Dual-electromechanical-port dual-modulation integrated type electromechanical composite compound planet multi-source driving and transmission system

Abstract

The invention discloses a dual-electromechanical-port dual-modulation integrated type electromechanical composite compound planetary multi-source driving transmission system which comprises a dual-electromechanical-port motor with a dual-modulation composite integration effect, a differential planetary gear train, a compound planetary gear and a multi-gear parallel transmission structure. The double-electromechanical-port motor and the differential planetary gear train form an electromechanical composite transmission device of the double-electromechanical-port motor; a dual-modulation composite outer rotor of the dual-electromechanical-port motor serves as an outer mechanical port of the dual-electromechanical-port motor and also serves as a planet carrier input end of the differential planetary gear train. The front section of a gear shaft of the differential planetary gear train serves as an inner mechanical port of the double-electromechanical-port motor, the rear section of the gear shaft of the differential planetary gear train serves as a sun gear input end of the differential planetary gear train, and the differential planetary gear train is connected with the compound planetary gear through a shaft. The problems that in the prior art, energy loss is large, the size is large, a transmission chain is too long, unbalance loading is serious, and the transmission form is single can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-source drive mechatronic transmission, and in particular to a dual-electromechanical port dual-modulation integrated mechatronic composite compound planetary multi-source drive transmission system. Background Art

[0002] In key equipment in the fields of new energy, aerospace, marine engineering, etc., there are multi-source convergence drive transmission systems that use multiple motors to drive gear transmission devices to meet the needs of high-power, high-efficiency and reliable drive transmission output under complex working conditions, such as the yaw system of wind turbines and the cutter head drive system of hard rock tunneling equipment (TBM).

[0003] However, the current multi-source convergence drive transmission method basically adopts multiple traditional single-machine electrical port motors + mechanical components for driving, which makes the overall multi-source convergence structure too complicated. The multiple branch convergence drives cause the system integration to be low, which will lead to additional energy loss and a higher system failure rate. Moreover, for the single-branch transmission of the multi-source convergence drive transmission system, the branch planetary gear transmission configuration in the existing multi-source convergence drive transmission system has problems such as large size, too long transmission chain, serious unbalanced load, and single transmission form. Summary of the invention

[0004] The purpose of the present invention is to propose a dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system to solve the problems of the prior art such as high energy loss, large volume, too long transmission chain, serious unbalanced load and single transmission form.

[0005] A dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system includes a dual-electromechanical port motor with dual-modulation composite integration effect, a differential planetary gear train, a compound planetary gear and a multi-gear parallel transmission structure. The dual-electromechanical port motor and the differential planetary gear train constitute an electromechanical composite transmission device of the dual-electromechanical port motor; the dual-modulation composite outer rotor of the dual-electromechanical port motor serves as the external mechanical port of the dual-electromechanical port motor and also serves as the planetary frame input end of the differential planetary gear train; the front section of the gear shaft of the differential planetary gear train serves as the internal mechanical port of the dual-electromechanical port motor, and the rear section of the gear shaft of the differential planetary gear train serves as the sun gear input end of the differential planetary gear train. The differential planetary gear train is connected to the compound planetary gear through an axis, and finally the multi-gear parallel transmission structure collects the power of multiple branches to the driving pinion, and finally drives the third inner gear ring to rotate.

[0006] In addition, the dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system provided by the present invention may also have the following additional technical features:

[0007] Further, the dual electromechanical port motor includes a stator, a dual modulation composite outer rotor, and a reluctance inner rotor;

[0008] The stator surface is provided with open slots, and the modulator is attached to the bottom of the open slot teeth of the stator to form modulation teeth. Two sets of external modulation windings and internal modulation windings with unequal numbers of magnetic pole pairs are placed in the open slots. The external modulation windings and the internal modulation windings respectively serve as the two electrical ports of the dual electromechanical port motor.

[0009] Furthermore, the double-modulation composite outer rotor includes tangentially magnetized permanent magnets, radially magnetized permanent magnets and a magnetically conductive core, wherein the magnetically conductive core is arranged between the tangentially magnetized permanent magnets and the radially magnetized permanent magnets are placed on the periphery along the outer side of the double-modulation composite outer rotor.

[0010] Furthermore, the dual-electromechanical port motor has a dual modulation effect, wherein the internal modulation effect is formed by the modulation teeth, the internal modulation winding, and the dual-modulation composite outer rotor; the external modulation effect is formed by the external modulation winding, the dual-modulation composite outer rotor, and the reluctance inner rotor, and these two modulation effects compositely share the dual-modulation composite outer rotor, and both modulate the permanent magnetic field of the dual-modulation composite outer rotor, so that the dual-electromechanical port motor has a dual modulation composite integrated effect;

[0011] The number of magnetic pole pairs P of the double-modulation compound outer rotor ro Equal to the number of magnetic poles P of the external modulation winding W1 The number of teeth on the stator is Q S The sum or absolute value of the difference makes the stator, the double-modulation composite outer rotor, the outer modulation winding and the modulation teeth on the stator form an outer modulation effect;

[0012] The number of magnetic pole pairs P of the double-modulation compound outer rotor ro Equal to the number of magnetic pole pairs P of the inner modulation winding W2 With reluctance inner rotor P ri The sum or absolute value of the difference makes the stator, double-modulation composite outer rotor, inner modulation winding and reluctance inner rotor form an inner modulation effect.

[0013] The output torque of the double-modulation compound outer rotor is affected by both the outer modulation effect and the inner modulation effect, while the output torque of the reluctance inner rotor is only affected by the outer modulation effect;

[0014] The electromagnetic torque T generated by the external modulation winding W1 , the electromagnetic torque T generated by the internal modulation winding W2 , the output torque T of the double-modulation compound outer rotor ro , the output torque T of the reluctance inner rotor ri , the number of magnetic pole pairs P of the reluctance inner rotor ri , the number of magnetic pole pairs P of the double-modulation compound outer rotor ro , the effective value of the current of the external modulation winding I W1 , the effective value of the current of the internal modulation winding I W2 , the current angle of the external modulation winding ψW1 , the current angle of the inner modulation winding ψ W2 , the number of magnetic pole pairs of the external modulation winding P W1 , the number of magnetic pole pairs of the internal modulation winding P W2 ,satisfy:

[0015]

[0016] Among them, k1 and k2 are constants related only to the motor size and structure, G ri_W2 is the transmission ratio between the reluctance inner rotor and the outer modulation winding, G ro_W1 is the transmission ratio of the double-modulation compound outer rotor to the outer modulation winding, G ro_W2 is the transmission ratio of the double-modulation compound outer rotor to the inner modulation winding;

[0017] Speed ​​n of double-modulated compound outer rotor ro The current frequency f of the externally modulated winding W1 and the current frequency f of the inner modulation winding W2 Control; speed n of the reluctance inner rotor ri Only the current frequency f of the external modulation winding W1 Control to meet:

[0018]

[0019] Furthermore, the differential planetary gear system includes a sun gear, planetary gears, a planet carrier and a first inner gear ring. The sun gear, planetary gears, the planet carrier and the first inner gear ring can all rotate freely on the corresponding central axes. The gear shaft of the sun gear and the reluctance inner rotor are integrated into a structure, and the planet carrier and the double-modulation composite outer rotor are integrated into a structure. Several planetary gears are respectively meshed with the sun gear, and the planetary gears are installed on the planet carrier through fixed shaft pins and bearings. Several planetary gears are meshed with the outside of the first inner gear ring, and power is output through the first inner gear ring.

[0020] Furthermore, the stator of the dual-electromechanical port motor is installed on the frame, the dual-modulation composite outer rotor cooperates with the stator and the external modulation winding to output the external torque, and the dual-modulation composite outer rotor cooperates with the planetary gear through the pin shaft and the bearing; the front section of the sun gear shaft serves as the internal mechanical port of the dual-electromechanical port motor, cooperates with the stator and the internal modulation winding to output the internal torque; the rear section of the sun gear shaft serves as the sun gear input shaft of the differential planetary gear system, and is connected to the sun gear through the bearing;

[0021] The stator, dual-modulation composite outer rotor and reluctance inner rotor are located on the same axis. The dual-modulation composite outer rotor and the reluctance inner rotor begin to rotate under the action of the stator magnetic field, and the electromechanical composite transmission device converges the power to the first inner gear ring to output a single torque. A dual-electromechanical port motor is used to realize multi-source convergence transmission, and the requirements for resistance torque changes of the multi-source drive transmission system are met by changing the current frequency of the dual-electromechanical port motor.

[0022] Furthermore, the compound planetary gear includes a second inner gear ring, a compound planetary carrier, an angular contact ball bearing, a compound planetary gear input shaft, a compound small sun gear, a compound planetary gear output shaft, a small planetary gear, and a duplex gear. The compound planetary gear input shaft is connected to the output gear shaft of the first inner gear ring. The compound planetary gear input shaft transmits power to the duplex gear. The compound planetary gear input shaft is installed on the front end cover through an angular contact ball bearing. The duplex gear is installed on the duplex gear spindle. Axial positioning is performed through a hole using a retaining ring and a gasket. The duplex gear spindle is installed on the compound planetary carrier through a shaft using a retaining ring. The pinion of the duplex gear is meshed with the second inner gear ring and the small planetary gear at the same time. The ring is installed on the machine body through a deep groove ball bearing, the asteroid wheel is installed on the asteroid wheel shaft through an angular contact ball bearing and an asteroid wheel shaft sleeve, the asteroid wheel shaft is installed on the compound planetary carrier through an elastic retaining ring of the asteroid wheel shaft, the asteroid wheel is meshed with the compound small sun gear, the compound small sun gear is installed on the compound small sun gear shaft through an angular contact ball bearing and a compound small sun gear shaft sleeve, the compound small sun gear shaft is installed on the compound planetary carrier through an elastic retaining ring of the compound small sun gear shaft, the compound planetary carrier is installed on the bearing cover and the rear end cover, the right side of the compound planetary gear output shaft is connected to the compound planetary carrier through a key to transmit power, and the output bearing end cover is installed on the compound planetary gear output shaft.

[0023] Furthermore, the compound planetary gear has three transmission modes. The first is: the second inner gear ring is fixed, and the compound planetary gear input shaft drives the double gear meshing transmission, and then drives the compound planetary carrier to rotate, and the output is from the compound planetary gear output shaft; the second is: the compound small sun gear is fixed, and the compound planetary gear input shaft drives the double gear meshing transmission, and then drives the compound planetary carrier to rotate, and the output is from the compound planetary gear output shaft; the third is: the rotation of the small planetary gear is restricted, and the compound planetary gear input shaft drives the double gear and then drives the compound planetary carrier to rotate, and the output is from the compound planetary gear output shaft.

[0024] Furthermore, the multi-gear parallel transmission structure includes a third inner gear ring serving as a power disk and a plurality of drive pinions. The drive pinions of each branch are driven by a dual-electromechanical port motor through a gear box to converge the power to the third inner gear ring. At the same time, the center angle formed by any two adjacent drive sources on the third inner gear ring is adjusted to an integer multiple of the single tooth angle of the third inner gear ring on the power disk, and the axial angle between any two adjacent drive pinions is 120°.

[0025] Furthermore, the asteroid gears are meshed with the pinion gears and the compound small sun gears in the double gears respectively, and the asteroid gears are only subjected to unidirectional loads in the tangential direction. The input torque is distributed through the planetary gear set that bears the unidirectional torque, which can be achieved by partially limiting the floating capacity of the compound asteroid gears, thereby introducing additional support force for the compound planetary gears, and reducing the meshing force between the compound asteroid gears and the idler sun gear. During operation, the load torque direction borne by the teeth of each planetary gear in internal and external meshing is the same, and it always bears unidirectional torque. Using this transmission structure, the planetary gears have the function of suppressing the planetary eccentric load transmission, which can effectively ensure the transmission efficiency and improve the performance of the gears.

[0026] The beneficial effects of the present invention are:

[0027] (1) The planetary gear transmission structure in the existing multi-source convergence drive transmission system has problems such as being too large in size, too long in transmission chain, single in transmission form, and poor in off-load performance. The present invention adopts a transmission structure of a compound planetary gear, which can realize multiple transmission ratios. The input power passes through the compound planetary gear, and after limiting the movement of a certain component in the planetary transmission system structure, a fixed transmission ratio output can be achieved, which has a high degree of adaptability. The use of small and light compound planetary gears can overcome the shortcomings of the large size and weight of the planetary gear reducer, and then optimize the structure of the planetary gear reducer, reduce the number of transmission stages, thereby reducing the volume of the planetary gear reducer and improving the power density of the transmission. For the planetary gear in the transmission system, it is only loaded on one side and has a certain ability to suppress off-load, so that the gear has a higher load-bearing capacity, higher strength, smoother operation, lower noise, and higher efficiency.

[0028] (2) The present invention adopts an electromechanical composite transmission device of a dual electromechanical port motor. The dual modulation composite outer rotor of the dual electromechanical port motor serves as the external mechanical port of the dual electromechanical port motor and also serves as the planetary frame input end of the differential planetary gear train. The front section of the gear shaft of the sun gear in the differential planetary gear train serves as the internal mechanical port of the dual electromechanical port motor, and the rear section of the gear shaft serves as the sun gear input shaft of the differential planetary gear train, which is connected to the sun gear through a bearing and finally outputted through the first inner gear ring. The dual electromechanical port motor is combined with the transmission components of the differential planetary gear train, thereby reducing the energy loss in the transmission process, eliminating the coupling and some bearings required for electromechanical transmission, and reducing the number of system parts. In addition, the speed change function of the system can be realized by adjusting the current frequency of the electromechanical port dual modulation motor. This electromechanical composite transmission structure has a larger transmission torque, a stronger load-bearing capacity, and a large transmission ratio.

[0029] (3) The dual electromechanical port motor used in the present invention is driven by multiple power sources, wherein the outer modulation winding and the inner modulation winding are two electrical ports, the dual modulation composite outer rotor and the reluctance inner rotor are two mechanical ports respectively, the dual modulation composite outer rotor transmits power to the sun gear; the reluctance inner rotor transmits power to the planetary carrier; this structure can replace "multiple motors + mechanical components" with one motor, and has the advantages of compact structure, high integration, and coordinated work of dual electromechanical ports. Compared with the traditional multi-source converging drive, it saves the space volume of the motor, the transmission and the planetary gearbox, making the structure of the present invention more compact;

[0030] (4) The dual electromechanical port motor used in the present invention realizes two magnetic field modulation motors in one motor, a modulator is attached to the bottom of the open slot teeth of the stator, and the dual modulation composite outer rotor includes a tangentially magnetized permanent magnet, a radially magnetized permanent magnet and a magnetic permeable core. This structure can enhance the flux modulation effect, increase the effective working harmonics of the air gap magnetic field, and improve the air gap flux density and electromagnetic torque of the motor;

[0031] (5) The existing multi-source convergence drive transmission system mainly adopts variable frequency motor drive and realizes power convergence through multi-stage reducers. Therefore, the spatial structure is too complex and compact, and the problem of overload in the transmission process is serious, which is prone to large mechanical shock and torque imbalance. The present invention adopts multiple component groups such as dual electromechanical port motors, differential planetary gear trains, compound planetary gears and multi-gear parallel transmission structures to disperse the load. Even if a power source fails, other power sources can continue to work, thereby ensuring the continuous operation of the system. In addition, the use of dual electromechanical port motors can save the space volume of motor transmission and improve transmission efficiency. Compound planetary gears are used to limit the floating capacity of some small planetary gears to ensure that the load torque direction of each planetary gear tooth during internal and external meshing is the same, thereby suppressing the serious overload problem of planetary gears. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0033] Figure 1 It is a structural schematic diagram of the dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system of the present invention;

[0034] Figure 2 It is a structural schematic diagram of an electromechanical composite transmission device of a motor with dual electromechanical ports;

[0035] Figure 3 is a cross-sectional schematic diagram of a motor with dual electromechanical ports;

[0036] Figure 4It is the magnetic circuit diagram of the double modulation effect of the double electromechanical port motor;

[0037] Figure 5 The motor structure diagram of the external modulation effect of the dual electromechanical port motor;

[0038] Figure 6 The motor structure diagram of the internal modulation effect of the dual electromechanical port motor;

[0039] Figure 7 It is a structural schematic diagram of a differential planetary gear train;

[0040] Figure 8 is a cross-sectional view of a compound planetary gear;

[0041] Fig. 9 It is a left view structural diagram of a compound planetary gear;

[0042] Fig.10 It is a right view structural diagram of a compound planetary gear;

[0043] Fig.11 This is the structural diagram of the first transmission mode of compound planetary gears;

[0044] Fig.12 It is the structural diagram of the second transmission mode of compound planetary gear;

[0045] Fig.13 This is the structural diagram of the third transmission mode of compound planetary gears;

[0046] Fig.14 It is a schematic diagram of the single-sided loading condition of the small planetary gear in the compound planetary gear;

[0047] Fig.15 It is the one-way load structure diagram of compound planetary gear;

[0048] Fig.16 This is the principle diagram of the load eccentricity suppression of compound planetary gears;

[0049] Fig.17 It is a schematic diagram of a multi-gear parallel transmission structure. DETAILED DESCRIPTION

[0050] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. Several embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0051] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right", "upper", "lower" and similar expressions used herein are for illustrative purposes only and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0052] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0053] like Figure 1 As shown, the present invention proposes a dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system, including a dual-electromechanical port motor 1 with dual-modulation composite integrated effect, a differential planetary gear train 2, a compound planetary gear 3 and a multi-gear parallel transmission structure 4.

[0054] refer to Figure 2The dual-electromechanical port motor 1 and the differential planetary gear train 2 constitute an electromechanical composite transmission device of the dual-electromechanical port motor. The stator 1-1 of the dual-electromechanical port motor is installed on the frame 1-10, and the modulator is attached to the bottom of the open slot teeth of the stator to form a modulation tooth 1-4. The external modulation winding 1-5 and the internal modulation winding 1-6 are respectively installed in the stator slots. The dual-modulation composite outer rotor 1-2 of the dual-electromechanical port motor serves as the external mechanical port of the dual-electromechanical port motor, and cooperates with the stator 1-1 and the external modulation winding 1-5 to output external torque. At the same time, it serves as the planetary frame input end 2-3 of the differential planetary gear train, and cooperates with the planetary gear 2-2 through the bearing 1-12; the front section of the gear shaft of the sun gear 2-1 of the differential planetary gear train serves as the internal mechanical port of the dual-electromechanical port motor, and cooperates with the stator 1-1 and the internal modulation winding 1-6 to output internal torque. The rear section of the gear shaft serves as the sun gear input shaft of the differential planetary gear train, and is connected to the sun gear 2-1 through the bearing 1-12. The stator 1-1, the double-modulation composite outer rotor 1-2 and the reluctance inner rotor 1-3 are located on the same axis. The double-modulation composite outer rotor 1-2 and the reluctance inner rotor 1-3 start to rotate under the action of the stator magnetic field. The dual-electromechanical port motor converges the power to the first inner gear ring 2-4 through the composite transmission structure with the differential gear to output a single torque. The use of a dual-electromechanical port motor to realize multi-source convergence transmission can meet the requirements of large resistance torque changes in the multi-source drive transmission system by changing the current frequency of the dual-electromechanical port motor.

[0055] Figure 3 As shown, the dual-electromechanical port motor 1 includes a stator 1-1, a dual-modulation composite outer rotor 1-2, and a reluctance inner rotor 1-3, which are coaxially nested in sequence from the outside to the inside.

[0056] Figure 3 As shown, the stator surface is provided with open slots, and the modulator is attached to the bottom of the open slot teeth of the stator to form modulation teeth 1-4. Two sets of outer modulation windings 1-5 and inner modulation windings 1-6 with unequal numbers of magnetic pole pairs are placed in the open slots, acting as the two electrical ports of the dual electromechanical port motor.

[0057] Figure 3 As shown, the reluctance inner rotor 1-3 is a salient pole modulation tooth structure.

[0058] Figure 4 As shown, the double-modulation composite outer rotor 1-2 includes tangentially magnetized permanent magnets 1-7, radially magnetized permanent magnets 1-8 and a permeable core 1-9. The permeable core 1-9 is placed between the tangentially magnetized permanent magnets 1-7, and the radially magnetized permanent magnets 1-8 are placed on the periphery along the outer side of the rotor. This rotor structure can enhance the flux modulation effect, increase the effective working harmonics of the air gap magnetic field, and maintain the fundamental frequency component in the internal air gap, thereby improving the air gap flux density of the dual electromechanical port motor.

[0059] Figure 4As shown, the dual-electromechanical port motor has a composite effect of dual magnetic modulation of the magnetic field. The magnetic field generated by the dual-modulation composite outer rotor 1-2 is compositely modulated by the modulation teeth 1-4 on the stator slots and the reluctance inner rotor 1-3; the dual-modulation composite outer rotor 1-2 acts as both an excitation module for the external modulation effect and a modulation module for the internal modulation effect.

[0060] The number of magnetic pole pairs P of the double-modulation compound outer rotor 1-2 ro Equal to the number of magnetic pole pairs P of the external modulation winding 1-5 W1 The number of teeth on the stator is Q S The sum or absolute value of the difference makes the stator 1-1, the double-modulation composite outer rotor 1-2, the outer modulation winding 1-5 and the modulation teeth 1-4 on the stator form an external modulation effect, such as Figure 5 shown.

[0061] The number of magnetic pole pairs P of the double-modulation compound outer rotor 1-2 ro Equal to the number of magnetic pole pairs P of the inner modulation winding 1-6 W2 The number of magnetic pole pairs P of the reluctance inner rotor 1-3 ri The sum or absolute value of the difference makes the stator 1-1, the double-modulation composite outer rotor 1-2, the inner modulation winding 1-6 and the reluctance inner rotor 1-3 form an inner modulation effect, such as Figure 6 shown.

[0062] The electromagnetic torque T generated by the external modulation winding W1 , the electromagnetic torque T generated by the internal modulation winding W2 , the output torque T of the double-modulation compound outer rotor ro , the output torque T of the reluctance inner rotor ri , the number of magnetic pole pairs P of the reluctance inner rotor ri , the number of magnetic pole pairs P of the double-modulation compound outer rotor ro , the effective value of the current of the external modulation winding I W1 , the effective value of the current of the internal modulation winding I W2 , the current angle of the external modulation winding ψ W1 , the current angle of the inner modulation winding ψ W2 , the number of magnetic pole pairs of the external modulation winding P W1 , the number of magnetic pole pairs of the internal modulation winding P W2 ,satisfy:

[0063]

[0064] Among them, k1 and k2 are constants related only to the motor size and structure, G ri_W2 is the transmission ratio between the reluctance inner rotor and the outer modulation winding, G ro_W1 is the transmission ratio of the double-modulation compound outer rotor to the outer modulation winding, G ro_W2is the transmission ratio of the double-modulation compound outer rotor to the inner modulation winding.

[0065] Speed ​​n of double-modulated compound outer rotor ro The current frequency f of the externally modulated winding W1 and the current frequency f of the inner modulation winding W2 Control; speed n of the reluctance inner rotor ri Only the current frequency f of the external modulation winding W1 Control to meet:

[0066]

[0067] Further, there is no coupling between the outer modulation winding 1 - 5 and the inner modulation winding 1 - 6 .

[0068] The double-modulation compound outer rotor 1-2 is the first mechanical port and serves as the power input shaft for driving the planetary carrier 2-3 in the differential planetary gear system.

[0069] The reluctance inner rotor 1-3 is the second mechanical port, serving as the input end of the gear shaft driving the sun gear 2-1 in the differential planetary gear train.

[0070] Combination Figure 7 The differential planetary gear train 2 in the present invention is specifically described, which includes a sun gear 2-1, planetary gears 2-2, a planetary carrier 2-3 and a first inner gear ring 2-4, and all components can rotate freely on their central axes. The gear shaft of the sun gear 2-1 is integrated with the reluctance inner rotor 1-3 of the dual-electromechanical port motor, and the planetary carrier 2-3 is integrated with the dual-electromechanical port motor double-modulation composite outer rotor 1-2. A plurality of planetary gears 2-2 are respectively meshed with the sun gear 2-1, and the planetary gears 2-2 are installed on the planetary carrier 2-3 through fixed shaft pins and bearings. A plurality of planetary gears 2-2 are externally meshed with the first inner gear ring 2-4, and power is output through the first inner gear ring 2-4.

[0071] Combination Figure 8 , Fig. 9 , Fig.10The compound planetary gear 3 in the present invention is specifically described, which includes a rear end cover 3-1, a body 3-2, a deep groove ball bearing 3-3, an inner gear ring 3-4, an elastic retaining ring for a hole 3-5, an angular contact ball bearing 3-6, a washer 3-7, a compound planetary carrier 3-8, a duplex gear spindle 3-9, an elastic retaining ring for a shaft 3-10, a bearing cover 3-11, a front end cover 3-12, a compound planetary gear input shaft 3-13, an elastic retaining ring for an asteroid wheel shaft 3-14, an elastic retaining ring for a compound small sun wheel shaft 3-15, a compound small sun wheel shaft sleeve 3-16, a compound small sun wheel spindle 3-17, a compound small sun wheel 3-18, an output bearing end cover 3-19, a key 3-20, a compound planetary gear output shaft 3-21, an asteroid wheel spindle 3-22, an asteroid wheel shaft sleeve 3-23, an asteroid wheel 3-24, and a duplex gear 3-25.

[0072] The compound planetary gear input shaft 3-13 is connected to the output gear shaft of the second inner gear ring of the differential planetary gear system. The compound planetary gear input shaft 3-13 transmits power to the duplex gear 3-25. The main shaft 3-19 is installed on the front end cover 3-12 through the angular contact ball bearing 3-6. The duplex gear 3-25 is installed on the duplex gear spindle 3-9 and is axially positioned through the hole with an elastic retaining ring 3-6 and a gasket 3-7. The duplex gear spindle 3-9 is installed on the compound planetary carrier 3-8 through the shaft with an elastic retaining ring 3-10. The left gear of the duplex gear 3-25 is meshed with the inner gear ring 3-4 and the asteroid wheel 3-24 at the same time. The inner gear ring 3-4 is installed on the body 3-2 through the deep groove ball bearing 3-3. The asteroid wheel 3-24 is installed on the asteroid wheel spindle 3-22 through the angular contact ball bearing 3-6 and the asteroid wheel shaft sleeve 3-23. The asteroid wheel shaft 3-22 is mounted on the compound planetary carrier 3-8 through the elastic retaining ring 3-14 for the asteroid wheel shaft, the asteroid wheel 3-24 is meshed with the compound small sun gear 3-18, the compound small sun gear 3-18 is mounted on the compound small sun gear shaft 3-17 through the angular contact ball bearing 3-6 and the compound small sun gear shaft sleeve 3-16, the compound small sun gear shaft 3-17 is mounted on the compound planetary carrier 3-8 through the elastic retaining ring 3-15 for the compound small sun gear shaft, the compound planetary carrier 3-8 is mounted on the bearing cover 3-11 and the rear end cover 3-1 through the angular contact ball bearing 3-6 and the angular contact ball bearing 3-6 for axial positioning, the right side of the compound planetary gear output shaft 3-21 is connected to the compound planetary carrier 3-8 through the key 3-20 to transmit power, and the output bearing end cover 3-19 is installed on the compound planetary gear output shaft 3-21.

[0073] The central wheel in the compound planetary gear input shaft 3-13 drives the large gear in the double gear 3-25 to mesh and transmit.

[0074] The pinion in the double gear 3-25 meshes with the inner ring gear 3-4 and the small planetary gear 3-24 for transmission. When the double gear 3-25 is transmitted, it drives the double gear spindle 3-9 to rotate and then drives the compound planetary carrier 3-8 for transmission.

[0075] The asteroid wheel 3-24 meshes with the pinion in the dual gear 3-25, and the asteroid wheel 3-24 meshes with the compound small sun wheel 3-18.

[0076] The working principle of the compound planetary gear 3 is as follows: after using brake pads or other braking devices to limit the movement of a certain component in the planetary gear transmission system, the right side shaft of the compound planetary gear input shaft 3-13 is connected to the power shaft of the dual electromechanical port motor converged through the differential planetary gear system, and the compound planetary gear input shaft 3-13 drives the right side large gear of the double gear 3-25 to engage in transmission. After a certain component is restricted from moving, the double gear 3-25 drives the double gear spindle 3-9 to rotate around the compound small sun gear 3-18, and then drives the compound planetary carrier 3-8 to rotate, so that the compound planetary gear output shaft 3-21 outputs power.

[0077] The principle of the first transmission mode of compound planetary gear 3 is combined Fig.11 It can be explained that the first transmission scheme is to use brake pads or other braking methods Z1 to fix the internal gear 3-4, and the sun gear on the compound planetary gear input shaft 3-13 drives the large planetary gear on the right side of the double gear 3-25 to engage in transmission. Under the action of the fixed internal gear ring 3-4, the double gear 3-25 drives the compound planetary carrier 3-8 to transmit at a specific speed, and then drives the compound planetary gear output shaft 3-21 to rotate and output transmission power, thereby realizing the first transmission method.

[0078] The principle of the second transmission mode of compound planetary gear 3 is combined Fig.12 It can be explained that the second transmission scheme is to use brake pads or other braking methods Z2 to fix the small compound sun gear 3-18, and the sun gear on the compound planetary gear input shaft 3-13 drives the large planetary gear on the right side of the double gear 3-25 to engage in transmission. Under the action of the fixed small compound sun gear 3-18, the double gear 3-25 drives the compound planetary carrier 3-8 to transmit at a specific speed, and then drives the compound planetary gear output shaft 3-21 to rotate and output transmission power, thereby realizing the second transmission method.

[0079] The principle of the third transmission mode of compound planetary gear 3 is combined Fig.13It can be explained that the third transmission scheme is to use brake pads or other braking methods Z3 to limit the rotation of the asteroid wheel 3-24, and the sun gear on the compound planetary gear input shaft 3-13 drives the large planetary gear on the right side of the double gear 3-25 to engage and transmit. After limiting the rotation of the asteroid wheel 36, the rotation of the double gear 3-25 is also restricted. Therefore, the compound planetary gear input shaft 3-13 directly drives the compound planetary carrier 3-8 to rotate, and then drives the compound planetary gear output shaft 3-21 to rotate and output transmission power, thereby realizing the third transmission method.

[0080] The principle of planetary gear load suppression in compound planetary gear 3 can be combined with Fig.14 , Fig.15 , Fig.16 It is explained that the asteroid wheel 3-24 meshes with the pinion in the duplex gear 3-25, the asteroid wheel 3-24 meshes with the compound small sun gear 3-18, and the pinion 3-37 in the duplex gear meshes with the inner ring gear 3-4. In the above transmission scheme, only one of the inner ring gear and the compound small sun gear is fixed and the other is floating or both are floating, thereby introducing additional support force for the compound planetary gears, and reducing the meshing force between the compound asteroid gears and the idler sun gear, so that the asteroid wheel 3-24 and the pinion in the duplex gear 3-25 are only subjected to unidirectional load. During the operation of the unidirectional torsion compound planetary gears, the load torque direction borne by the teeth of each planetary wheel during internal and external meshing is the same. The use of this transmission structure has the function of suppressing the eccentric load transmission of the planetary gears, which can effectively ensure the transmission efficiency and improve the gear load balancing performance. Fig.16 The figure shows the load sharing diagram of a compound planetary gear under unidirectional torsion in general, including a driving sun gear (DS), an idler sun gear (IS), a ring gear (RG), a group of compound small planetary gears (such as LP1, LP2), a group of compound large planetary gears (such as NP1, NP2) and a planet carrier (PC). The compound small planetary gears have the same tooth shape as the compound large planetary gears, and the large planetary gears and small planetary gears of each compound planetary gear are spaced axially along the planet carrier. They are coupled together in rotation and have the same angular velocity. The driving sun gear and the idler sun gear are arranged coaxially and separated along the central axis of the planetary gear system. The ring gear is located around the idler sun gear and is located in the same radial plane as the idler sun gear. The power input from the motor is transmitted to the driving sun gear. The driving sun gear (DS) drives the large planetary gears (LP) and small planetary gears (NP) in the compound planetary gear in turn. The driving force of the compound planetary gear is the planet carrier (PC) and the ring gear (RG) acting together with the idler sun gear (IS), Fig.16In the formula, F is the initial support force, N is the tooth ratio of the large planetary gear to the small planetary gear. When the torque acts on the driving sun gear, a tangential meshing force F0 is generated at the meshing point between the driving sun gear and the large planetary gear. Therefore, part of the power is transmitted to the carrier, and the rest is transmitted to the idler sun gear. In the unidirectional torsion compound planetary gear transmission structure, the degree to which the small planet is allowed to float in the circumferential direction determines the distribution of load sharing between the carrier and the idler sun gear. The idler sun gear drives and distributes power between the compound large planetary gears. The input torque is distributed through the planetary gear set that bears the unidirectional torque. It can be achieved by partially limiting the floating capacity of the compound small planetary gear, thereby introducing an additional support force ΔF for the compound planetary gear, and reducing the meshing force between the compound large planetary gear and the idler sun gear by ΔF / 2. The eccentric load of the multi-stage planetary gear is an important factor leading to the failure of the compound planetary gear transmission structure. Suppressing the influence of the eccentric load on the operation of the compound planetary gear can extend the service life of the compound planetary gear transmission structure. Therefore, the function of suppressing load can be achieved, making the gear have higher load-bearing capacity, higher strength, smoother operation, lower noise and higher efficiency.

[0081] like Fig.17 As shown, the multi-gear parallel transmission structure includes a third inner gear ring 4-2 as a power disk and a plurality of drive pinions 4-1. The drive pinions 4-1 of each branch are driven by a dual-electromechanical port motor and transmit power to the third gear ring 4-2 through gear transmission. At the same time, the center angle formed by any two adjacent drive pinions 4-1 on the third gear ring 4-2 should be adjusted to an integer multiple of the single tooth angle of the gear ring on the power disk, and the axial angle between any two adjacent drive pinions is 120°.

[0082] In summary, the beneficial effects of the present invention are:

[0083] (1) The planetary gear transmission structure in the existing multi-source convergence drive transmission system has problems such as being too large in size, too long in transmission chain, single in transmission form, and poor in off-load performance. The present invention adopts a transmission structure of a compound planetary gear, which can realize multiple transmission ratios. The input power passes through the compound planetary gear, and after limiting the movement of a certain component in the planetary transmission system structure, a fixed transmission ratio output can be achieved, which has a high degree of adaptability. The use of small and light compound planetary gears can overcome the shortcomings of the large size and weight of the planetary gear reducer, and then optimize the structure of the planetary gear reducer, reduce the number of transmission stages, thereby reducing the volume of the planetary gear reducer and improving the power density of the transmission. For the planetary gear in the transmission system, it is only loaded on one side and has a certain ability to suppress off-load, so that the gear has a higher load-bearing capacity, higher strength, smoother operation, lower noise, and higher efficiency.

[0084] (2) The present invention adopts an electromechanical composite transmission device of a dual electromechanical port motor. The dual modulation composite outer rotor of the dual electromechanical port motor serves as the external mechanical port of the dual electromechanical port motor and also serves as the planetary frame input end of the differential planetary gear train. The front section of the gear shaft of the sun gear in the differential planetary gear train serves as the internal mechanical port of the dual electromechanical port motor, and the rear section of the gear shaft serves as the sun gear input shaft of the differential planetary gear train, which is connected to the sun gear through a bearing and finally outputted through the first inner gear ring. The dual electromechanical port motor is combined with the transmission components of the differential planetary gear train, thereby reducing the energy loss in the transmission process, eliminating the coupling and some bearings required for electromechanical transmission, and reducing the number of system parts. In addition, the speed change function of the system can be realized by adjusting the current frequency of the electromechanical port dual modulation motor. This electromechanical composite transmission structure has a larger transmission torque, a stronger load-bearing capacity, and a large transmission ratio.

[0085] (3) The dual electromechanical port motor used in the present invention is driven by multiple power sources, wherein the outer modulation winding and the inner modulation winding are two electrical ports, the dual modulation composite outer rotor and the reluctance inner rotor are two mechanical ports respectively, the dual modulation composite outer rotor transmits power to the sun gear; the reluctance inner rotor transmits power to the planetary carrier; this structure can replace "multiple motors + mechanical components" with one motor, and has the advantages of compact structure, high integration, and coordinated work of dual electromechanical ports. Compared with the traditional multi-source converging drive, it saves the space volume of the motor, the transmission and the planetary gearbox, making the structure of the present invention more compact;

[0086] (4) The dual electromechanical port motor used in the present invention realizes two magnetic field modulation motors in one motor, a modulator is attached to the bottom of the open slot teeth of the stator, and the dual modulation composite outer rotor includes a tangentially magnetized permanent magnet, a radially magnetized permanent magnet and a magnetic permeable core. This structure can enhance the flux modulation effect, increase the effective working harmonics of the air gap magnetic field, and improve the air gap flux density and electromagnetic torque of the motor;

[0087] (5) The existing multi-source convergence drive transmission system mainly adopts variable frequency motor drive and realizes power convergence through multi-stage reducers. Therefore, the spatial structure is too complex and compact, and the problem of overload in the transmission process is serious, which is prone to large mechanical shock and torque imbalance. The present invention adopts multiple component groups such as dual electromechanical port motors, differential planetary gear trains, compound planetary gears and multi-gear parallel transmission structures to disperse the load. Even if a power source fails, other power sources can continue to work, thereby ensuring the continuous operation of the system. In addition, the use of dual electromechanical port motors can save the space volume of motor transmission and improve transmission efficiency. Compound planetary gears are used to limit the floating capacity of some small planetary gears to ensure that the load torque direction of each planetary gear tooth during internal and external meshing is the same, thereby suppressing the serious overload problem of planetary gears.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0089] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system, characterized in that: It includes a dual-electromechanical port motor with a dual-modulation composite integrated effect, a differential planetary gear train, a compound planetary gear and a multi-gear parallel transmission structure. The dual-electromechanical port motor and the differential planetary gear train constitute an electromechanical composite transmission device of the dual-electromechanical port motor; the dual-modulation composite outer rotor of the dual-electromechanical port motor serves as the external mechanical port of the dual-electromechanical port motor, and also serves as the planetary frame input end of the differential planetary gear train; the front section of the gear shaft of the differential planetary gear train serves as the internal mechanical port of the dual-electromechanical port motor, and the rear section of the gear shaft of the differential planetary gear train serves as the sun gear input end of the differential planetary gear train. The differential planetary gear train is connected to the compound planetary gear through an axis, and finally the multi-gear parallel transmission structure collects the power of multiple branches to the driving pinion, and finally drives the third inner gear ring to rotate.

2. The dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system according to claim 1 is characterized in that: The dual electromechanical port motor includes a stator, a dual modulation composite outer rotor, and a reluctance inner rotor; The stator surface is provided with open slots, and the modulator is attached to the bottom of the open slot teeth of the stator to form modulation teeth. Two sets of external modulation windings and internal modulation windings with unequal numbers of magnetic pole pairs are placed in the open slots. The external modulation windings and the internal modulation windings respectively serve as the two electrical ports of the dual electromechanical port motor.

3. The dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system according to claim 2 is characterized in that: The double-modulation composite outer rotor comprises tangentially magnetized permanent magnets, radially magnetized permanent magnets and a magnetic permeability core. The magnetic permeability core is arranged between the tangentially magnetized permanent magnets, and the radially magnetized permanent magnets are arranged on the periphery along the outer side of the double-modulation composite outer rotor.

4. The dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system according to claim 3 is characterized in that: The dual-electromechanical port motor has a dual modulation effect, wherein the internal modulation effect is formed by the modulation teeth, the internal modulation winding, and the dual-modulation composite outer rotor; the external modulation effect is formed by the external modulation winding, the dual-modulation composite outer rotor, and the reluctance inner rotor, and these two modulation effects compositely share the dual-modulation composite outer rotor, and both modulate the permanent magnetic field of the dual-modulation composite outer rotor, so that the dual-electromechanical port motor has a dual modulation composite integrated effect; The number of magnetic pole pairs P of the double-modulation compound outer rotor ro Equal to the number of magnetic poles P of the external modulation winding W1 The number of teeth on the stator is Q S The sum or absolute value of the difference makes the stator, the double-modulation composite outer rotor, the outer modulation winding and the modulation teeth on the stator form an outer modulation effect; The number of magnetic pole pairs P of the double-modulation compound outer rotor ro Equal to the number of magnetic pole pairs P of the inner modulation winding W2 With reluctance inner rotor P ri The sum or absolute value of the difference makes the stator, the double-modulation composite outer rotor, the inner modulation winding and the reluctance inner rotor form an inner modulation effect; The output torque of the double-modulation compound outer rotor is affected by both the outer modulation effect and the inner modulation effect, while the output torque of the reluctance inner rotor is only affected by the outer modulation effect; The electromagnetic torque T generated by the external modulation winding W1 , the electromagnetic torque T generated by the internal modulation winding W2 , the output torque T of the double-modulation compound outer rotor ro , the output torque T of the reluctance inner rotor ri , the number of magnetic pole pairs P of the reluctance inner rotor ri , the number of magnetic pole pairs P of the double-modulation compound outer rotor ro , the effective value of the current of the external modulation winding I W1 , the effective value of the current of the internal modulation winding I W2 , the current angle of the external modulation winding ψ W1 , the current angle of the inner modulation winding ψ W2 , the number of magnetic pole pairs of the external modulation winding P W1 , the number of magnetic pole pairs of the internal modulation winding P W2 ,satisfy: Among them, k1 and k2 are constants related only to the motor size and structure, G ri_W2 is the transmission ratio between the reluctance inner rotor and the outer modulation winding, G ro_W1 is the transmission ratio of the double-modulation compound outer rotor to the outer modulation winding, G ro_W2 is the transmission ratio of the double-modulation compound outer rotor to the inner modulation winding; Speed ​​n of double-modulated compound outer rotor ro The current frequency f of the externally modulated winding W1 and the current frequency f of the inner modulation winding W2 Control; speed n of the reluctance inner rotor ri Only the current frequency f of the external modulation winding W1 Control to meet:

5. The dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system according to claim 4 is characterized in that: The differential planetary gear system includes a sun gear, planetary gears, a planetary carrier and a first inner gear ring. The sun gear, planetary gears, the planetary carrier and the first inner gear ring can all rotate freely on the corresponding central axes. The gear shaft of the sun gear and the reluctance inner rotor are integrated into a structure, and the planetary carrier and the double-modulation composite outer rotor are integrated into a structure. Several planetary gears are respectively meshed with the sun gear, and the planetary gears are installed on the planetary carrier through fixed shaft pins and bearings. Several planetary gears are meshed with the outside of the first inner gear ring, and power is output through the first inner gear ring.

6. The dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system according to claim 5 is characterized in that: The stator of the dual-electromechanical port motor is installed on the frame, and the dual-modulation composite outer rotor cooperates with the stator and the external modulation winding to output the external torque, and the dual-modulation composite outer rotor cooperates with the planetary gear through the pin shaft and the bearing; the front section of the sun gear shaft serves as the internal mechanical port of the dual-electromechanical port motor, and cooperates with the stator and the internal modulation winding to output the internal torque; the rear section of the sun gear shaft serves as the sun gear input shaft of the differential planetary gear system, and is connected to the sun gear through the bearing; The stator, dual-modulation composite outer rotor and reluctance inner rotor are located on the same axis. The dual-modulation composite outer rotor and the reluctance inner rotor begin to rotate under the action of the stator magnetic field, and the electromechanical composite transmission device converges the power to the first inner gear ring to output a single torque. A dual-electromechanical port motor is used to realize multi-source convergence transmission, and the requirements for resistance torque changes of the multi-source drive transmission system are met by changing the current frequency of the dual-electromechanical port motor.

7. The dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system according to claim 6 is characterized in that: The compound planetary gear includes a second inner gear ring, a compound planetary carrier, an angular contact ball bearing, a compound planetary gear input shaft, a compound small sun gear, a compound planetary gear output shaft, a small planetary gear, and a duplex gear. The compound planetary gear input shaft is connected to the output gear shaft of the first inner gear ring. The compound planetary gear input shaft transmits power to the duplex gear. The compound planetary gear input shaft is installed on the front end cover through an angular contact ball bearing. The duplex gear is installed on the duplex gear spindle. Axial positioning is performed through a hole using a retaining ring and a gasket. The duplex gear spindle is installed on the compound planetary carrier through a shaft using a retaining ring. The pinion of the duplex gear is meshed with the second inner gear ring and the small planetary gear at the same time. The second inner gear ring is meshed with the small planetary gear through a retaining ring. The deep groove ball bearing is installed on the machine body, the asteroid wheel is installed on the asteroid wheel shaft through the angular contact ball bearing and the asteroid wheel shaft sleeve, the asteroid wheel shaft is installed on the compound planetary carrier through the asteroid wheel shaft with a retaining ring, the asteroid wheel is meshed with the compound small sun wheel, the compound small sun wheel is installed on the compound small sun wheel shaft through the angular contact ball bearing and the compound small sun wheel shaft sleeve, the compound small sun wheel shaft is installed on the compound planetary carrier through the compound small sun wheel shaft with a retaining ring, the compound planetary carrier is installed on the bearing cover and the rear end cover, the right side of the compound planetary gear output shaft is connected to the compound planetary carrier through a key to transmit power, and the output bearing end cover is installed on the compound planetary gear output shaft.

8. The dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system according to claim 7 is characterized in that: The compound planetary gear has three transmission modes. The first is: the second inner gear ring is fixed, and the compound planetary gear input shaft drives the double gear meshing transmission, and then drives the compound planetary carrier to rotate, and the output is from the compound planetary gear output shaft; the second is: the compound small sun gear is fixed, and the compound planetary gear input shaft drives the double gear meshing transmission, and then drives the compound planetary carrier to rotate, and the output is from the compound planetary gear output shaft; the third is: the rotation of the small planetary gear is restricted, and the compound planetary gear input shaft drives the double gear and then drives the compound planetary carrier to rotate, and the output is from the compound planetary gear output shaft.

9. The dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system according to claim 8, characterized in that: The multi-gear parallel transmission structure includes a third inner gear ring as a power disk and multiple drive pinions. The drive pinions of each branch are driven by a dual-electromechanical port motor through a gear box to converge the power to the third inner gear ring. At the same time, the center angle formed by any two adjacent drive sources on the third inner gear ring is adjusted to an integer multiple of the single tooth angle of the third inner gear ring on the power disk, and the axial angle between any two adjacent drive pinions is 120°.

10. The dual-electromechanical port dual-modulation integrated electromechanical composite compound planetary multi-source drive transmission system according to claim 9, characterized in that: The asteroid wheel is meshed with the pinion in the duplex gear and the compound small sun wheel respectively, and the asteroid wheel is only subjected to unidirectional load in the tangential direction.

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