic driving device 73. The brake disc 71 is fixed on the second ring gear 67 and rotates synchronously with the second ring gear 67. The friction plate 72 is arranged on both sides of the brake disc 71 on the mounting seat 1 and is connected with the friction plate hydraulic driving device 73. The brake torque is generated by driving the friction plate 72 to press the brake disc 71 through the friction plate hydraulic driving device 73 to realize braking. The friction plate hydraulic driving device is arranged on the mounting seat 1. The arrangement of the third brake assembly 7 can realize the speed reduction or braking of the wheel and facilitate the switching of the speed ratio. Figure 12 As shown in As shown in Figure 3 The mounting seat 1 is provided with four lateral driving devices 63 away from the first sun gear 32. The lateral driving devices 63 are arranged in a ring array along the driven shaft 2. Specifically, the output end of the lateral driving device 63 is connected with the sliding sleeve 64. The sliding sleeve 64 is pushed to move laterally along the driven shaft 2 to realize the meshing switching of the first lateral rack 65 and different second sun gears 66. Each second sun gear 66 is independently arranged on the driven shaft 2 and can be selectively engaged with the sliding sleeve 64 to change the power input path. The number of the lateral driving devices 63 is two. In another example, the number of the lateral driving devices 63 can be expanded to three or more than four according to the structural space and thrust demand to improve the stability and response accuracy of the lateral driving. As shown in Figures 4-5As shown, the lateral driving device 63 includes a micro motor 631 and a cross lead screw 632 connected with the micro motor 631, the cross lead screw 632 is provided with a sliding nut 633, the sliding nut 633 is connected with the sliding sleeve 64 through a connecting piece 634, the micro motor 631 drives the cross lead screw 632 to rotate, drives the sliding sleeve 64 to move laterally along the power shaft 3, and realizes meshing switching of different second sun gears 66 and second planetary gears 61; the micro motor 631 is installed on the mounting seat 1. In another example, the micro motor 631 is installed on the second planet carrier 6. The first transverse rack 65 is embedded in the first transverse key groove 20 to realize circumferential fixation, allowing the sliding sleeve 64 to slide laterally along the power shaft 3. When the cross lead screw 632 drives the sliding sleeve 64 to move horizontally. The first transverse rack 65 cooperates with the first transverse key groove 20 to guide the sliding sleeve 64 to smoothly and accurately reach the target position, and complete the switching meshing of the second sun gear 66. This structure effectively transmits torque and limits relative rotation, improves the response accuracy of gear shifting and the reliability of the system. The lateral movement accuracy of the sliding sleeve 64 is controlled by the micro motor 631 in a closed loop, ensuring the accurate meshing position of the second sun gear 66 and the second planetary gear set. The control system realizes switching without power interruption in combination with the cooperative action of each brake assembly according to real-time vehicle speed, load or driver shifting. The whole device has the advantages of quick response, high transmission efficiency and compact layout, and can still maintain stable output performance under complex working conditions. The power shaft 3 is connected with the motor 9, and the movement of the wheels is adjusted by forward or reverse rotation of the motor 9. The teeth of the second sun gear are involute tooth shapes. The crankshaft 62 is provided with a blocking ring 68 on both sides of each second sun gear 66. As shown in the drawings, Figure 8 As shown, the first brake assembly 4 includes a first movable sleeve 41 arranged on the inner circumferential surface of the cavity 100 of the mounting seat 1. The first movable sleeve 41 is located outside the first ring gear 31, and a plurality of first brake friction rings 42 are arranged equidistantly and transversely on the inner circumferential surface of the first movable sleeve 41. A plurality of second brake friction rings 43 are arranged equidistantly and transversely on the radial outer circumferential surface of the first ring gear 31, and the first brake friction rings 42 and the second brake friction rings 43 are both perpendicular to the central axis of the power shaft 3, and are arranged at intervals. The first movable sleeve 41 is connected with a first spring ring 44 away from the first planet carrier 33 end, the first spring ring 44 is connected with a ring sleeve 45, and the ring sleeve 45 is connected with the cavity 100 of the mounting seat 1 away from the first planet carrier 33 end. Specifically, the ring sleeve 45 is threadedly connected with the inner circumferential surface of the cavity 100 of the mounting seat 1. The radial outer circumferential surface of the first movable sleeve 41 is provided with a second transverse key 46, and the inner circumferential surface of the cavity 100 of the mounting seat 1 is provided with a second transverse key groove 47, and the second transverse key 46 is located in the second transverse key groove 47. The inner circumferential surface of the cavity 100 of the mounting seat 1 is provided with a first oil ring 48 on the side of the second transverse key 46 close to the first planet carrier 33, and is provided with a second oil ring 49 on the side of the second transverse key 46 away from the first planet carrier 33, and the first oil ring 48 and the second oil ring 49 are communicated; the first oil ring 48 and the second oil ring 49 are communicated and connected with the first hydraulic device arranged on the mounting seat 1. Under the action of the first spring ring 44, the second brake friction ring 43 is combined with the first brake friction ring 42, so that the mounting seat 1 and the first ring gear 31 are locked. When the first hydraulic device injects hydraulic oil into the first oil ring 48, the first movable sleeve 41 moves transversely away from the first planet carrier 33, and the second brake friction ring 43 is separated from the second brake friction ring 43. At this time, the locking state of the mounting seat 1 and the first ring gear 31 is released, and the first ring gear 31 can rotate relative to the mounting seat 1. When the first hydraulic device stops injecting hydraulic oil into the first oil ring 48 and simultaneously extracts hydraulic oil from the first oil ring 48, under the elastic restoring force of the first spring ring 44, the first movable sleeve 41 moves transversely towards the first planet carrier 33, so that the second brake friction ring 43 is combined with the first brake friction ring 42 again, and the locking of the mounting seat 1 and the first ring gear 31 is re-established. As shown in Figures 7-8 The second brake assembly 5 includes a third movable sleeve 51 arranged on the inner circumferential surface of the ring sleeve 45, a third transverse key 52 on the radial outer circumferential surface of the third movable sleeve 51, a third transverse key groove 53 arranged on the inner circumferential surface of the ring sleeve 45, the third transverse key 52 located in the third transverse key groove 53, a third oil ring 54 arranged on the side of the third transverse key 52 of the ring sleeve 45 close to the first planet carrier 33, a fourth oil ring 55 arranged on the side of the third transverse key 52 of the ring sleeve 45 away from the first planet carrier 33, the third oil ring 54 and the fourth oil ring 55 being communicated and connected with the second hydraulic device arranged on the mounting seat 1; the first ring gear 31 is arranged with a plurality of fourth brake friction rings 57 equidistantly and transversely on the radial outer circumferential surface, the first ring gear 31 is provided with a second movable sleeve 50, a plurality of third brake friction rings 56 are arranged equidistantly and transversely on the inner circumferential surface of the second movable sleeve 50, the third brake friction ring 56 and the fourth brake friction ring 57 are both perpendicular to the central axis of the power shaft 3, the third brake friction ring 56 and the fourth brake friction ring 57 are arranged in a spaced manner, the third movable sleeve 51 is connected with a second spring ring 58, the second spring ring 58 is connected with the second movable sleeve 50, and the second spring ring 58 is located in the first ring gear 31 and outside the driven shaft 2. Under the action of the second spring ring 58, the third brake friction ring 56 is combined with the fourth brake friction ring 57, so that the driven shaft 2 and the first ring gear 31 are locked. When the second hydraulic device injects hydraulic oil into the third oil ring 54, the third movable sleeve 51 moves transversely away from the first planetary carrier 33, and the third brake friction ring 56 is separated from the fourth brake friction ring 57. At this time, the locked state of the driven shaft 2 and the first ring gear 31 is released, and the first ring gear 31 can rotate relative to the driven shaft 2. When the second hydraulic device stops injecting hydraulic oil into the third oil ring 54 and simultaneously extracts hydraulic oil from the third oil ring 54, the third movable sleeve 51 will move transversely towards the first planetary carrier 33 under the elastic restoring force of the second spring ring 58, so that the third brake friction ring 56 and the fourth brake friction ring 57 are combined again, and the lock of the driven shaft 2 and the first ring gear 31 is re-implemented. The second planetary carrier 6 is transversely provided with three second planetary gear sets, and the diameter of the second planetary gear 61 of the second planetary gear set in the middle is greater than that of the second planetary gear 61 of the second planetary gear sets on both sides. In this way, the second planetary gear set in the middle can bear greater torque when transmitting power, and the second planetary gear sets on both sides can help to achieve a more stable speed transition. This design not only enhances the overall carrying capacity of the device, but also optimizes the power transmission efficiency during the speed change process, so that the agricultural chassis wheel drive system can perform better performance and stability when dealing with complex and variable working conditions. At the same time, the layout of the three second planetary gear sets also fully considers the compactness and space utilization, so that the whole device realizes efficient and reliable speed change function in limited space. In another example, the second planetary carrier 6 is transversely provided with four or more second planetary gear sets. As shown in Figure 6 , Figure 9 , the mounting seat 1 has a part outside the second ring gear 67, and the radial outer circumferential surface of the part of the mounting seat 1 outside the second ring gear 67 is connected to the second ring gear 67 through the first bearing 11. As shown in Figure 4 , the second ring gear 67 is provided with a sealing plate 671 away from the first planetary carrier 33, and the center side of the sealing plate 671 close to the first planetary carrier 33 is connected to the driven shaft 2 through the second bearing 69. As shown in Figure 5 , the first planetary carrier 33 is provided with a connecting sleeve 331 away from the first sun gear 32, the driven shaft 2 passes through the connecting sleeve 331 and is fixedly connected with the connecting sleeve 331, and the outer periphery of the connecting sleeve 331 is connected with the center hole 10 of the mounting seat 1 through the third bearing 35. The agricultural chassis wheel drive system comprises a control system and a vehicle operating state monitoring system for monitoring the input speed of the motor 9, the wheel output speed and the load change in real time, the vehicle operating state monitoring system, the first brake assembly 4, the second brake assembly 5, the third brake assembly 7 and the transverse driving device 63, the motor 9 are electrically connected with the control system, the control system adjusts the locking and releasing state of each brake assembly according to the vehicle operating state and the driver's instruction, and controls the transverse position of the sliding sleeve 64 and the rotating speed of the rim 8. Through the above structural design, the running stability and sealing reliability of the wheel driving system for the agricultural machine chassis are effectively improved, the risk of external impurities intrusion is reduced, and the service life of the device is prolonged; at the same time, the internal power transmission path is optimized, the energy loss is reduced, and the transmission efficiency is improved, while meeting the high-strength operation demand, more accurate speed control and better response performance are realized. In addition, the synergistic effect of the first bearing 11 and the second bearing 69 further enhances the coaxiality and stability of the passive shaft 2 during rotation, effectively inhibiting the vibration and deflection phenomenon under high-speed operation. The closed cavity formed by the sealing plate and the second gear ring 67, combined with the precise hydraulic oil path design, not only guarantees the lubrication conditions of the external elements, but also significantly improves the adaptability of the system in harsh environments. This structure not only ensures high torque transmission, but also realizes smooth start-stop and impact-free gear shifting, providing reliable protection for continuous and efficient operation under complex conditions. The present embodiment directly integrates the planetary gear transmission mechanism into the wheel rim, fully utilizes the radial space layout, avoids additional occupation of the horizontal installation position, and significantly improves the space utilization rate of the whole vehicle chassis. The compound transmission design of external meshing and internal meshing enhances the load capacity while reducing gear noise; combined with the electric control clutch and hydraulic execution system, automatic stepless speed change and mode switching are realized, so that the driving motor 9 always operates in the high-efficiency working interval. The device supports dynamic switching of multiple driving modes, taking into account the low-speed high-torque output and high-speed low-power cruise demand, effectively improving the balance between power performance and economy of the whole vehicle. The external sensor monitors the speed, torque and temperature parameters in real time, and realizes precise power distribution combined with the vehicle control strategy. The device adopts modular design, which is convenient for maintenance and batch assembly, and is suitable for front-drive, rear-drive and four-wheel-drive vehicle platforms. It is especially suitable for wheel-side driving systems of electric or hybrid vehicles. The device integrates speed change and driving functions, realizes multi-gear adjustment through the planetary gear mechanism, effectively expands the working interval of the motor 9, and improves the power performance and economy of the whole vehicle. Its structure is compact and layout is reasonable, which can be directly integrated into the wheel, reducing the energy loss of the traditional transmission chain. This technical scheme provides an innovative solution for efficient driving of new energy vehicles. It significantly reduces the running noise and vibration level; its modular design facilitates assembly and maintenance, and can adapt to different specifications of motors 9 and wheel systems. Example 2. As Figures 32-34As shown, the embodiment differs from embodiment 1 in that a cavity 100 is provided on the left side of the central hole 10 of the mounting seat 1, and a first planetary gear train is transversely mounted in the cavity. A first brake assembly 4 is provided between the first ring gear 31 of the first planetary gear train and the mounting seat 1. The first sun gear 32 of the first planetary gear train is connected to the power shaft 3 which is transversely coaxially arranged with the first sun gear 32 and the driven shaft 2. A second brake assembly 5 is provided between the power shaft 3 and the first ring gear 31. The rim 8 is connected to the mounting seat 1 through a third brake assembly 7. The brake disc 71 is fixed on the rim 8 and rotates synchronously with it. The friction plate 72 is arranged on both sides of the brake disc 71 on the mounting seat 1 and is connected to the friction plate hydraulic drive device 73. The friction plate 72 is driven by the friction plate hydraulic drive device 73 to press the brake disc 71 to generate braking torque and achieve braking. The first planetary carrier 33 of the first planetary gear train is connected to the driven shaft 2. The second planetary carrier 6 is fixed on the side of the mounting seat 1 away from the first sun gear 32. Three second planetary gear sets are transversely arranged on the second planetary carrier 6. Each second planetary gear set includes three second planetary gears 61 arranged on the same plane perpendicular to the driven shaft 2. The second planetary carrier 6 includes three crankshafts 62 arranged transversely. Each crankshaft 62 is arranged in a ring array along the driven shaft 2. Three second planetary gears 61 are mounted on each crankshaft 62. The driven shaft 2 is sleeved with a sliding sleeve 64. The driven shaft 2 and the sliding sleeve 64 are transversely and slidably connected by a key. A plurality of second sun gears 66 with different diameters are arranged transversely on the sliding sleeve 64. The sliding sleeve 64 is connected to the mounting seat 1 by a plurality of transverse drive devices 63. Each second planetary gear 61 is connected to a second ring gear 67 arranged transversely outside the second planetary carrier 6. The second ring gear 67 is connected to the rim 8. When each transverse drive device 63 drives the sliding sleeve 64 to move along the driven shaft 2, each second sun gear 66 is connected to the second planetary gears 61 of a second planetary gear set. The third brake assembly 7 is provided between the rim 8 and the mounting seat 1. The first planetary gear train includes three evenly distributed first planetary gears. Each first planetary gear is mounted on the first planetary carrier 33. The first ring gear 31 is meshed with the first planetary gears. The first sun gear 32 is meshed with the first planetary gears. The brake disc 71 is fixed on the rim 8 and rotates synchronously with it. The first oil ring and the second oil ring are connected to the first hydraulic device arranged on the vehicle. The third oil ring and the fourth oil ring are connected and are both connected to the second hydraulic device arranged on the vehicle. The sliding sleeve 64 is connected to the second planetary carrier 6 by the three transverse drive devices 63. Each power shaft 3 is connected to an electric motor 9.

Claims

1. A wheel drive system for an agricultural machinery chassis, characterized in that: The system includes a mounting base (1) with its central axis arranged laterally. The mounting base (1) has a central hole (10) arranged laterally at its center, and a cavity (100) is provided on one side of the central hole. A driven shaft (2) is inserted laterally into the central hole (10), with a portion of it located on the side of the central hole (10) away from the cavity. A first planetary gear train is installed laterally in the cavity. A first braking assembly (4) is provided between the first ring gear (31) of the first planetary gear train and the mounting base (1); the first sun gear (32) of the first planetary gear train is connected to the power shaft (3) which is arranged laterally and coaxially; a second braking assembly (5) is provided between the power shaft (3) and the first ring gear (31); the first planet carrier (33) of the first planetary gear train is connected to the driven shaft (2); The mounting base (1) is fixed with a second planetary carrier (6) on the side away from the cavity. The second planetary carrier is provided with several second planetary gear sets in the transverse direction. Each second planetary gear set includes several second planetary gears (61) on the same plane perpendicular to the driven shaft (2). The second planetary carrier (6) includes several transversely arranged crankshafts (62). Each crankshaft (62) is arranged in a ring along the driven shaft (2). Several second planetary gears (61) are installed on each crankshaft (62). The driven shaft (2) is fitted with a sliding sleeve (64). The driven shaft (2) and the sliding sleeve (64) are connected in the transverse direction by a sliding key. Several second sun gears (66) of different diameters are arranged in the transverse direction on the sliding sleeve (64). The sliding sleeve (64) is connected to the second planetary carrier (6) or the mounting base (1) through several transverse drive devices (63). Each second planetary gear (61) is connected to a second gear ring (67) arranged in the transverse direction outside the second planetary carrier (6). The second gear ring (67) is connected to the wheel rim (8). When each lateral drive device (63) drives the sliding sleeve (64) to move on the passive shaft (2), each second sun gear (66) is connected to the second planet gear (61) of a second planet gear set; the second gear ring (67) or wheel rim (8) is connected to the mounting base (1) through the third braking assembly (7); the power shaft (3) is connected to the motor (9).

2. The wheel drive system for agricultural machinery chassis as described in claim 1, characterized in that: The third braking assembly (7) includes a brake disc (71), a friction pad (72) and a friction pad hydraulic drive device (73). The brake disc (71) is fixed on the second gear ring (67) or the wheel rim (8) and rotates synchronously with it. The friction pad (72) is placed on both sides of the brake disc (71) on the mounting base (1) and connected to the friction pad hydraulic drive device (73).

3. The wheel drive system for agricultural machinery chassis as described in claim 1, characterized in that: The outer radial surface of the passive shaft (2) is provided with a first transverse keyway (20), and the inner radial surface of the sliding sleeve (64) is provided with a first transverse rack (65) that cooperates with the first transverse keyway (20). The mounting base (1) is provided with several transverse drive devices (63) on the side away from the first sun gear (32), and each transverse drive device (63) is arranged in a ring along the passive shaft (2).

4. The wheel drive system for agricultural machinery chassis as described in claim 3, characterized in that: The lateral drive device (63) includes a micro motor (631) and a lead screw (632) connected to the micro motor (631). A sliding nut (633) is provided on the lead screw (632). The sliding nut (633) is connected to the sliding sleeve (64) through a connector (634). The lead screw (632) is driven to rotate by the micro motor (631), which drives the sliding sleeve (64) to move laterally along the power shaft (3) to realize the meshing and switching of different second sun gears (66) and the second planetary gears (61) of the second planetary gear set. The micro motor (631) is mounted on the second planetary carrier (6) or the mounting base (1).

5. The wheel drive system for agricultural machinery chassis as described in claim 1, characterized in that: The sun gear has involute teeth; the second sun gear (66) on the crankshaft (62) has a barrier ring (68) on both sides.

6. The wheel drive system for agricultural machinery chassis as described in claim 1, characterized in that: The first braking assembly (4) includes a first movable sleeve (41) disposed on the inner circumferential surface of the cavity (100) of the mounting base (1). The first movable sleeve (41) is located outside the first gear ring (31). Several first brake friction rings (42) are arranged horizontally at equal intervals on the inner circumferential surface of the first movable sleeve (41). Several second brake friction rings (43) are arranged horizontally at equal intervals on the radial outer circumferential surface of the first gear ring (31). The first brake friction rings (42) and the second brake friction rings (43) are both perpendicular to the central axis of the power shaft (3). The first brake friction rings (42) and the second brake friction rings (43) are arranged at intervals. The end of the first movable sleeve (41) away from the first planetary carrier (33) is connected to the first spring ring (44). The first spring ring (44) is connected to the ring sleeve (45). The ring sleeve (45) is connected to the end of the cavity (100) of the mounting base (1) away from the first planetary carrier (33). The outer radial surface of the first movable sleeve (41) is provided with a second transverse key (46), and the inner circumferential surface of the cavity (100) of the mounting base (1) is provided with a second transverse key groove (47), and the second transverse key (46) is located in the second transverse key groove (47). On the inner circumferential surface of the cavity (100) of the mounting base (1), a first oil ring (48) is provided on the side of the second horizontal key (46) near the first planetary carrier (33), and a second oil ring (49) is provided on the side of the second horizontal key (46) away from the first planetary carrier (33) on the inner circumferential surface of the cavity (100) of the mounting base (1). The first oil ring (48) and the second oil ring (49) are connected. The first oil ring (48) and the second oil ring (49) are connected and externally connected to a hydraulic device. Under the action of the first spring ring (44), the second brake friction ring (43) is engaged with the first brake friction ring (42) to lock the mounting base (1) and the first gear ring (31). When hydraulic oil is injected into the first oil ring (48), the first movable sleeve (41) moves laterally away from the first planetary carrier (33), and the second brake friction ring (43) separates from the second brake friction ring (43).

7. The wheel drive system for agricultural machinery chassis as described in claim 1, characterized in that: The second braking assembly (5) includes a third movable sleeve (51) disposed on the inner circumferential surface of a ring sleeve (45), a third transverse key (52) on the radial outer circumferential surface of the third movable sleeve (51), a third transverse key groove (53) on the inner circumferential surface of the ring sleeve (45), the third transverse key (52) being located within the third transverse key groove (53), a third oil ring (54) on the side of the third transverse key (52) on the ring sleeve (45) near the first planetary carrier (33), and a fourth oil ring (55) on the side of the third transverse key (52) on the ring sleeve (45) away from the first planetary carrier (33), the third oil ring (54) and the fourth oil ring (55) being connected and externally connected to a hydraulic device; a plurality of fourth braking friction rings (57) are arranged transversely at equal intervals on the first outer circumferential surface of the first gear ring (31), a second movable sleeve (50) is disposed inside the first gear ring (31), and a plurality of fourth braking friction rings (57) are arranged transversely at equal intervals on the inner circumferential surface of the second movable sleeve (50). Several third brake friction rings (56) are arranged. The third brake friction rings (56) and the fourth brake friction rings (57) are both perpendicular to the central axis of the power shaft (3). The third brake friction rings (56) and the fourth brake friction rings (57) are arranged at intervals. The third movable sleeve (51) is connected to the second spring ring (58). The second spring ring (58) is connected to the second movable sleeve (50). The second spring ring (58) is located inside the first gear ring (31) and outside the driven shaft (2). Under the action of the second spring ring (58), the third brake friction rings (56) and the fourth brake friction rings (57) are engaged, thereby locking the driven shaft (2) and the first gear ring (31). When hydraulic oil is injected into the third oil ring (54), the third movable sleeve (51) moves laterally away from the first planetary carrier (33), and the third brake friction rings (56) and the fourth brake friction rings (57) separate.

8. The wheel drive system for agricultural machinery chassis as described in claim 1, characterized in that: The second planetary carrier (6) has three second planetary gear sets arranged laterally. The diameter of the second planetary gear (61) in the middle second planetary gear set is larger than the diameter of the second planetary gear (61) in the second planetary gear sets on both sides.

9. The wheel drive system for agricultural machinery chassis as described in claim 1, characterized in that: A portion of the mounting base (1) is located outside the second gear ring (67). The radial outer circumferential surface of the portion of the mounting base (1) located outside the second gear ring (67) is connected to the second gear ring (67) via the first bearing (11). A sealing plate (671) is provided on the side of the second gear ring (67) away from the first planetary carrier (33). The center side of the sealing plate (671) near the first planetary carrier (33) is laterally connected to the driven shaft (2) via the second bearing (69). A connecting sleeve (331) is provided on the side of the first planetary carrier (33) away from the first sun gear (32). The driven shaft (2) passes through the connecting sleeve (331) and is fixedly connected to the connecting sleeve (331). The outer circumference of the connecting sleeve (331) is connected to the center hole (10) of the mounting base (1) via the third bearing (35).

10. The control method for the wheel drive system of agricultural machinery chassis as described in any one of claims 1-9, characterized in that: The wheel drive system for the agricultural machinery chassis includes a control system and a vehicle operation status monitoring system that monitors the input speed, output speed and load changes in real time. The vehicle operation status monitoring system, the first braking component (4), the second braking component (5), the third braking component (7), the lateral drive device (63), and the motor (9) are all electrically connected to the control system. The control system adjusts the locking and releasing of each braking component according to the vehicle operation status and the driver's instructions, controls the lateral position of the sliding sleeve (64), and controls the rotation speed of the wheel rim (8).

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