Differential transmission mechanism of crawler

Abstract

The utility model discloses a differential transmission mechanism of a crawler, which is characterized by comprising two groups of symmetrical differential transmission components, and each group consists of a shell and a built-in gear mechanism and is used for directly driving crawler wheels. In addition, the device further comprises a straight movement transmission assembly and a steering transmission assembly, linkage with the differential transmission assembly is achieved through a driving shaft A, a driving shaft B and related bevel gears, and accurate advancing, retreating and steering control is guaranteed. And the steering transmission assembly adopts two groups of transmission half shafts which are linked with a shell mechanism of the differential assembly to realize symmetrical meshing. In order to enhance the adaptability in different vehicle types, the scheme provides an I-type power source connection scheme and an II-type power source connection scheme. By means of the design, the operation performance and safety of the crawler are optimized, the assembling applicability is improved, and the crawler design solution is more efficient, flexible and reliable.

Description

Technical Field

[0001] The utility model relates to the technical field related to track vehicle transmission, in particular to a differential transmission mechanism for a track vehicle. Background Art

[0002] Most traditional tracked vehicles rely on a single-flow transmission system. Although this system has a simple structure and low cost, it has many shortcomings in actual operation, especially in terms of steering performance, flexibility of turning radius, and adaptability to different vehicle models.

[0003] First, the single-flow transmission system cannot guarantee full-speed operation of the equipment during the turning process. When the crawler vehicle needs to perform a turning operation, due to the limitation of the transmission force, it often needs to reduce the speed to complete the turning, which is particularly disadvantageous when a quick response is required or in an emergency. In addition, this system is often accompanied by power loss when performing a quick turning operation, which affects the overall efficiency.

[0004] Secondly, the single-flow transmission system faces great difficulties in achieving fixed-radius turns. When tracked vehicles perform precise fixed-radius turns, they are required to accurately control the speed difference between the tracks on both sides to achieve smooth turns. However, the traditional single-flow system has limited control capabilities in this regard and often cannot accurately achieve the required differential speed, resulting in inaccurate turning radius and even possible loss of control in turns.

[0005] Furthermore, when the single-flow transmission system of a traditional tracked vehicle is assembled on different models, it is difficult to ensure a reasonable combination of the differential transmission mechanism and the power source. This system has poor versatility and adaptability, and the requirements for the power source are relatively fixed, which limits its application range on different tracked vehicles. In particular, for high-performance tracked vehicles that require special steering performance or specific power configurations, it is difficult for a single-flow system to meet these high requirements. Utility Model Content

[0006] In view of the above-mentioned deficiencies in the prior art, the purpose of the utility model is to provide a differential transmission mechanism for a tracked vehicle, which improves the operating performance and safety of the tracked vehicle and the applicability of assembly on different vehicle models, and provides a more efficient, flexible and reliable solution for the design and application of tracked vehicles.

[0007] The technical solution adopted by the utility model to achieve the above-mentioned purpose is: a differential transmission mechanism for a tracked vehicle, including two groups of symmetrically arranged differential transmission components, the differential transmission components including a housing mechanism and a gear mechanism assembled in the housing mechanism, the gear mechanism is connected to the driving wheel power of the tracked vehicle, and also includes a straight transmission component and a steering transmission component assembled between the two groups of differential transmission components.

[0008] The straight transmission assembly includes a driving shaft A, a transmission main shaft, a driving bevel gear A fixedly mounted on the driving shaft A, and a transmission bevel gear A fixedly mounted on the transmission main shaft. The transmission main shaft is linked with the gear mechanisms of the two sets of differential transmission assemblies, and the driving bevel gear A and the transmission bevel gear A are meshed.

[0009] The steering transmission assembly includes a drive shaft B, two sets of coaxially arranged transmission half shafts, a drive bevel gear B fixedly mounted on the drive shaft B, and a transmission bevel gear B fixedly mounted on the transmission half shafts. The two sets of transmission half shafts are respectively linked with the two sets of housing mechanisms in the differential transmission assemblies. The two sets of transmission bevel gears B are symmetrically arranged and are both meshed with the drive bevel gear B.

[0010] In some of the implementations, in order to ensure that the differential transmission assembly, straight transmission assembly, and steering transmission assembly involved in the transmission mechanism can be stably assembled and matched, a mounting bracket is also included, and the differential transmission assembly, straight transmission assembly, and steering transmission assembly are all assembled on the mounting bracket.

[0011] In some of the implementations, in order to ensure that the housing mechanism in the differential transmission assembly can be stably assembled on the mounting bracket and conveniently disassembled and assembled to facilitate the assembly and smooth operation of the internal gear mechanism in the housing mechanism, the following technical solutions are provided.

[0012] The housing mechanism includes a connecting plate and a mounting plate which are rotatably mounted on the mounting bracket and coaxially arranged with the transmission main shaft. A connecting sleeve is supported between the connecting plate and the mounting plate. The connecting plate, the mounting plate and the connecting sleeve are fixedly assembled by a bolt assembly arranged through them. A transmission spur gear is arranged on the periphery of the connecting plate, and a driving spur gear which meshes with the transmission spur gear is fixedly connected to the transmission half shaft.

[0013] In some of the implementations, in order to ensure that the gear mechanism can be stably assembled in the housing mechanism, and to ensure that the gear mechanism and the housing mechanism can receive power from the straight transmission assembly and the steering transmission assembly and operate in coordination, the following technical solutions are provided.

[0014] The gear mechanism includes a primary sun gear, a primary planetary gear, a secondary sun gear, and a secondary planetary gear. The primary sun gear is rotatably mounted at the axis of the connecting disk and is fixedly connected to the transmission main shaft. The secondary sun gear is rotatably mounted at the axis of the mounting disk, and the secondary sun gear is fixedly connected to a connecting shaft rotatably mounted on the mounting bracket. The primary planetary gear and the secondary planetary gear both include multiple groups arranged evenly. The primary planetary gear and the secondary planetary gear are rotatably mounted on the connecting disk and the mounting disk and are arranged on the periphery of the primary sun gear and the secondary sun gear. The primary sun gear is meshed with the primary planetary gear, the secondary sun gear is meshed with the secondary planetary gear, and the adjacently arranged primary planetary gears and secondary planetary gears are meshed.

[0015] In some of the implementations, in order to ensure that the power source equipped with the crawler vehicle can stably transmit power to the drive shaft A and the drive shaft B, the following implementation scheme is provided.

[0016] It includes two groups of type I drive components which are respectively connected to the drive shaft A and the drive shaft B in terms of power. The type I drive components include a sleeve for maintaining sliding connection, a spline shaft, and two groups of universal joints which are respectively assembled on the outer ends of the sleeve and the spline shaft. The drive shaft A and the drive shaft B are both matched with a group of universal joints.

[0017] In some of the implementations, in order to ensure that the power source equipped with the crawler vehicle can stably transmit power to the drive shaft A and the drive shaft B, the following another implementation scheme is provided.

[0018] It includes a type II drive assembly, which includes a No. 1 motor, a No. 2 motor, a No. 1 drive bevel gear, a No. 1 transmission bevel gear, a No. 2 drive bevel gear, a No. 2 transmission bevel gear, a No. 1 transmission gear, and a No. 2 transmission gear. The No. 1 motor and the No. 2 motor are arranged horizontally symmetrically, and the No. 1 drive bevel gear and the No. 2 drive bevel gear are fixedly connected to the output shafts of the No. 1 motor and the No. 2 motor respectively. The No. 1 transmission bevel gear is meshed with the No. 1 drive bevel gear and is fixedly connected to the drive shaft A. The No. 2 transmission bevel gear is meshed with the No. 2 drive bevel gear and is rotatably installed on the drive shaft A. The No. 1 transmission gear and the No. 2 transmission gear are meshed and are fixedly connected to the drive shaft B and the No. 2 transmission bevel gear respectively.

[0019] Beneficial effects of the utility model:

[0020] 1. Improve steering efficiency and precision: The dual-flow differential transmission mechanism allows the tracked vehicle to maintain a high travel speed when turning. At the same time, by accurately controlling the speed difference of the tracks on both sides, fixed radius turning and large radius turning are achieved, thereby improving the steering efficiency and precision.

[0021] 2. Enhanced flexibility of power transmission: Through two sets of symmetrically arranged differential transmission components, combined with straight-line transmission components and steering transmission components, this mechanism can not only realize the basic operations of forward, reverse, acceleration and deceleration, but also achieve more flexible power distribution when turning, enhancing the flexibility and adaptability of the entire transmission system.

[0022] 3. Wide applicability: Taking into account the needs of different tracked vehicles, the transmission mechanism is designed to be highly adaptable and universal, and can be applied to a variety of different tracked vehicles. By providing two different drive forms, Type I drive assembly and Type II transmission assembly, the straight-line transmission assembly and the steering transmission assembly can be driven to operate stably, and can be stably assembled and applied in tracked vehicles of different structures and models. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of the utility model equipped with a type I drive assembly;

[0024] Figure 2 This is a schematic diagram of the structure of the combination of type I drive assembly and drive shafts A and B;

[0025] Figure 3 It is a schematic diagram of the structure of the utility model equipped with a type II drive assembly;

[0026] Figure 4 It is a schematic diagram of the mechanism of the combination of the type II drive assembly and the drive shafts A and B;

[0027] Figure 5 It is a structural schematic diagram of the differential transmission assembly in a disassembled state;

[0028] Figure 6 For the Figure 5 Schematic diagram of the structure from another perspective.

[0029] In the figure: 1 differential transmission assembly, 111 connecting plate, 112 mounting plate, 113 connecting sleeve, 114 bolt assembly, 115 transmission spur gear, 116 positioning pin shaft, 121 primary sun gear, 122 primary planetary gear, 123 secondary sun gear, 1231 connecting shaft, 124 secondary planetary gear, 125 protective bracket, 21 drive shaft A, 211 drive bevel gear A, 22 drive main shaft, 221 drive bevel gear A, 31 drive shaft B, 311 drive bevel gear B, 32 drive half shaft, 321 drive bevel gear B, 322 drive spur gear, 4 mounting bracket, 51 shaft sleeve, 52 spline shaft, 53 universal joint, 61 No. 1 motor, 62 No. 2 motor, 63 No. 1 drive bevel gear, 64 No. 2 drive bevel gear, 65 No. 1 transmission bevel gear, 66 No. 2 transmission bevel gear, 67 No. 1 transmission gear, 68 No. 2 transmission gear. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] See also Figure 1-6 A crawler vehicle differential transmission mechanism includes two sets of symmetrically arranged differential transmission components 1, the differential transmission component 1 includes a housing mechanism and a gear mechanism assembled in the housing mechanism, the gear mechanism is connected to the driving wheel power of the crawler vehicle, and also includes a straight transmission component and a steering transmission component assembled between the two sets of differential transmission components 1.

[0032] The straight transmission assembly includes a drive shaft A21, a transmission main shaft 22, a drive bevel gear A211 fixedly mounted on the drive shaft A21, and a drive bevel gear A221 fixedly mounted on the transmission main shaft 22. The transmission main shaft 22 is linked with the gear mechanisms of the two sets of differential transmission assemblies 1, and the drive bevel gear A211 and the drive bevel gear A221 are meshed.

[0033] The steering transmission assembly includes a drive shaft B31, two sets of coaxially arranged transmission half shafts 32, a drive bevel gear B311 fixedly mounted on the drive shaft B31, and a drive bevel gear B321 fixedly mounted on the transmission half shaft 32. The two sets of transmission half shafts 32 are respectively linked to the housing mechanisms in the two sets of differential transmission assemblies 1, and the two sets of transmission bevel gears B321 are symmetrically arranged and meshed with the drive bevel gear B311.

[0034] The dual-flow transmission mechanism provided in the present application is mainly used in tracked vehicles, preferably in tracked robots, and can be used in many fields such as unmanned detection and soil detection.

[0035] When the straight-moving transmission assembly is running, the driving shaft A21 and the driving bevel gear A211 thereon are driven to operate, thereby driving the transmission bevel gear A221 and the transmission main shaft 22 to operate, and then the gear mechanisms in the two sets of differential transmission assemblies 1 are driven to operate synchronously through the transmission main shaft 22, thereby driving the driving wheels of the crawler vehicle to operate, and by controlling the operating direction and operating speed of the driving shaft A21, the forward, backward, acceleration and deceleration of the crawler vehicle can be controlled.

[0036] When the steering transmission assembly is running, the driving shaft B31 and the driving bevel gear B311 thereon are driven to operate, thereby driving the two sets of symmetrically distributed driving bevel gears B321 to operate in the opposite direction, so as to distribute the power to the housing mechanisms in the differential transmission assemblies 1 on both sides through the transmission half shaft 32. The two sets of housing mechanisms also keep operating in the opposite direction, and then the driving wheels on both sides are driven to operate in the opposite direction and differentially through the internal gear mechanism. By controlling the operating direction and speed of the driving shaft B31, the left turn, right turn and U-turn of the crawler vehicle can be regulated.

[0037] Through the coordinated operation of the straight-line transmission component and the steering transmission component, as well as the action of the differential transmission component 1, fixed-radius steering with one-side track stationary and large-radius steering with both sides of the track running in the same direction at differential speeds can be achieved. During the steering process, the straight-line transmission component can also drive the equipment to move at full speed.

[0038] By using the cooperation of two sets of differential transmission components 1, the differential operation of the crawlers on both sides during the turning process can be realized, and the slipping problem when passing through a pit can be avoided. In summary, the present application can realize the independent operation of the crawlers on both sides, realize zero-radius on-the-spot U-turn and fixed-radius U-turn, while ensuring the overall structure is simple and compact, the transmission is reliable and the transmission efficiency is improved.

[0039] In order to ensure that the differential transmission assembly 1, the straight transmission assembly, and the steering transmission assembly involved in the transmission mechanism can be stably assembled and matched, a mounting bracket 4 is also included, and the differential transmission assembly 1, the straight transmission assembly, and the steering transmission assembly are all assembled on the mounting bracket 4.

[0040] The mounting bracket 4 can be stably assembled on the chassis of the tracked vehicle, thereby ensuring that the differential transmission assembly 1, the straight-moving transmission assembly and the steering transmission assembly are stably assembled in the tracked vehicle, ensuring that the straight-moving transmission assembly and the steering transmission assembly can drive the differential transmission assemblies 1 on both sides to operate stably, and realizing various functions of the tracked vehicle.

[0041] The design of the mounting bracket 4 can also ensure that the power source of the crawler vehicle or the transmission components of the power source are stably mounted thereon, so as to drive the straight-moving transmission component and the steering transmission component to operate stably.

[0042] In order to ensure that the housing mechanism in the differential transmission assembly 1 can be stably assembled on the mounting bracket 4 and conveniently disassemble and assemble it so as to facilitate the assembly and smooth operation of the internal gear mechanism in the housing mechanism, the following technical solution is provided.

[0043] The housing mechanism includes a connecting plate 111 and a mounting plate 112 which are rotatably mounted on the mounting bracket 4 and are coaxially arranged with the transmission main shaft 22. A connecting sleeve 113 is supported between the connecting plate 111 and the mounting plate 112. The connecting plate 111, the mounting plate 112 and the connecting sleeve 113 are fixedly assembled by a bolt assembly 114 which is arranged through the connecting plate 111. A transmission spur gear 115 is provided on the periphery of the connecting plate 111. A driving spur gear 322 which is meshed with the transmission spur gear 115 is fixedly connected to the transmission half shaft 32.

[0044] The connecting plate 111 and the mounting plate 112 can be quickly assembled and disassembled through the connecting sleeve 113 and the bolt assembly 114, which facilitates the quick disassembly and assembly of the gear mechanism between the connecting plate 111 and the mounting plate 112. At the same time, the assembly space provided by the connecting plate 111 and the mounting plate 112 can ensure the stable operation of the internal gear mechanism.

[0045] When the two groups of transmission half shafts 32 in the steering transmission assembly rotate in the opposite direction, the housing mechanism in the differential transmission assembly can be driven to operate as a whole through the driving spur gear 322 and the transmission spur gear 115 .

[0046] In order to ensure that the gear mechanism can be stably assembled in the housing mechanism, and to ensure that the gear mechanism and the housing mechanism can receive power from the straight-line transmission assembly and the steering transmission assembly and operate in coordination, the following technical solution is provided.

[0047] The gear mechanism includes a primary sun gear 121, a primary planetary gear 122, a secondary sun gear 123, and a secondary planetary gear 124. The primary sun gear 121 is rotatably mounted on the axis of the connecting disk 111 and is fixedly connected to the transmission main shaft 22. The secondary sun gear 123 is rotatably mounted on the axis of the mounting disk 112, and a connecting shaft 1231 rotatably mounted on the mounting bracket 4 is fixedly connected to the secondary sun gear 123. The primary planetary gear 122 and the secondary planetary gear 124 both include multiple groups that are evenly arranged. The primary planetary gear 122 and the secondary planetary gear 124 are rotatably mounted on the connecting disk 111 and the mounting disk 112 and are arranged on the periphery of the primary sun gear 121 and the secondary sun gear 123. The primary sun gear 121 is meshed with the primary planetary gear 122, the secondary sun gear 123 is meshed with the secondary planetary gear 124, and the adjacently arranged primary planetary gears 122 and secondary planetary gears 124 are meshed.

[0048] In order to ensure that the first-stage planetary gear 122 and the second-stage planetary gear 124 are stably installed on the connecting disk 111 and the mounting disk 112, and to facilitate disassembly and maintenance, a positioning pin shaft 116 is fixed on the connecting disk 111 and the mounting disk 112, and each first-stage planetary gear 122 and the second-stage planetary gear 124 is rotatably installed on the corresponding positioning pin shaft 116.

[0049] When the transmission main shaft 22 in the straight-moving transmission assembly is running, it can directly drive the two sets of primary sun gears 121 fixed thereon to run synchronously, and then transmit power to the secondary sun gear 123 and the connecting shaft 1231 fixed to the secondary sun gear 123 through the primary planetary gear 122 and the secondary planetary gear 124. The connecting shaft 1231 is used to connect the driving wheels of the crawler vehicle to realize the straight-moving function of the crawler vehicle.

[0050] When the two groups of transmission half shafts 32 in the steering transmission assembly rotate in opposite directions, the housing mechanism is driven to operate as a whole through the combination of the driving spur gear 322 and the transmission spur gear 115, thereby driving the primary planetary gear 122 and the secondary planetary gear 124 assembled thereon to rotate synchronously around the central axis as a whole. Since the rotation directions transmitted to the two groups of housing assemblies are opposite, when the straight transmission assembly and the primary sun gear 121 fixed to the transmission main shaft 22 are in a stationary state, the primary planetary gear 122 and the secondary planetary gear 124 are also in a locked state, thereby driving the secondary sun 3 and the connecting shaft 1231 to rotate, and the two groups of connecting shafts 1231 keep rotating in opposite directions, so as to achieve a zero-radius U-turn on the spot.

[0051] When the straight-line transmission assembly and the steering transmission assembly are both in working condition, they jointly act on the housing assembly and the gear assembly of the differential assembly. When adjusting the rotation speed of the drive shaft A21 and the drive shaft B31, the fixed radius steering and large radius steering of the existing crawler travel equipment can be realized.

[0052] In order to ensure the stability of the primary sun gear 121, the primary planetary gear 122, the secondary sun gear 123, and the secondary planetary gear 124 during assembly and operation, a protective bracket 125 is also provided in the gear mechanism, and the protective bracket 125 is rotatably installed between the primary sun gear 121 and the secondary sun gear 123, and fills the gap between the primary planetary gear 122 and the secondary planetary gear 124. The stability of the operation of the primary sun gear 121 and the secondary sun gear 123, and the stability of the movement of the primary planetary gear 122 and the secondary planetary gear 124 can be ensured.

[0053] In order to ensure that the power source equipped on the crawler vehicle can stably transmit power to the drive shaft A21 and the drive shaft B31, the following implementation scheme is provided.

[0054] It includes two groups of Type I drive components which are respectively connected to the drive shaft A21 and the drive shaft B31. The Type I drive component includes a sleeve 51 and a spline shaft 52 which are maintained for sliding insertion, and two groups of universal joints 53 which are respectively assembled on the outer ends of the sleeve 51 and the spline shaft 52. The drive shaft A21 and the drive shaft B31 are both matched with a group of universal joints 53.

[0055] The universal joints 53 at both ends of the two sets of Type I drive assemblies are respectively connected to the power source (mostly a motor) and the drive shaft A21 (or drive shaft B31). The power output by the power source can be transmitted to the corresponding drive shaft A21 or drive shaft B31 through the combination of the universal joint 53, the bushing 51, and the spline shaft 52, so as to drive the straight-line transmission assembly or the steering transmission assembly to operate stably.

[0056] The combination of the spline shaft 52 and the sleeve 51 facilitates the adjustment of the transmission distance and height of the type I drive assembly, and is convenient for assembly and use on a tracked vehicle where the power source and the differential transmission mechanism are far apart or have an angle difference.

[0057] In order to ensure that the power source equipped with the crawler vehicle can stably transmit power to the drive shaft A21 and the drive shaft B31, the following another implementation scheme is provided.

[0058] It includes a type II drive assembly, which includes a No. 1 motor 61, a No. 2 motor 62, a No. 1 drive bevel gear 63, a No. 1 transmission bevel gear 65, a No. 2 drive bevel gear 64, a No. 2 transmission bevel gear 66, a No. 1 transmission gear 67, and a No. 2 transmission gear 68. The No. 1 motor 61 and the No. 2 motor 62 are arranged horizontally symmetrically, and the No. 1 drive bevel gear 63 and the No. 2 drive bevel gear 64 are fixedly connected to the output shafts of the No. 1 motor 61 and the No. 2 motor 62, respectively. The No. 1 transmission bevel gear 65 is meshed with the No. 1 drive bevel gear 63 and is fixedly connected to the drive shaft A21, the No. 2 transmission bevel gear 66 is meshed with the No. 2 drive bevel gear 64 and is rotatably installed on the drive shaft A21, and the No. 1 transmission gear 67 and the No. 2 transmission gear 68 are meshed and are fixedly connected to the drive shaft B31 and the No. 2 transmission bevel gear 66, respectively.

[0059] Type II drive assembly is more suitable for assembly and use in miniaturized tracked vehicles, in which the No. 1 motor 61 and the No. 2 motor 62 serving as power sources are directly mounted on the mounting bracket 4 in a horizontally opposed posture, making the differential transmission mechanism and the linked power source smaller, and convenient for stable assembly in a narrow space.

[0060] Since the structural layouts of the Type I drive assembly and the Type II drive assembly are different, the matching mounting brackets 4 have structural differences to ensure that the various components are stably mounted thereon.

[0061] The second transmission bevel gear 66 and the second transmission gear 68 are fixedly connected and rotatably mounted on the mounting bracket 4, and are arranged on the periphery of the driving shaft A21 and kept coaxially arranged.

[0062] Since the driving shaft A21 and the driving shaft B31 need to be designed with a height difference to avoid spatial interference, the power output by the second motor 62 can be distributed to the driving shaft B31 at different heights through the first transmission gear 67 and the second transmission gear 68.

[0063] When the No. 1 motor 61 is running, the combination of the No. 1 driving bevel gear 63 and the No. 1 transmission bevel gear 65 directly drives the drive shaft A21 to run, thereby driving the straight drive assembly to run stably. When the No. 2 motor 62 is running, the combination of the No. 2 driving bevel gear 64 and the No. 2 transmission bevel gear 66 drives the No. 2 transmission gear 68 to run, thereby driving the No. 1 transmission bevel gear 65 and the drive shaft B31 to run stably, thereby driving the steering transmission assembly to run stably.

[0064] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0065] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A crawler vehicle differential transmission mechanism, comprising two sets of symmetrically arranged differential transmission assemblies (1), the differential transmission assembly (1) comprising a housing mechanism and a gear mechanism assembled in the housing mechanism, the gear mechanism being power-connected to a driving wheel of the crawler vehicle, characterized in that: It also includes a straight-line transmission assembly and a steering transmission assembly assembled between the two sets of differential transmission assemblies (1); The straight transmission assembly comprises a drive shaft A (21), a transmission main shaft (22), a drive bevel gear A (211) fixedly mounted on the drive shaft A (21), and a transmission bevel gear A (221) fixedly mounted on the transmission main shaft (22); the transmission main shaft (22) is linked to the gear mechanisms of the two sets of differential transmission assemblies (1); the drive bevel gear A (211) and the transmission bevel gear A (221) are meshed; The steering transmission assembly comprises a drive shaft B (31), two sets of coaxially arranged transmission half shafts (32), a drive bevel gear B (311) fixedly mounted on the drive shaft B (31), and a transmission bevel gear B (321) fixedly mounted on the transmission half shafts (32), the two sets of transmission half shafts (32) respectively maintaining linkage with the two sets of housing mechanisms in the differential transmission assembly (1), and the two sets of transmission bevel gears B (321) maintaining symmetrical arrangement and both maintaining meshing with the drive bevel gear B (311).

2. A crawler vehicle differential transmission mechanism according to claim 1, characterized in that: It also includes a mounting bracket (4), on which the differential transmission assembly (1), the straight-line transmission assembly, and the steering transmission assembly are all mounted.

3. A crawler vehicle differential transmission mechanism according to claim 2, characterized in that: The housing mechanism comprises a connecting plate (111) and a mounting plate (112) which are rotatably mounted on the mounting bracket (4) and are coaxially arranged with the transmission main shaft (22); a connecting sleeve (113) is supported between the connecting plate (111) and the mounting plate (112); the connecting plate (111), the mounting plate (112) and the connecting sleeve (113) are fixedly assembled by a bolt assembly (114) arranged through the connecting plate (111); a transmission spur gear (115) is provided on the periphery of the connecting plate (111); and a driving spur gear (322) which is meshed with the transmission spur gear (115) is fixedly connected to the transmission half shaft (32).

4. A crawler vehicle differential transmission mechanism according to claim 3, characterized in that: The gear mechanism comprises a primary sun gear (121), a primary planetary gear (122), a secondary sun gear (123), and a secondary planetary gear (124); the primary sun gear (121) is rotatably mounted on the axis of the connecting disk (111) and is fixedly connected to the transmission main shaft (22); the secondary sun gear (123) is rotatably mounted on the axis of the mounting disk (112), and a connecting shaft (1231) rotatably mounted on the mounting bracket (4) is fixedly connected to the secondary sun gear (123); the primary planetary gear (122), the secondary sun gear (123), and the secondary planetary gear (124); The planetary gears (124) include multiple groups that are evenly arranged. The first-stage planetary gears (122) and the second-stage planetary gears (124) are rotatably mounted on the connecting disk (111) and the mounting disk (112) and are arranged on the periphery of the first-stage sun gear (121) and the second-stage sun gear (123). The first-stage sun gear (121) is meshed with the first-stage planetary gear (122), the second-stage sun gear (123) is meshed with the second-stage planetary gear (124), and the first-stage planetary gears (122) and the second-stage planetary gears (124) that are adjacently arranged are meshed.

5. The crawler vehicle differential transmission mechanism according to claim 1, characterized in that: The invention comprises two sets of type I drive assemblies respectively connected to the drive shaft A (21) and the drive shaft B (31) in a dynamic manner. The type I drive assembly comprises a sleeve (51) and a spline shaft (52) for maintaining sliding insertion, and two sets of universal joints (53) respectively mounted on the outer ends of the sleeve (51) and the spline shaft (52). The drive shaft A (21) and the drive shaft B (31) are both matched with a set of universal joints (53).

6. The crawler vehicle differential transmission mechanism according to claim 1, characterized in that: The invention comprises a type II drive assembly, wherein the type II drive assembly comprises a No. 1 motor (61), a No. 2 motor (62), a No. 1 driving bevel gear (63), a No. 1 transmission bevel gear (65), a No. 2 driving bevel gear (64), a No. 2 transmission bevel gear (66), a No. 1 transmission gear (67), and a No. 2 transmission gear (68), wherein the No. 1 motor (61) and the No. 2 motor (62) are arranged horizontally and symmetrically, and the No. 1 driving bevel gear (61) and the No. 2 motor (62) are respectively fixedly connected to the output shafts of the No. 1 motor (61) and the No. 2 motor (62). gear (63), a second drive bevel gear (64), the first drive bevel gear (65) is meshed with the first drive bevel gear (63) and is fixedly connected to the drive shaft A (21), the second drive bevel gear (66) is meshed with the second drive bevel gear (64) and is rotatably mounted on the drive shaft A (21), and the first drive gear (67) and the second drive gear (68) are meshed with and are fixedly connected to the drive shaft B (31) and the second drive bevel gear (66), respectively.

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