Active differential type steering driver of crawler

Abstract

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

Description

Technical Field

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

[0002] Traditional crawler tractors mostly use single-side brake-type steering, resulting in a large turning radius and making driving inconvenient for small fields and rural roads. Straight-line driving requires constant braking, requiring frequent brake maintenance and replacement. Steering requires the use of the brakes, and switching between directions requires braking and restarting. This complex control logic increases wear on mechanical components if coordination errors occur. If there is a significant difference in load between the left and right tracks during straight-line driving, the brakes can slip, causing uneven track output speeds, leading to misalignment and wobbling during driving. The steering mechanism and main drive mechanism have too many power transfer stages, resulting in low reliability over long periods of use. The steering mechanism typically uses a bevel gear drive, which, due to the radial forces present in the transmission link, requires the use of numerous tapered roller bearings for clearance adjustment, making assembly difficult and requiring readjustment after a period of use. For related literature, please refer to Chinese Invention Patent Application Publication No. 201911229936.0, "A Planetary Differential Steering Drive Axle for Tracked Vehicles" (Application Publication No. CN111022606A). Utility Model Content

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

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

[0005] The box has space for contents;

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

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

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

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

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

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

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

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

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

[0015] The transmission mechanism may include

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

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

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

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

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

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

[0022] The first planetary gear mechanism includes at least a primary planetary reduction mechanism and a secondary planetary reduction mechanism connected to the primary planetary reduction mechanism. The primary planetary reduction mechanism includes the first worm gear, and the secondary planetary reduction mechanism is connected to the first output axle. The first planetary gear mechanism may also employ a three-stage or higher planetary gear transmission structure, which will not be further elaborated here.

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

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

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

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

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

[0028] The two-stage planetary reduction mechanism includes

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

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

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

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

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

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

[0035] Compared with the existing technology, the present invention has the following advantages: the steering input shaft is transmitted through the gear set to the first and second worm gears, which in turn mesh with the first and second worm gears, respectively. Because the worm gears have a self-locking effect, the first ring gear remains stationary during normal straight-line driving, allowing normal power output. When turning, left and right input is applied through the steering input shaft, and the first ring gears of the left and right primary planetary reduction mechanisms rotate in opposite directions, achieving differential speed and enabling steering.

[0036] This solves the problems of large steering angles and discontinuous steering in traditional steering mechanisms, enabling on-the-spot steering. It can withstand high torque and loads, making it suitable for high-load environments such as agricultural equipment and construction machinery. The elimination of brake locks and friction brakes eliminates wearing parts, resulting in higher reliability and less frequent maintenance. The steering mechanism uses no bevel gears, eliminating radial forces. Track wear is reduced during steering, and both tracks maintain output, minimizing the risk of vehicle stalling and maximizing power. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

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

[0043] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0058] In this embodiment, the second planetary gear mechanism is symmetrically designed with the first planetary gear mechanism. Specifically, it comprises a primary planetary reduction mechanism 1b and a secondary planetary reduction mechanism 2b connected thereto. The specific designs of the primary planetary reduction mechanism 1b and the secondary planetary reduction mechanism 2b refer to the primary planetary reduction mechanism 1 and the secondary planetary reduction mechanism 2, and will not be further described here. The rotational connection involved in this embodiment can utilize a deep groove ball bearing connection, eliminating the need for clearance adjustment to improve reliability, and will not be further described.

[0059] The steering input shaft transmits power through the gear set to the first and second worm gears, which in turn mesh with the first and second worm gears 111 and 111b, respectively. Due to the self-locking nature of the worm gears, the first ring gear remains stationary during normal straight-line driving, allowing for normal power output. When turning, left and right power is input through the steering input shaft, causing the first ring gears of the left and right primary planetary reduction mechanisms to rotate in opposite directions, achieving differential speed and enabling steering.

[0060] This solves the problems of large steering angles and discontinuous steering in traditional steering mechanisms, enabling on-the-spot steering. It can withstand high torque and loads, making it suitable for high-load environments such as agricultural equipment and construction machinery. The elimination of brake locks and friction brakes eliminates wearing parts, resulting in higher reliability and less frequent maintenance. The steering mechanism uses no bevel gears, eliminating radial forces. Track wear is reduced during steering, and both tracks maintain output, minimizing the risk of vehicle stalling and maximizing power.

Claims

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

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

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

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

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

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

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

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