Coaxial torque vector distribution system

Abstract

The invention discloses a coaxial torque vector distribution system which comprises a differential mechanism and a vector motor, a motor shaft of the vector motor is hollowly sleeved on a left half shaft of the differential mechanism, and the motor shaft is in transmission connection with the left half shaft and the differential mechanism through a transmission assembly; the transmission assembly comprises a first planet row and a second planet row, the first planet row and the second planet row share the same planet carrier, a first gear ring of the first planet row is fixedly connected to the left half shaft, and a second gear ring of the second planet row is fixedly connected to the differential mechanism shell. The sun gear of the first planet row or the sun gear of the second planet row is fixedly arranged at the far end of the motor shaft. The differential mechanism has a torque distribution function, the double planet row systems share one planet carrier, and the rotating speed of the planet carrier is lower than that of the differential mechanism shell, so that the dragging torque is smaller, and the performance is higher; meanwhile, the gear ring is adopted for power output, the rotating speed of a transmission assembly of the whole system can be reduced, heat generation is greatly reduced, the problems of oil liquid oxidative deterioration, lubricating performance reduction, aging of rubber sealing pieces and the like are solved, and safety is improved to the maximum extent.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile power chassis, and in particular to a coaxial torque vector distribution system. Background Art

[0002] Today, China's automobile industry has developed to a huge scale, the market is mature, automobile culture has gradually formed, and a new round of consumption upgrades has arrived. People's requirements for automobiles have gradually transitioned from the initial economic and practical to safety, environmental protection, intelligence, convenience, and personality diversity. These have spawned various automobile technologies, especially the continuous research and popularization of advanced chassis technology.

[0003] Automobile safety performance is an important topic in automobile research. As one of the representative technologies of automobile active safety technology, the Electronic Stability Program (ESP) applies braking force to the wheels on one side of the car to generate additional yaw torque to control the vehicle dynamically and improve the handling stability of the car. Since ESP uses the principle of differential braking to control the vehicle, it will have a negative impact on the vehicle's driving performance and economy during operation, causing power loss. Therefore, researchers proposed torque vector distribution technology to solve the energy consumption and driving experience problems in vehicle yaw dynamics control.

[0004] For example, the authorization announcement number CN113217600B discloses a vehicle differential with a torque vector distribution function, including: a main reducer, a differential, a first half shaft, a second half shaft, a double planetary gear TV coupling mechanism, a first brake, a second brake, a front housing, a rear housing, and a bearing end cover. The double planetary gear TV coupling mechanism adopts a Simpson planetary gear system with a common sun gear, and the first brake and the second brake brake the first planetary gear ring and the second planetary gear carrier of the double planetary gear TV coupling mechanism respectively; the sun gear of the double planetary gear TV coupling mechanism is splined to the second half shaft. However, the layout of the automobile differential is unreasonable. When it is in a high turn or a road with poor adhesion conditions or in a bad state, it has poor stability, and is prone to slipping, side sliding, and poor climbing ability, which poses a great safety hazard. Traditional brakes cannot meet the high-precision torque response control requirements of the whole vehicle. In addition, the motor is usually set on one side of the first half shaft in the industry, and its motor shaft is set parallel to the first half shaft. Such a layout leads to a large radial space occupation, limited vehicle layout, and is not conducive to a reasonable layout, which has great limitations. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a coaxial torque vector distribution system.

[0006] The purpose of the present invention is achieved through the following technical solutions: A coaxial torque vector distribution system, comprising: A differential, one side of which is connected to a left half shaft and the other side of which is connected to a right half shaft, for making the wheels arranged on the left half shaft and the right half shaft achieve different rotational speeds; A vector motor having a motor shaft; The motor shaft is loosely sleeved on the left half shaft and is coaxial with the left half shaft; the motor shaft transmits power to the left half shaft and the housing of the differential respectively through the transmission assembly; The transmission assembly includes a first planetary gear and a second planetary gear, the first planetary gear and the second planetary gear share a same planet carrier, the first planetary gear includes a first sun gear, the second planetary gear includes a second sun gear, one of the first sun gear and the second sun gear is fixedly disposed on the motor shaft, and the other is fixedly disposed on a torque transfer mechanism housing; The first ring gear of the first planetary gear set is fixedly connected to the left half shaft, and the second ring gear of the second planetary gear set is fixedly connected to the differential housing.

[0007] Preferably, the first planetary row includes a first sun gear fixedly arranged at the far end of the motor shaft, and a first planetary gear meshing with the first sun gear is provided between the first ring gear and the first sun gear; the second planetary row includes a second sun gear arranged on the torque transfer mechanism housing, and a second planetary gear meshing with the second sun gear is provided between the second ring gear and the second sun gear, the second planetary gear and the first planetary gear are coaxially connected through the planetary carrier, and the planetary carrier is located on the inner side of the second planetary gear and the first planetary gear.

[0008] Preferably, the first planetary row includes a first sun gear fixedly arranged at the far end of the motor shaft, and a first planetary gear meshing with the first sun gear is provided between the first ring gear and the first sun gear; the second planetary row includes a second sun gear arranged on the torque transfer mechanism housing, and a second planetary gear meshing with the second sun gear is provided between the second ring gear and the second sun gear, and the second planetary gear is coaxially connected to the first planetary gear through the planetary carrier, and the planetary carrier is located on the outside of the second planetary gear and the first planetary gear, and the first ring gear and the second ring gear are arranged back to back.

[0009] Preferably, a disconnecting device is provided between the second sun gear and the torque transfer mechanism housing or a disconnecting device is provided between the motor shaft and the first sun gear.

[0010] Preferably, the first planetary row includes a first sun gear arranged on the torque transfer mechanism housing, and a first planetary gear is provided between the first ring gear and the first sun gear to mesh with the both; the second planetary row includes a second sun gear fixedly arranged at the far end of the motor shaft, and a second planetary gear is provided between the second ring gear and the second sun gear to mesh with the both, the second planetary gear and the first planetary gear are coaxially connected through a planetary carrier, and the planetary carrier is located on the inner side of the second planetary gear and the first planetary gear.

[0011] Preferably, the first planetary row includes a first sun gear arranged on the torque transfer mechanism housing, and a first planetary gear is provided between the first ring gear and the first sun gear to mesh with the two; the second planetary row includes a second sun gear fixedly arranged at the far end of the motor shaft, and a second planetary gear is provided between the second ring gear and the second sun gear to mesh with the two, the second planetary gear and the first planetary gear are coaxially connected through a planetary carrier, the planetary carrier is located on the outside of the second planetary gear and the first planetary gear, and the first ring gear and the second ring gear are arranged back to back.

[0012] Preferably, a disconnect device is provided between the first sun gear and the torque transfer mechanism housing or a disconnect device is provided between the second sun gear and the motor shaft.

[0013] Preferably, a reducer is further provided on the motor shaft, the vector motor faces away from the differential, and the vector motor and the reducer are both located between the transmission assembly and the reducer.

[0014] Preferably, the vector motor is electrically connected to a battery.

[0015] The beneficial effects of the present invention are mainly reflected in: 1. The system of the present invention has a torque distribution function, which takes into account the energy consumption problem and driving experience in yaw dynamics control; under the condition of the same specification of vector motor, it can enhance the torque of the car and improve the adhesion, so as to meet the driving conditions on highly curved roads or roads with poor adhesion conditions or in harsh conditions, and can effectively improve the economy, handling stability and active safety of the car.

[0016] 2. The double planetary gear system of the transmission assembly of the present invention shares a planet carrier, and the rotation speed of the planet carrier is lower than the rotation speed of the differential, which can make the drag torque smaller and the performance stronger; at the same time, it can also reduce the number of parts, further reduce the weight and enhance the heat dissipation capacity, and achieve overall lightweight.

[0017] 3. In the transmission assembly of the present invention, a gear ring is used for power output (i.e., the first gear ring is fixedly connected to the left half shaft for torque output, and the second gear ring is fixedly connected to the differential housing for torque output). This structure can lead to a larger speed ratio, which can significantly reduce the overall speed of the transmission assembly, greatly reduce heat generation, reduce oil oxidation and deterioration, reduce lubrication performance and rubber seal aging, and improve safety to the greatest extent.

[0018] 4. The coaxial arrangement of the vector motor in the solution of the present invention can greatly reduce the radial size, lower the height of the vehicle, take into account the power and economy of the vehicle to the greatest extent, and also make the structure more compact and the layout more reasonable.

[0019] 5. The solution of the present invention makes little change to the traditional differential, has low modification cost and has wide applicability.

[0020] 6. In the solution of the present invention, the vector motor, the first planetary gear, the second planetary gear and the differential are all rigidly connected, which can maximize the control accuracy of the system, with a control accuracy of less than 10ms and a fast feedback speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The technical solution of the present invention is further described below in conjunction with the accompanying drawings: Figure 1 : A schematic structural diagram of the first embodiment of the present invention; Figure 2 : A schematic structural diagram of a second embodiment of the present invention; Figure 3 : A schematic structural diagram of a third embodiment of the present invention; Figure 4 : A schematic structural diagram of the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0022] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0023] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0024] like Figures 1 to 4As shown, the present invention discloses a coaxial torque vector distribution system, including a differential 1 and a vector motor 4. As in the prior art, the differential is connected to a power main drive mechanism, which can be electric, hybrid, or other feasible solutions. A left half shaft 2 is provided on one side of the differential 1, and a right half shaft 3 is provided on the other side. The differential 1 is used to enable the wheel hubs arranged on the left half shaft 2 and the right half shaft 3 to achieve different speeds.

[0025] The vector motor 4 is electrically connected to the battery, and has a motor shaft 41, which is loosely sleeved on the left half shaft 2 and coaxial with the left half shaft 2. In the present invention, the motor shaft 41 and the differential half shaft are coaxially arranged to arrange the vector motor, which can greatly reduce the radial size, reduce the height of the vehicle, and take into account the power and economy of the vehicle to the greatest extent, and can also make the structure more compact and the layout more reasonable.

[0026] The present invention further includes a transmission assembly, through which the motor shaft 41 transmits power to the left half shaft 2 and the housing of the differential 1 respectively.

[0027] Specifically, the transmission assembly includes a first planetary gear 5 and a second planetary gear 6, and the first planetary gear 5 and the second planetary gear 6 share the same planetary carrier 7. By sharing a planetary carrier, the double planetary gears can also reduce the number of parts, further reduce weight and enhance heat dissipation capacity, thereby achieving overall lightweight; at the same time, it can also reduce costs.

[0028] Of course, more importantly, according to the speed ratio equation, it can be found that the rotation speed of the planetary carrier in the present invention is lower than the differential speed. When the rotation speed of the planetary carrier is low, the movement of the planetary gear driven by it is relatively smoother, the meshing between the planetary gear and the half-shaft gear is more stable, the impact and loss during the power transmission process are reduced, so that the system does not need to overcome a large additional resistance to transmit power, and the drag torque will also be smaller. Furthermore, the reduction of drag torque means that the power output by the engine can be more effectively transmitted to the wheels. When the vehicle is turning, the differential can more flexibly adjust the rotation speed of the wheels on both sides, so that the speed difference between the inner wheel and the outer wheel is more in line with the actual driving needs, the steering of the vehicle is more precise and stable, and the phenomena of jamming and tail swinging during steering are reduced, thereby improving the vehicle's handling performance and driving safety.

[0029] In the first embodiment of the present invention, the first ring gear 51 of the first planetary row 5 is fixedly connected to the left half shaft 2, the second ring gear 61 of the second planetary row 6 is fixedly connected to the differential housing, and the sun gear of the first planetary row 5 or the second planetary row 6 is fixedly arranged at the far end of the motor shaft 41. The above arrangement has a torque distribution function, taking into account the energy consumption problem and driving experience in yaw dynamics control; it can effectively improve the economy, handling stability and active safety of the car. The first ring gear is connected to the differential, which can reduce the intermediate transmission components and improve the structural rigidity. The second ring gear is directly connected to the left half shaft, shortening the power transmission path and reducing energy loss. In the present invention, the first ring gear and the second ring gear are respectively connected to the differential housing and the left half shaft for power output. When the helical gear is used, the thrust bearing can be miniaturized and can be arranged on both sides of the connecting plate. No additional parts are required to guide the axial force of the ring gear. The first ring gear and the second ring gear can be radially fixed on the existing structure to improve the NVH performance. In addition, the ring gear is the largest diameter component in the planetary gear, while the planetary gear is smaller in size. According to the gear transmission principle, the power will be transmitted to the ring gear through the planetary gear, thereby obtaining a larger speed ratio. The ring gear is used for transmission in the transmission assembly, resulting in a larger speed ratio, which can reduce the overall speed of the entire transmission assembly, greatly reduce the generation of heat, reduce the oxidation and deterioration of the oil, reduce the lubrication performance and the aging of the rubber seal, and maximize the safety. This is an unparalleled advantage in the existing technology.

[0030] like Figure 1 The first embodiment of the present invention is shown in FIG. 5 . Specifically, the first planetary row 5 includes a first sun gear 52 fixedly arranged at the far end of the motor shaft 41, and a first planetary wheel 53 meshing with the first sun gear 51 and the first sun gear 52 is provided between the first gear ring 51 and the first sun gear 52; the second planetary row 6 includes a second sun gear 62 arranged on the torque transfer mechanism housing, and a second planetary wheel 63 meshing with the second sun gear 62 is provided between the second gear ring 61 and the second sun gear 62, and the second planetary wheel 63 is coaxially connected with the first planetary wheel 53 through the planet carrier 7, and the planet carrier 7 is located on the inner side of the second planetary wheel 63 and the first planetary wheel 53. A reducer 8 is also provided on the motor shaft 41, and the vector motor 4 faces the differential 1, and the transmission assembly is located between the vector motor 4 and the reducer 8. The setting of the reducer can reduce the speed and increase the torque.

[0031] The working process of the first embodiment is briefly described below: When the vehicle is running normally, the first planetary gear 5 and the second planetary gear 6 are idling without load, and the vector motor 4 is not running.

[0032] When the vehicle is turning, a speed difference occurs between the left and right half shafts, and the vector motor 4 starts to drive the first sun gear 52 to rotate. The first sun gear 52 rotates to drive the first planetary gear 53 meshing with it to rotate. The first planetary gear 53 rotates to transmit power to the first ring gear 51 and to the second planetary gear 63 through the planetary carrier 7. The first ring gear 51 drives the left half shaft 2 to rotate; the second planetary gear 63 transmits power to the differential case through the second ring gear 61 meshing with it, so that a "differential torque" effect is formed between the two half shafts of the differential.

[0033] like Figure 2 As shown, it is a second embodiment of the present invention. Specifically, the first planetary row 5 includes a first sun gear 52 fixedly arranged at the far end of the motor shaft 41, and a first planetary gear 53 meshing with the first sun gear 51 and the first sun gear 52 is provided between the first ring gear 51 and the first sun gear 52; the second planetary row 6 includes a second sun gear 62 arranged on the torque transfer mechanism housing, and a second planetary gear 63 meshing with the second sun gear 62 is provided between the second ring gear 61 and the second sun gear 62, and the second planetary gear 63 is coaxially connected with the first planetary gear 53 through the planetary carrier 7, and the planetary carrier 7 is located on the outer side of the second planetary gear 63 and the first planetary gear 53, and the first ring gear 51 and the second ring gear 61 are arranged back to back.

[0034] The working process of the second embodiment is briefly described below: When the vehicle is running normally, the first planetary gear 5 and the second planetary gear 6 are idling without load, and the vector motor 4 is not running.

[0035] When the vehicle is turning, a speed difference occurs between the left and right half shafts, and the vector motor 4 starts to drive the first sun gear 52 to rotate. The first sun gear 52 rotates to drive the first planetary gear 53 meshing with it to rotate. The first planetary gear 53 rotates to transmit power to the first ring gear 51 and to the second planetary gear 63 through the planetary carrier 7. The first ring gear 51 drives the left half shaft 2 to rotate; the second planetary gear 63 transmits power to the differential case through the second ring gear 61 meshing with it, so that a "differential torque" effect is formed between the two half shafts of the differential.

[0036] In the first and second embodiments, a disconnecting device is provided between the second sun gear 62 and the housing of the torque transfer mechanism, or a disconnecting device 10 is provided between the motor shaft 41 and the first sun gear 52. The disconnecting device is used to transmit or interrupt the torque transmission in the system, and the disconnecting device can be a dog clutch, a sliding clutch, or a friction clutch, and of course, can also be other structures, and the specific working process will be described in detail later.

[0037] like Figure 3The third embodiment of the present invention is shown in FIG. 5 . Specifically, the first planetary row 5 includes a first sun gear 52 disposed on the torque transfer mechanism housing, and a first planetary wheel 53 meshing with the first sun gear 51 and the first sun gear 52 is disposed between the first gear ring 51 and the first sun gear 52; the second planetary row 6 includes a second sun gear 62 fixedly disposed at the far end of the motor shaft 41, and a second planetary wheel 63 meshing with the second sun gear 62 is disposed between the second gear ring 61 and the second sun gear 62, and the second planetary wheel 63 and the first planetary wheel 53 are coaxially connected through a planet carrier 7, and the planet carrier 7 is located on the inner side of the second planetary wheel 63 and the first planetary wheel 53. A reducer 8 is also disposed on the motor shaft 41, and the vector motor 4 faces away from the differential 1, and the vector motor 4 and the reducer 8 are both located between the transmission assembly and the reducer 8.

[0038] The working process of the third embodiment is briefly described below: When the vehicle is running normally, the first planetary gear 5 and the second planetary gear 6 are idling without load, and the vector motor 4 is not running.

[0039] When the vehicle is turning, a speed difference occurs between the left and right half shafts, and the vector motor 4 starts to drive the second sun gear 62 to rotate. The second sun gear 62 rotates to drive the second planetary gear 63 meshing with it to rotate. The second planetary gear 63 rotates to transmit power to the second ring gear 61 and to the first planetary gear 53 through the planetary carrier 7. The second ring gear 61 drives the left half shaft 2 to rotate; the first planetary gear 53 transmits power to the differential case through the first ring gear 51 meshing with it, so that a "differential torque" effect is formed between the two half shafts of the differential.

[0040] like Figure 4 As shown, it is the fourth embodiment of the present invention. Specifically, the first planetary row 5 includes a first sun gear 52 arranged on the torque transfer mechanism housing, and a first planetary gear 53 meshing with the first sun gear 51 and the first sun gear 52 is provided between the first ring gear 51 and the first sun gear 52; the second planetary row 6 includes a second sun gear 62 fixedly arranged at the far end of the motor shaft 41, and a second planetary gear 63 meshing with the second sun gear 62 is provided between the second ring gear 61 and the second sun gear 62, and the second planetary gear 63 and the first planetary gear 53 are coaxially connected through a planetary carrier 7, and the planetary carrier 7 is located on the outside of the second planetary gear 63 and the first planetary gear 53, and the first ring gear 51 and the second ring gear 61 are arranged back to back.

[0041] The working process of the fourth embodiment is briefly described below: When the vehicle is running normally, the first planetary gear 5 and the second planetary gear 6 are idling without load, and the vector motor 4 is not running.

[0042] When the vehicle is turning, a speed difference occurs between the left and right half shafts, and the vector motor 4 starts to drive the second sun gear 62 to rotate. The second sun gear 62 rotates to drive the second planetary gear 63 meshing with it to rotate. The second planetary gear 63 rotates to transmit power to the second ring gear 61 and to the first planetary gear 53 through the planetary carrier 7. The second ring gear 61 drives the left half shaft 2 to rotate; the first planetary gear 53 transmits power to the differential case through the first ring gear 51 meshing with it, so that a "differential torque" effect is formed between the two half shafts of the differential.

[0043] In the third embodiment and the fourth embodiment, a disconnect device 10 is provided between the first sun gear 52 and the torque transfer mechanism housing, or in another form, a disconnect device 10 is provided between the second sun gear 62 and the motor shaft 41 .

[0044] The embodiments of the present invention are all provided with the disconnecting device, and the use of the disconnecting device is the preferred embodiment of the present invention. The disconnecting device is a claw clutch, a sleeve clutch or a friction clutch, and of course, it can also be other structures, all of which belong to the protection scope of the present invention.

[0045] The disconnect device allows a portion of the system to be disengaged, which helps to eliminate mechanical losses associated with the rotation of various unused components, thereby improving the overall efficiency of the system.

[0046] The disconnect device is controlled by an actuator, which is, for example, electromechanical, electromagnetic or hydraulic.

[0047] At present, the industry usually equips the auxiliary drive system with the disconnect device. When the permanent magnet motor is used as the auxiliary motor of the auxiliary drive system on the vehicle, in the non-powered working state, in order to prevent the auxiliary drive system from generating reverse rotation torque (that is, the rotor of the permanent magnet motor will follow the rotation of the differential housing and cut the magnetic lines of force), the disconnect device in the auxiliary drive system will disconnect the permanent magnet motor from the differential housing. In order to save energy consumption of the whole vehicle, when the vehicle is running at high speed, the disconnect device can disconnect the permanent magnet motor on the auxiliary drive system from the differential housing, that is: the auxiliary drive system and the differential housing do not transmit power, and the left half shaft 2 and the right half shaft 3 run normally at high speed.

[0048] When the coaxial torque vector distribution system is used in conjunction with the vehicle auxiliary drive system, when the vehicle is in a high-speed forward state, if the disconnect device on the auxiliary drive system is disconnected, the left half shaft 2 or the right half shaft 3 and the differential housing will have a speed difference of more than 1000RPM. Due to the rigid connection and speed ratio of the vector motor, the first planetary gear, the second planetary gear and the differential, the vector motor will continue to operate at a speed of more than 20000RPM. Long-term high-speed operation will have a significant adverse effect on the thermal balance performance, efficiency and reliability of the coaxial torque vector distribution system. Therefore, the disconnect device of the coaxial torque vector distribution system also needs to be disconnected.

[0049] Of course, in the embodiment of the present invention, the disconnect device may not be provided. In this way, the vector motor, the first planetary gear, the second planetary gear and the differential are all rigidly connected, which can maximize the feedback speed of the system.

[0050] It should be understood that although this 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 implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0051] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. Coaxial torque vector distribution system, including A differential (1), one side of which is connected to a left half shaft (2) and the other side of which is connected to a right half shaft (3), and is used to enable the wheel hubs arranged on the left half shaft (2) and the right half shaft (3) to achieve different rotational speeds; A vector motor (4) having a motor shaft (41); Features: The motor shaft (41) is loosely sleeved on the left half shaft (2) and is coaxial therewith; the motor shaft (41) transmits power to the left half shaft (2) and the housing of the differential (1) respectively through a transmission assembly; The transmission assembly comprises a first planetary row (5) and a second planetary row (6), the first planetary row (5) and the second planetary row (6) share a same planet carrier (7), the first planetary row (5) comprises a first sun gear (52), the second planetary row (6) comprises a second sun gear (62), one of the first sun gear (52) and the second sun gear (62) is fixedly arranged on the motor shaft (41), and the other is fixedly arranged on a torque transfer mechanism housing; The first ring gear (51) of the first planetary gear set (5) is fixedly connected to the left half shaft (2), and the second ring gear (61) of the second planetary gear set (6) is fixedly connected to the differential housing.

2. The coaxial torque vector distribution system according to claim 1, characterized in that: The first planetary row (5) comprises the first sun gear (52) fixedly arranged at the far end of the motor shaft (41), and a first planetary wheel (53) meshing with the first sun gear (52) is provided between the first gear ring (51) and the first sun gear (52); the second planetary row (6) comprises the second sun gear (62) arranged on the torque transfer mechanism housing, and a second planetary wheel (63) meshing with the second sun gear (62) is provided between the second gear ring (61) and the second sun gear (62), and the second planetary wheel (63) is coaxially connected to the first planetary wheel (53) via the planetary carrier (7), and the planetary carrier (7) is located on the inner side of the second planetary wheel (63) and the first planetary wheel (53).

3. The coaxial torque vector distribution system according to claim 1, characterized in that: The first planetary row (5) comprises the first sun gear (52) fixedly arranged at the far end of the motor shaft (41), and a first planetary gear (53) meshing with the first sun gear (52) is arranged between the first gear ring (51) and the first sun gear (52); the second planetary row (6) comprises the second sun gear (62) arranged on the torque transfer mechanism housing, and a second planetary gear (63) meshing with the second sun gear (62) is arranged between the second gear ring (61) and the second sun gear (62), and the second planetary gear (63) is coaxially connected to the first planetary gear (53) through the planetary carrier (7), and the planetary carrier (7) is located outside the second planetary gear (63) and the first planetary gear (53), and the first gear ring (51) and the second gear ring (61) are arranged opposite to each other.

4. The coaxial torque vector distribution system according to claim 2 or 3, characterized in that: A disconnect device (10) is provided between the second sun gear (62) and the torque transfer mechanism housing.

5. The coaxial torque vector distribution system according to claim 2 or 3, characterized in that: A disconnect device (10) is provided between the motor shaft (41) and the first sun gear (52).

6. The coaxial torque vector distribution system according to claim 1, characterized in that: The first planetary row (5) comprises the first sun gear (52) arranged on the torque transfer mechanism housing, and a first planetary wheel (53) meshing with the first sun gear (52) is arranged between the first gear ring (51) and the first sun gear (52); the second planetary row (6) comprises the second sun gear (62) fixedly arranged at the far end of the motor shaft (41), and a second planetary wheel (63) meshing with the second sun gear (62) is arranged between the second gear ring (61) and the second sun gear (62), and the second planetary wheel (63) and the first planetary wheel (53) are coaxially connected via a planetary carrier (7), and the planetary carrier (7) is located on the inner side of the second planetary wheel (63) and the first planetary wheel (53).

7. The coaxial torque vector distribution system according to claim 1, characterized in that: The first planetary row (5) comprises the first sun gear (52) arranged on the torque transfer mechanism housing, and a first planetary gear (53) meshing with the first sun gear (52) is arranged between the first gear ring (51) and the first sun gear (52); the second planetary row (6) comprises the second sun gear (62) fixedly arranged at the far end of the motor shaft (41), and a second planetary gear (63) meshing with the second sun gear (62) is arranged between the second gear ring (61) and the second sun gear (62), and the second planetary gear (63) and the first planetary gear (53) are coaxially connected via a planetary carrier (7), and the planetary carrier (7) is located outside the second planetary gear (63) and the first planetary gear (53), and the first gear ring (51) and the second gear ring (61) are arranged opposite to each other.

8. The coaxial torque vector distribution system according to claim 6 or 7, characterized in that: A disconnect device (10) is provided between the first sun gear (52) and the torque transfer mechanism housing.

9. The coaxial torque vector distribution system according to claim 6 or 7, characterized in that: A disconnect device (10) is provided between the second sun gear (62) and the motor shaft (41).

10. The coaxial torque vector distribution system according to claim 1, characterized in that: The vector motor (4) is electrically connected to a battery.

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