Flexible ejection motor

Abstract

The invention relates to an ejection flexible motor and a control method thereof, the ejection flexible motor comprises a planetary gear mechanism, a continuously variable transmission, a first motor and a second motor, and the continuously variable transmission comprises a continuously variable transmission input end and a continuously variable transmission output end; the planetary gear mechanism comprises a first input end of the planetary gear mechanism, a second input end of the planetary gear mechanism and an output end of the planetary gear mechanism; a first input end of the planetary gear mechanism is connected with an output end of the continuously variable transmission; a second input end of the planetary gear mechanism is connected with an output shaft of the first motor; the input end of the continuously variable transmission is connected with an output shaft of the second motor. In the starting and running process of the ejection flexible motor, the continuously variable transmission is in a self-adaptive state, and torque sudden change and even vibration are buffered by oil in the continuously variable transmission. Whole-process flexible buffer transmission is realized through torque multiplication of a planetary gear system and hydraulic stepless speed change. The invention can be applied to the field of motor rapid ejection and rapid braking, including the field of automobile transmission.

Description

TECHNICAL FIELD

[0001] The present application relates to an electric machine, in particular to a catapult flexible electric machine. BACKGROUND

[0003] There are many types of existing electric machines. In terms of usage frequency, electric machines can be divided into power frequency electric machines and variable frequency electric machines.

[0004] Power frequency electric machines refer to electric motors that operate at a fixed power grid frequency, including but not limited to three-phase asynchronous motors, synchronous reluctance motors, induction motors, etc. Power frequency electric machines are AC electric motors that are directly connected to a fixed frequency (such as a power grid of 50Hz or 60Hz) and do not have speed regulation functions. Their design, performance, and power grid frequency are strictly bound, and they are the most basic type of electric machine in the power system. Their value lies in extreme reliability and low cost. In scenarios where speed variation is not required, maintenance is difficult, and it is still an unshakable cornerstone.

[0005] Variable frequency electric machines are electric motors that adjust the input power frequency and voltage through a variable frequency drive (VFD) to achieve flexible control of speed and torque, including but not limited to permanent magnet synchronous motors, switched reluctance motors, and AC asynchronous variable frequency motors. It breaks through the limitations of traditional power frequency electric machines that operate at a fixed frequency, and becomes the core equipment for industrial automation and energy saving.

[0006] Electric vehicle motor control technology is an upgraded application of variable frequency technology (VFD), but due to its special requirements in high voltage, high dynamics, and high precision scenarios, it has developed a control system that goes beyond traditional industrial variable frequency. Electric vehicles mainly use permanent magnet synchronous motors, which dominate the market. The advantages of permanent magnet synchronous motors are high power density, high efficiency, compact structure, large and smooth torque, and good speed regulation performance. Induction motors (asynchronous motors) are also often used in conjunction with synchronous motors.

[0007] At present, in various occasions of electromagnetic catapult system, industrial heavy equipment starting device, high dynamic electric carrier and electric vehicle driving, a difficulty is the "zero speed high torque" at starting. "Zero speed high torque" is the objective demand of automobile starting, while "zero speed low torque" is the principle characteristics of motor. At present, the design stage of motor application solves the "zero speed high torque" by making the power larger, which leads to the phenomenon of "big horse pulling small car" more serious. Although the starting problem is solved, it leads to more power consumption under rated conditions. In the case of motor architecture has been finalized, in order to achieve large torque, large current is needed, which is very dangerous at this time, and it is easy to cause the motor to overheat and burn out. For the performance of the motor itself, the torque formed by the large current at starting is much smaller than that formed by the large current at running. Especially in the case of half slope 0 speed starting of automobile, if the automobile cannot start or starts slowly, the excessive current leads to a series of problems. Therefore, the conflict between "zero speed high torque" and "system vulnerability" is extended to solve the problem from the direction of material, control and thermal management.

[0008] The invention patent publication numbers CN113309827B and CN113309828B disclose two kinds of flexible motors with variable speed. The invention uses a combination of motor + continuously variable transmission + planetary reducer to achieve flexible transmission performance throughout the process and the performance of planetary gear mechanism to reduce speed and increase torque. Due to the application of the continuously variable transmission with a new hydraulic transmission principle, at the initial stage of starting, the continuously variable transmission has the function of an approximate clutch, that is, in the environment with load, the continuously variable transmission is placed between the load and the motor, and the motor does not directly start the load, but starts the continuously variable transmission. The torque transmission capacity of the continuously variable transmission is closely related to the speed, so the motor starts in the approximate 0 load stress environment isolated by the continuously variable transmission. The motor quickly completes its own starting, and the starting of the load is increased by the increasing torque transmission capacity of the continuously variable transmission as the speed increases. Before the load starts, the motor has completed or approximately completed the starting process of the motor itself. At this time, the motor has the ability to apply the maximum torque of the motor itself. The required torque during the process of starting the load by the continuously variable transmission is provided by the motor, and the torque that the motor can provide at this time is up to the maximum torque of the motor. The maximum torque of the motor itself is at least 2 times the starting torque, and the efficiency of the motor can reach more than 3 times. With the participation of the maximum torque of the motor itself in starting, the starting process of the load becomes simple and easy. After the load maintains the rated working state, the continuously variable transmission can maintain constant speed transmission, and the loss is approximately zero. During operation, when the load end torque demand increases and the motor end cannot meet it, the continuously variable transmission inside starts to slip, changing from the original constant speed state to a variable speed state, that is, the motor end speed is faster than the load end speed. At this time, the load end speed decreases, and the continuously variable transmission's ability to transmit torque also decreases, which can prevent the load end torque from being transmitted to the motor and prevent the motor from being burned out by being blocked.

[0009] These two inventions actually have the ability to provide and output the maximum torque of the motor itself when the load speed is 0, that is, they have the ability of "zero speed high torque" at the initial stage. The high torque here refers to the maximum torque of the motor itself, which is at least 2-3 times the starting torque. However, these two inventions are single-motor reduction outputs, which are only suitable for simple industrial applications. In complex working conditions such as electromagnetic launching systems, industrial heavy load equipment starting devices, and high dynamic electric vehicles, the output speed cannot be controlled, the output "zero speed high torque" cannot be controlled, and the power split and reasonable application of power generation and power consumption cannot be achieved. SUMMARY

[0011] The present application aims to solve the problem that the speed reduction output of the single motor in the existing flexible motor scheme (authorized announcement number CN113309827B, CN113309828B invention patent) is only suitable for simple industrial occasions, and cannot realize controllable speed of the output end, controllable "zero speed high torque" of the output end, power split and reasonable application of free conversion of power generation and power consumption in complex working conditions. A flexible motor integrated with multiple motor collaborative control planetary gear system driving and hydraulic stepless variable speed flexible buffer is provided.

[0012] The present application provides a flexible motor and a control method thereof, which realizes flexible buffer transmission in the whole process through planetary gear system torque multiplication and hydraulic stepless variable speed dynamic-static hydraulic mode switching, realizes autonomous collaborative control, zero speed high torque, fast dynamic response and regenerative energy circulation, and realizes machine, electric and hydraulic comprehensive utilization of motor technology, meets the instantaneous ultra-high torque and wide range efficient transmission demand of electromagnetic catapult system, industrial heavy load equipment starting device and high dynamic electric vehicle acceleration scene, can be applied to the power system of new energy vehicles and electric vehicles, provides new hybrid power technology, and can also be applied to the catapult and reception of aircraft, especially the catapult and reception of unmanned aerial vehicles.

[0013] To this end, the technical scheme of the present application is a flexible motor, which comprises a planetary gear mechanism, a stepless variable speed device, a first motor and a second motor. The stepless variable speed device comprises a stepless variable speed device input end and a stepless variable speed device output end. The planetary gear mechanism comprises a planetary gear mechanism first input end, a planetary gear mechanism second input end and a planetary gear mechanism output end. The first motor comprises a first motor output shaft. The second motor comprises a second motor output shaft. The planetary gear mechanism first input end is connected with the stepless variable speed device output end, and the planetary gear mechanism second input end is connected with the first motor output shaft. The stepless variable speed device input end is connected with the second motor output shaft.

[0014] Preferably, the flexible motor further comprises a third motor, and the planetary gear mechanism output end is connected with a rotor of the third motor.

[0015] Preferably, the flexible motor comprises a housing, the housing comprises a planetary gear mechanism, one side of the planetary gear mechanism comprises a stepless variable speed device, one side of the stepless variable speed device comprises a second motor and a first motor in sequence, and both sides of the housing comprise a left end cover and a right end cover. The right end cover comprises a through hole. The first motor comprises a first motor stator and a first motor rotor, and the first motor rotor is fixedly connected with the first motor output shaft. The second motor comprises a second motor stator and a second motor rotor, and the second motor rotor is fixedly connected with the second motor output shaft. The second motor output shaft comprises a through hole in the inside. The first motor stator and the second motor stator are fixedly connected with the housing. The continuously variable transmission is provided with a transmission shell, transmission left end cover and transmission right end cover arranged at both ends of the transmission shell, a transmission cavity arranged inside the transmission shell, and the transmission cavity being a sealed structure; a through hole is arranged at the center of the transmission right end cover; a through hole is arranged at the center of the transmission left end cover, a transmission sun gear is arranged at the inner side of the transmission left end cover, a transmission input shaft is fixedly arranged at the center of the transmission sun gear, the transmission input shaft is an input end of the continuously variable transmission, and a through hole is arranged inside the transmission input shaft; the transmission input shaft penetrates through the through hole of the transmission left end cover, and the transmission input shaft is rotationally connected with the transmission left end cover; a second motor output shaft is fixedly connected with the outer end of the transmission input shaft; a plurality of transmission planetary shafts are uniformly arranged in the circumferential direction of the transmission sun gear, the transmission planetary shafts are located between the transmission left end cover and the transmission right end cover, the transmission planetary shafts are rotationally connected with the transmission left end cover and the transmission right end cover, a transmission planetary gear is fixedly arranged on the transmission planetary shaft, and the transmission planetary gear is meshingly connected with the transmission sun gear; a bucket wheel is arranged adjacent to the inner side of the transmission planetary gear, and the bucket wheel is fixedly connected with the transmission planetary shaft. The planetary gear mechanism comprises a carrier, an inner ring gear, a sun gear, a sun gear shaft and a planetary gear; the inner ring gear is a first input end of the planetary gear mechanism, and the sun gear is a second input end of the planetary gear mechanism; the carrier comprises a carrier main body, a plurality of planetary shafts are fixedly and uniformly arranged on one side of the carrier main body, a planetary gear is arranged on the planetary shaft, and the planetary gear is rotationally connected with the planetary shaft; a carrier output shaft is fixedly arranged on the other side of the carrier main body, and the carrier output shaft is an output end of the planetary gear mechanism; the planetary gear mechanism is fixedly connected with the continuously variable transmission through the inner ring gear; a plurality of planetary gears are uniformly arranged inside the inner ring gear, and the planetary gears are meshingly connected with the inner ring gear; a sun gear is arranged at the inner side of the planetary gear, the planetary gear is meshingly connected with the sun gear, the sun gear shaft is arranged at the center of the sun gear, the sun gear is fixedly connected with the sun gear shaft, the sun gear shaft penetrates through the through hole of the transmission right end cover, the through hole of the transmission input shaft and the through hole of the second motor output shaft in sequence, the other end of the sun gear shaft is fixedly connected with the first motor output shaft, and the sun gear shaft is rotationally connected with the transmission right end cover; the carrier output shaft penetrates through the through hole of the right end cover, and the carrier output shaft is rotationally connected with the right end cover.

[0016] Preferably, the inner ring gear is fixed to the outer side of the transmission right end cover or the inner ring gear is fixed to the outer side of the transmission shell, and the outer side of the transmission right end cover or the outer side of the transmission shell, on which the inner ring gear is fixed, is an output end of the continuously variable transmission.

[0017] Preferably, the planetary gear mechanism is provided with a planetary gear mechanism support shell outside, the planetary gear mechanism support shell comprises a support shell main body, the support shell main body is fixed to the outside of the transmission right end cover or the support shell main body is fixed to the outside of the transmission shell. The outer side of the support shell main body is fixedly provided with a side end cover, the side end cover is rotatably connected with the right end cover, a through hole is arranged in the middle position of the side end cover, the planetary carrier output shaft penetrates through the through hole of the side end cover, and the side end cover is rotatably and sealingly connected with the planetary carrier output shaft.

[0018] Preferably, a first oil seal is arranged at the penetration position of the transmission right end cover and the sun gear shaft, a second oil seal is arranged at the penetration position of the through hole of the transmission input shaft and the sun gear shaft, a fourth oil seal is arranged at the penetration position of the transmission left end cover and the transmission input shaft, and a rotary sealing piece is arranged between the planetary carrier output shaft and the right end cover.

[0019] Preferably, a first support frame is arranged between the first motor and the second motor, the first support frame is fixedly connected with the shell, the sun gear shaft penetrates through the first support frame, and the sun gear shaft is rotatably connected with the first support frame; a second support frame is arranged between the second motor and the continuously variable transmission, the second support frame is fixedly connected with the shell, the transmission input shaft penetrates through the second support frame, and the transmission input shaft is rotatably connected with the second support frame.

[0020] Preferably, the first motor is a variable frequency motor, and the second motor is a power frequency motor or a variable frequency motor.

[0021] A control method of the elastic flexible motor, the elastic flexible motor further comprises a control unit, and the control method comprises the following steps: Step (1), the elastic flexible motor no-load starting stage: starting the second motor, keeping the first motor in a power-off state, accelerating the transmission input shaft of the continuously variable transmission to a rated speed, until the output speed of the transmission shell of the continuously variable transmission and the transmission input shaft reach an equal speed transmission state, the output of the transmission shell drives the inner gear ring, the planetary gear, the sun gear of the planetary gear mechanism to rotate, the sun gear drives the sun gear shaft and the first motor output shaft, thereby driving the first motor rotor to rotate, and the no-load starting of the elastic flexible motor is completed. Step (2), the ejection flexible motor generates electricity and brakes: after the no-load starting phase of the ejection flexible motor is completed, the first motor is powered on to start the first motor, the first motor is in a power generation state, the first motor rotor has high-speed rotational inertia due to the no-load starting phase, a large induced current is generated when the first motor rotor rotates at high speed, a large electromagnetic braking torque is generated instantaneously, the large electromagnetic braking torque is output to the output shaft of the planetary carrier through the planetary gear mechanism, at this time, the output torque of the output shaft of the planetary carrier is a torque increasing torque, at the same time, the current of the second motor increases, the second motor drives the inner ring to output a larger torque, the larger torque output by the inner ring can reach the maximum torque of the motor, and the maximum torque output by the output shaft of the planetary carrier can reach several times the starting torque of the second motor under the action of the speed reduction and torque increasing of the planetary carrier, so that the output shaft of the planetary carrier outputs a high torque at an initial zero rotational speed, and the zero-speed high-torque starting of the ejection flexible motor is completed, and the second motor drives the output shaft of the planetary carrier to start rotating; Step (3), power conversion phase: as the rotational speed of the output shaft of the planetary carrier increases, the rotational speed of the sun gear shaft decreases, when the rotational speed of the sun gear shaft decreases to 0, the electric control conversion program of the first motor is switched, at this time, the first motor rotor changes the direction of rotation, the first motor changes from a power generation state to an electric driving mode, at this time, the second motor drives the output shaft of the planetary carrier to output torque, and the first motor rotor drives the sun gear shaft to output torque; Step (4), multi-motor cooperative driving phase: after the power conversion phase is completed, the first motor and the second motor output same-direction torque at the same time, the output torque and speed of the output shaft of the planetary carrier continue to increase, until the output shaft of the planetary carrier reaches a preset rotational speed, and the ejection flexible motor completes the ejection output. During the starting and running of the ejection flexible motor in steps (1)-(4), the continuously variable transmission is in an adaptive state, when the force exceeds the transmission torque of the continuously variable transmission, the continuously variable transmission is in a slipping speed change state, and when the force is lower than the transmission torque of the continuously variable transmission, the continuously variable transmission is in a constant speed transmission state, and all torque mutations or vibrations are buffered by the oil in the continuously variable transmission.

[0022] Preferably, during the starting and running of the ejection flexible motor in steps (1)-(4), the third motor is in an idle state, an electric driving state or an electricity generation state, the third motor is switched between the idle state, the electric driving state and the electricity generation state according to the working condition, and control, driving or electricity recovery is realized.

[0023] The beneficial effects of the present application are that, due to the coupling design of multiple motors, a continuously variable transmission and a planetary gear mechanism, in the case of load on the planetary carrier output shaft, the sun gear end of the planetary gear mechanism is unloaded, the second motor completes the starting process in an approximately unloaded state, and the continuously variable transmission also completes the transition from variable speed to rated constant speed hydraulic transmission state, while the first motor rotor connected to the sun gear end of the planetary gear mechanism rotates at high speed; when the first motor switches to the regenerative power generation mode, the first motor rotor is switched from high-speed idling to instantaneous cutting of magnetic lines of force, and the electromagnetic braking torque formed acts on the high-speed rotating sun gear shaft in milliseconds, and the second motor output torque can also increase the current in milliseconds and react to the second motor's own output torque, and the second motor's own output torque can exert the maximum torque of the motor, and through the lever effect of the planetary mechanism, the second motor output torque is amplified by 1.5 times again, assuming that the maximum torque of the second motor is 3 times the starting torque, the total starting torque of the second motor on the output shaft of the elastic motor can reach 4.5 times, breaking through the limit of the highest single motor torque, while the generated energy is fed back to the power grid, reducing the starting energy consumption by about 30%. Because the continuously variable transmission is provided with an oil chamber, the internal planetary gears and the bucket wheel are integrated on the same shaft system, and the oil liquid is rotated together by the bucket wheel and the shell to form dynamic and static liquid forces in different states, and the adaptive conversion of the dynamic and static liquid forces of the oil liquid corresponds to the variable speed and constant speed transmission of the continuously variable transmission, forming a wide range of flexible transmission process, and due to the flexible damping effect of the oil liquid, the mechanical impact load can be instantaneously reduced by a large margin, and the design of the continuously variable transmission breaks the torque limit of constant speed transmission to about 90% of the maximum torque of the second motor, eliminating the possibility of motor overload and burning. The "electromagnetic-mechanical-flexible-control" four-in-one adaptive system synchronously solves the four problems of high starting torque, power grid impact, mechanical damage and wide speed regulation, and provides an energy-saving and reliable integrated technical solution for heavy load driving.

[0024] At the same time, during the elastic flexible motor starting and running process of step (1) to step (4), the third motor (13) is in an unloaded state or an electric state or a power generation state, and the third motor (13) switches between the unloaded state, the electric state and the power generation state according to the working condition, so as to realize control, driving or electric energy recovery, and adapt to various application scenarios. BRIEF DESCRIPTION OF DRAWINGS Figure 1 is an embodiment of the present application; Figure 2 is another embodiment of the present application Figure 3 is a sectional view of Figure 1 Figure 4 is a sectional view of Figure 3 ​a cross-sectional view of the continuously variable transmission position of Figure 5 is Figure 3 a cross-sectional view of the planetary gear mechanism position of Figure 6 is a schematic diagram of an embodiment of the present application without the housing and the transmission housing Figure 7 is a schematic diagram of an embodiment of the present application without the housing and the transmission housing and the transmission right end cover Figure 8 is a simple schematic diagram of the elastic flexible motor Figure 9 is a schematic diagram of connecting the third motor on the output shaft of the planetary gear mechanism Figure 10 is the T-s curve of the three-phase asynchronous motor

[0025] Explanation of symbols in the figure: 1. housing; 2. left end cover; 3. right end cover; 4. first motor; 41. first motor stator; 42. first motor rotor; 43. first motor output shaft; 5. second motor; 51. second motor stator; 52. second motor rotor; 53. second motor output shaft; 6. continuously variable transmission; 61. transmission housing; 62. transmission left end cover; 63. transmission right end cover; 64. transmission input shaft; 65. transmission cavity; 66. transmission sun gear; 67. transmission planetary gear; 671. transmission planetary gear shaft; 68. bevel gear; 7. planetary gear mechanism; 71. sun gear; 711. sun gear shaft; 72. planet carrier; 721. planet carrier output shaft; 722. planetary gear; 723. planetary gear shaft; 724. planet carrier body; 73. inner ring gear; 74. planetary gear mechanism support housing; 741. support housing body; 742. side end cover; 91. first oil seal; 92. second oil seal; 93. rotary seal; 94. fourth oil seal; 10. first support frame; 11. second support frame; 12. control unit; 13. third motor; 14. continuously variable transmission input end; 15. continuously variable transmission output end; 16. planetary gear mechanism first input end; 17. planetary gear mechanism second input end; 18. planetary gear mechanism output end. DETAILED DESCRIPTION

[0027] The present application will be further described below in conjunction with examples. EXAMPLE

[0028] Figures 1-9 is an embodiment of the elastic flexible motor of the present application, Figure 8 and Figure 9As can be seen, the elastic flexible motor comprises a planetary gear mechanism 7, a continuously variable transmission 6, a first motor 4 and a second motor 5, the continuously variable transmission 6 comprises a continuously variable transmission input end 14 and a continuously variable transmission output end 15; the planetary gear mechanism 7 comprises a planetary gear mechanism first input end 16, a planetary gear mechanism second input end 17 and a planetary gear mechanism output end 18; the first motor 4 comprises a first motor output shaft 43; the second motor 5 comprises a second motor output shaft 53; the planetary gear mechanism first input end 16 is connected with the continuously variable transmission output end 15, the planetary gear mechanism second input end 17 is connected with the first motor output shaft 43; the continuously variable transmission input end 14 is connected with the second motor output shaft 53.

[0029] Figure 3 As can be seen in detail, the elastic flexible motor of the embodiment is provided with a shell 1, the inside of the shell 1 is provided with a planetary gear mechanism 7, one side of the planetary gear mechanism 7 is provided with a continuously variable transmission 6, one side of the continuously variable transmission 6 is sequentially provided with a second motor 5 and a first motor 4, both sides of the shell 1 are respectively provided with a left end cover 2 and a right end cover 3; the right end cover 3 is provided with a through hole; The first motor 4 comprises a first motor stator 41 and a first motor rotor 42, the first motor rotor 42 is fixedly provided with a first motor output shaft 43; the second motor 5 comprises a second motor stator 51 and a second motor rotor 52, the second motor rotor 52 is fixedly provided with a second motor output shaft 53, the inside of the second motor output shaft 53 is provided with a through hole; the first motor 4 and the second motor 5 are respectively fixedly connected with the shell 1; The continuously variable transmission 6 is provided with a transmission shell 61, both ends of the transmission shell 61 are provided with a transmission left end cover 62 and a transmission right end cover 63, the inside of the transmission shell 61 is provided with a transmission cavity 65, the transmission cavity 65 is a sealed structure; the center position of the transmission right end cover 63 is provided with a through hole; the center position of the transmission left end cover 62 is provided with a through hole, the inside of the transmission left end cover 62 is provided with a transmission sun gear 66, the center position of the transmission sun gear 66 is fixedly provided with a transmission input shaft 64, the transmission input shaft 64 is a continuously variable transmission input end 14, the inside of the transmission input shaft 64 is provided with a through hole; the transmission input shaft 64 penetrates through the through hole of the transmission left end cover 62, the transmission input shaft 64 is rotationally connected with the transmission left end cover 62; the outer end of the transmission input shaft 64 is fixedly connected with the second motor output shaft 53; a plurality of transmission planetary gear shafts 671 are uniformly arranged in the circumferential direction of the transmission sun gear 66, the transmission planetary gear shafts 671 are located between the transmission left end cover 62 and the transmission right end cover 63, the transmission planetary gear shafts 671 are rotationally connected with the transmission left end cover 62 and the transmission right end cover 63, the transmission planetary gear shafts 671 are fixedly provided with transmission planetary gears 67, the transmission planetary gears 67 are meshingly connected with the transmission sun gear 66; adjacent to the inside of the transmission planetary gears 67, bucket wheels 68 are provided, the bucket wheels 68 are fixedly connected with the transmission planetary gear shafts 671; The planetary gear mechanism 7 comprises a carrier 72, an inner ring gear 73, a sun gear 71, a sun gear shaft 711, and a planetary gear 722; the inner ring gear 73 is a first input end 16 of the planetary gear mechanism, the sun gear 71 is a second input end 17 of the planetary gear mechanism, the carrier 72 comprises a carrier main body 724, one side of the carrier main body 724 is fixedly provided with a plurality of planetary gear shafts 723 which are uniformly distributed, the planetary gear shafts 723 are provided with the planetary gears 722, and the planetary gears 722 are rotationally connected with the planetary gear shafts 723; the other side of the carrier main body 724 is fixedly provided with a carrier output shaft 721 which is an output end 18 of the planetary gear mechanism; the planetary gear mechanism 7 is fixedly connected with the continuously variable transmission 6 through the inner ring gear 73; the inner ring gear 73 is provided with a plurality of planetary gears 722 which are uniformly distributed inside the inner ring gear 73, and the planetary gears 722 are in meshing connection with the inner ring gear 73; the inner side of the planetary gear 722 is provided with the sun gear 71, the planetary gear 722 is in meshing connection with the sun gear 71, the sun gear 71 is provided with the sun gear shaft 711 at the center position, the sun gear 71 is fixedly connected with the sun gear shaft 711, the sun gear shaft 711 penetrates through the through hole of the transmission right end cover 63, the through hole of the transmission input shaft 64, and the through hole of the second motor output shaft 53 in sequence, the other end of the sun gear shaft 711 is fixedly connected with the first motor output shaft 43, and the sun gear shaft 711 is in rotational connection with the transmission right end cover 63; the carrier output shaft 721 penetrates through the through hole of the right end cover 3, and the carrier output shaft 721 is in rotational connection with the right end cover 3.

[0030] The inner ring gear 73 of the embodiment is fixed to the outside of the transmission right end cover 63, and the outside of the transmission right end cover 63 is an output end 15 of the continuously variable transmission; the planetary gear mechanism 7 is provided with a planetary gear mechanism support shell 74, and the planetary gear mechanism support shell 74 comprises a support shell main body 741 which is fixed to the outside of the transmission right end cover 63. The outside of the support shell main body 741 is fixedly provided with a side end cover 742 which is in rotational connection with the right end cover 3, the side end cover 742 is provided with a through hole at the middle position, the carrier output shaft 721 penetrates through the through hole of the side end cover 742, and the side end cover 742 is in rotational sealing connection with the carrier output shaft 721.

[0031] Generally, at least three transmission planetary gears 67 are uniformly distributed in the circumferential direction of the transmission sun gear 66, and eight transmission planetary gears 67 are uniformly distributed in the circumferential direction of the transmission sun gear 66 in the embodiment.

[0032] The technical scheme of the embodiment is provided with a first oil seal 91 at the penetration position of the transmission right end cover 63 and the sun gear shaft 711, a second oil seal 92 at the penetration position of the through hole of the transmission input shaft 64 and the sun gear shaft 711, a fourth oil seal 94 at the penetration position of the transmission left end cover 62 and the transmission input shaft 64, and a rotational sealing piece 93 between the carrier output shaft 721 and the right end cover 3.

[0033] The first motor 4 and the second motor 5 are provided with a first support frame 10, the first support frame 10 is fixedly connected with the shell 1, the sun gear shaft 711 penetrates through the first support frame 10, and the sun gear shaft 711 is rotatably connected with the first support frame 10; the second motor 5 and the continuously variable transmission 6 are provided with a second support frame 11, the second support frame 11 is fixedly connected with the shell 1, the transmission input shaft 64 penetrates through the second support frame 11, and the transmission input shaft 64 is rotatably connected with the second support frame 11. The first motor 4 is a variable frequency motor, and the second motor 5 is a power frequency motor or a variable frequency motor.

[0034] In the technical solution, the elastic flexible motor comprises a control unit 12, and the control unit 12 is electrically connected with the first motor 4 and the second motor 5.

[0035] The structure can be seen that the power input end of the continuously variable transmission 6 is that the transmission input shaft 64 is fixedly connected with the second motor output shaft 53, the second motor output shaft 53 is connected with the second motor rotor 52, the power output end of the continuously variable transmission 6 is that the transmission right end cover 63 is fixedly connected with the inner ring gear 73 of the planetary gear mechanism 7, the structure transmits the power of the motor to the planetary gear mechanism 7 through the internal structure of the continuously variable transmission 6, and the transmission right end cover 63 is provided with a through hole, so that the sun gear shaft 711 of the planetary gear mechanism 7 penetrates through, the first motor rotor 42 is connected to the first motor 4, among the three elements of the planetary gear mechanism 7, the inner ring gear 73 and the sun gear 71 are connected with the motors that can apply power, and only the planet carrier 72 of the output end is freely connected with the load through the planet carrier output shaft 721.

[0036] The coaxial nesting structure of the embodiment is that the sun gear shaft 711 penetrates through the through hole of the transmission right end cover 63, the through hole of the transmission input shaft 64 and the through hole of the second motor output shaft 53 in sequence, radial gaps are arranged between the inner walls of the channels through which the sun gear shaft 711 penetrates, and the width of the radial gaps is greater than the thermal expansion deformation amount of the sun gear shaft 711, so that the planetary mechanism is radially compactly arranged, the axial size is reduced by 40%, and the user can directly select an integrated motor.

[0037] The structure of the embodiment fully considers the support and protection of the planetary gear mechanism 7. The planetary gear mechanism support shell 74 arranged on the outer side of the planetary gear mechanism 7 is fixed to the outer side of the transmission right end cover 63 through the support shell main body 741, so that the planetary gear mechanism 7 works in a closed cavity and is protected, and the side end cover 742 is rotatably connected with the right end cover 3, so that the support of the planetary gear mechanism 7 and the continuously variable transmission 6 on the right end cover 3 is solved; the planet carrier output shaft 721 penetrates through the through hole of the side end cover 742, and the side end cover 742 is rotatably and sealingly connected with the planet carrier output shaft 721, so that the external output capacity of the planet carrier output shaft 721 is also considered.

[0038] The structure of the embodiment also fully considers support. The sun gear shaft 711 is rotatably supported on the first support frame 10 through a bearing; the transmission input shaft 64 is rotatably supported on the second support frame 11 through a bearing; the sun gear shaft 711 is provided with two radial bearings in the through hole of the transmission right end cover 63, thereby ensuring the reliable rotation of the entire system.

[0039] The structure of the embodiment also fully considers sealing. A first oil seal 91 is arranged at the position where the transmission right end cover 63 and the sun gear shaft 711 penetrate each other, a second oil seal 92 is arranged at the position where the transmission left end cover 62 and the sun gear shaft 711 penetrate each other, and a fourth oil seal 94 is arranged at the position where the transmission left end cover 62 and the transmission input shaft 64 penetrate each other. The three seals mainly seal the oil in the continuously variable transmission 6 in the transmission cavity 65. A rotary seal 93 is arranged between the planetary carrier output shaft 721 and the right end cover 3, which functions as a dustproof seal between the inside and outside of the elastic motor.

[0040] Meanwhile, due to the staged control strategy: in the no-load starting stage, only the second motor 5 drives the continuously variable transmission 6 under light load, and the load is isolated, so that the starting current of the second motor 5 is reduced by about 40% compared with the highest amplitude of the starting current when driving the load directly.

[0041] In the embodiment, the first motor 4 is set as a variable frequency motor, and the second motor 5 can be a power frequency motor or a variable frequency motor. In the embodiment, the second motor 5 is set as a power frequency three-phase asynchronous motor. The specific process of the device is as follows: The control method of the elastic motor includes the following steps: Step (1), no-load starting stage of the elastic motor: start the second motor 5, keep the first motor 4 in a power-off state, accelerate the transmission input shaft 64 of the continuously variable transmission 6 to the rated speed, and keep the output speed of the transmission housing 61 of the continuously variable transmission 6 and the transmission input shaft 64 in the state of equal speed transmission until the output of the transmission housing 61 drives the inner ring 73, the planetary gear 722 and the sun gear 71 of the planetary gear mechanism 7 to rotate, the sun gear 71 drives the sun gear shaft 711 and the first motor output shaft 43, thereby driving the first motor rotor 42 to rotate, and completing the no-load starting of the elastic motor. Step (2), the ejection flexible motor power generation braking phase: after the no-load starting phase of the ejection flexible motor is completed, the first motor 4 is powered on to start the first motor 4, and the first motor 4 is in a power generation state. The first motor rotor 42 has high-speed rotational inertia due to the no-load starting phase, and generates a large induced current when rotating at high speed. The large induced current generates a large electromagnetic braking torque instantaneously, and the large electromagnetic braking torque is output to the planetary carrier output shaft 721 through the planetary gear mechanism 7. At this time, the output torque of the planetary carrier output shaft 721 is a torque increasing torque, and the current of the second motor 5 increases, and the second motor 5 drives the inner ring 73 to output a larger torque. The maximum torque output by the inner ring 73 can reach the maximum torque of the motor, and the maximum torque output by the planetary carrier output shaft 721 can reach several times the starting torque of the second motor 5 due to the speed reduction and torque increasing effect of the planetary carrier, so that the planetary carrier output shaft 721 outputs a high torque at zero initial speed, completes the zero-speed high-torque starting of the ejection flexible motor, and the second motor 5 drives the planetary carrier output shaft 721 to start rotating; Step (3), power conversion phase: as the speed of the planetary carrier output shaft 721 increases, the speed of the sun gear shaft 711 decreases. When the speed of the sun gear shaft 711 decreases to 0, the electric control conversion program of the first motor 4 is switched. At this time, the first motor rotor 42 changes the direction of rotation, and the first motor 4 changes from a power generation state to an electric state. The first motor 4 changes to an electric drive mode and runs. At this time, the second motor 5 drives the planetary carrier output shaft 721 to output torque, and the first motor rotor 42 drives the sun gear shaft 711 to output torque. Step (4), multi-motor cooperative driving phase: after the power conversion phase is completed, the first motor 4 and the second motor 5 output the same direction torque at the same time, the planetary carrier output shaft 721 continues to increase the output torque and speed, until the planetary carrier output shaft 721 reaches the preset speed, and the ejection flexible motor completes the ejection output.

[0042] The control method and transmission response process of the ejection flexible motor are described in detail below. The control unit 12 obtains instructions configured to perform: (1) Ejection flexible motor no-load starting phase: when the second motor 5 starts to start running, the second motor rotor 52 drives the second motor output shaft 53 to rotate; drive the transmission input shaft 64 fixedly connected with the second motor output shaft 53 to rotate; drive the fixedly connected transmission sun gear 66 to rotate; drive the meshing connected transmission planetary gear 67 to rotate; the transmission planetary gear 67 drives the bucket wheel 68 fixedly connected through the transmission planetary gear shaft 671 to rotate, the bucket wheel 68 stirs the oil to generate the oil liquid away from the bucket wheel 68 to form the rotation centrifugal force, the oil liquid with the rotation centrifugal force impacts the adjacent bucket wheel 68, the oil liquid impact force becomes the resistance of the adjacent bucket wheel 68 rotation, the resistance is closely related to the speed, at the beginning, when the rotation speed of the bucket wheel 68 is 0, the resistance is close to 0, and the resistance increases with the increase of the rotation speed of the bucket wheel 68; the bucket wheel 68 drives the transmission left end cover 62, the transmission right end cover 63 and the fixedly connected transmission housing 61 through the rotation fixed bearing to apply a driving force to the transmission left end cover 62, the transmission right end cover 63 and the fixedly connected transmission housing 61, when the force applied by the inner ring gear 73 fixedly connected with the transmission right end cover 63 is less than the driving force, the driving force drives the transmission left end cover 62, the transmission right end cover 63 and the fixedly connected transmission housing 61 to start to revolve around the transmission sun gear 66, the revolution also makes the oil liquid in the bucket wheel 68 have the revolution centrifugal force, and the revolution also drives the inner ring gear 73 fixedly connected with the transmission right end cover 63 to rotate, because of the load connected planetary carrier output shaft 721, the planetary carrier output shaft 721 and the fixedly connected planetary carrier 72 remain stationary initially, the inner ring gear 73 drives the meshing sun gear 71 to rotate through the meshing planetary gear 722, the sun gear shaft 711 fixedly connected with the sun gear 71 drives the fixedly connected first motor output shaft 43 to rotate, the stator winding of the first motor 4 is de-energized or weakly excited in the idling preparation stage, which belongs to the approximate no-load state, and the first motor rotor 42 rotates passively in the state of no electromagnetic constraint. As described above, when the load of the planetary carrier output shaft 721 is infinite, the approximate no-load starting of the second motor 5 can also be realized, solving the problem that most motors are difficult to start under load.

[0043] When the speed of the second motor 5 reaches the rated state, the revolution centrifugal force of the oil liquid in the bucket wheel 68 in the continuously variable transmission 6 can keep the transmission sun gear 66 and the transmission planetary gear 67 in a dynamic torque balance state, that is, the continuously variable transmission 6 changes from the original non-uniform speed transmission state to the uniform speed transmission state, at this time, the transmission left end cover 62, the transmission right end cover 63 and the fixedly connected transmission housing 61 as a whole stop revolving around the transmission sun gear 66, at this time, the transmission left end cover 62, the transmission right end cover 63 and the fixedly connected transmission housing 61 form an approximate whole rotation through the meshing but not rotating transmission sun gear 66 and transmission planetary gear 67; at this time, the angular velocity of the inner ring gear 73 is equal to the angular velocity of the transmission sun gear 66.

[0044] Figure 10 is the T-s curve of the three-phase asynchronous motor of the second motor 5 in this embodiment, and the torque and other parameters are as shown in the curve. In the idle preparation stage, the second motor 5 is started to the rated state under the condition of approximately no load. According to the curve, the torque of the second motor 5 is changed from the rated torque to the maximum torque. Figure 10 The three standard torque values of the three-phase asynchronous motor of the second motor 5 are: the starting torque Tst=80 N•m, the maximum torque Tmax=240 N•m, and the rated torque Tn=70 N•m. When the motor has reached the rated state, the torque of the second motor 5 is changed according to the curve when the external load needs a large torque. Figure 10 The torque of the second motor 5 is changed from the rated torque to the maximum torque, and the maximum torque that can be reached is Tmax=240 N•m, which is 3 times the starting torque. When the motor is started from static, the torque is changed, that is, the motor changes from static to motion, and the motor can only use the starting torque Tst=80 N•m. When the motor is in motion after starting, the motor can use the maximum torque Tmax=240 N•m of the motor.

[0045] The ability of the continuously variable transmission 6 to transmit torque is closely related to the revolution speed, and the fluid force that enables the continuously variable transmission 6 to maintain constant speed transmission is the revolution centrifugal force of the oil. When the revolution speed decreases, the revolution centrifugal force of the oil also decreases, and the revolution centrifugal force does not have the ability to maintain the constant speed transmission of the continuously variable transmission 6. The inside of the continuously variable transmission 6 starts to slip, and at this time, the input and output have a speed difference. The bucket wheel 68 starts to rotate under the drive of the transmission planetary gear 67, the revolution speed starts to decrease, the speed of the transmission right end cover 63 connected to the inner gear ring 73 decreases greatly, and the input speed of the transmission input shaft 64 decreases slightly. The torque transmitted to the inner gear ring 73 changes little. At this time, the continuously variable transmission 6 can be compared to a torque limiter. When the torque is greater than the designed torque, the continuously variable transmission 6 slips, and when the torque is less than the designed torque, the continuously variable transmission 6 maintains constant speed transmission without slipping. In this embodiment, the torque value that breaks the constant speed transmission state is designed to be 90% of the maximum torque of the second motor 5, that is, 240*0.9=216 N•m. Torques exceeding this value cannot be transmitted, including large torques from the load end. This protects the motor from being locked and burned out. At the same time, when a significant impact occurs at the load end, the impact force of 80% or more can be unloaded in the continuously variable transmission 6.

[0046] (2) Launching Flexible Motor Generation and Braking Stage: After the no-load starting stage of the launch flexible motor is completed, that is, after the continuously variable transmission 6 enters the constant speed transmission state, the first motor 4 is energized and started. The first motor 4 is in the generation state. Since the first motor rotor 42 already has high-speed rotational inertia during the no-load starting stage, the first motor rotor 42 generates a large induced current when rotating at high speed. At this time, the first motor 4 instantly generates a large electromagnetic braking torque. The generated large electromagnetic braking torque outputs torque to the planetary carrier output shaft 721 through the planetary gear mechanism 7. This electromagnetic braking torque is transmitted to the planetary carrier output shaft 721 and the internal gear ring 73 through the planetary gear mechanism 7. The internal gear ring 73 is then transmitted to the second motor 5 through the continuously variable transmission 6. When the instantaneous torque provided by the second motor 5 is insufficient, the current of the second motor 5 increases rapidly. While the speed decreases slightly, the torque increases rapidly. The second motor 5 drives the internal gear ring 73 to output a larger torque. At this time, the process is as follows: Figure 9 The right end of the motor curve goes from right to left, and the maximum torque that can be achieved is Tmax=240N•m. When the instantaneous torque exceeds 90% of the maximum torque of the second motor 5, that is, 240*0.9=216 N•m, the continuously variable transmission 6 starts to slip inside, unloading the impact force exceeding 216 N•m. During this process, when the load torque connected to the planetary carrier output shaft 721 is insufficient to overcome the combined force amplification of the torque provided by the second motor 5 to the internal gear ring 73 and the electromagnetic braking torque provided by the first motor 4 to the sun gear shaft 711, the load connected to the planetary carrier output shaft 721 begins to rotate. The maximum torque received by the planetary carrier output shaft 721 at this time is calculated as follows: Assuming a planetary gear mechanism with ring gear input, sun gear output, and initially fixed planet carrier, the planetary gear characteristic parameters and planet carrier constraint torque are calculated as follows: Zs: Number of teeth on the sun gear; Zr: Number of teeth on the gear ring; Tr: Input torque of the gear ring; Tc: Planetary carrier constraint torque; Zr: The ratio of the number of teeth on the ring gear to the number of teeth on the sun gear, Zr = Zr / Zs; Planetary carrier constraint torque: |Tc| = (1 + k) / k × gear ring input torque |Tr| For example: if 𝑍𝑟=60, 𝑍𝑠=30, then 𝑘=2, |Tc|=1.5×|Tr| Assume 1 and the second motor 5 are power frequency motors. This motor is a three-phase asynchronous motor, and its Ts curve is shown in [reference needed]. Figure 10 The motor has a starting torque Tst = 80 N•m, a maximum torque Tmax = 240 N•m, and a rated torque Tn = 70 N•m. The maximum torque Tmax is 3 times the starting torque Tst. Set 2, the planetary gear mechanism of the planetary carrier output torque is 3 times the sun torque, the load provided to the planetary carrier constraint not to rotate torque is 1.5 times the ring gear input.

[0047] Therefore, at the load end of the planetary carrier, the maximum torque that the entire catapult flexible motor can provide is 240*1.5=360 N•m. The ratio of this maximum torque to the starting torque of the second motor 5 is 360 / 80=4.5 times.

[0048] Conclusion: The catapult flexible motor of this embodiment can achieve a maximum torque of 360 N•m when the load is 0, which is 4.5 times the starting torque of the conventional second motor 5. The maximum torque output by the planetary carrier output shaft 721 can reach 4.5 times the starting torque of the second motor 5, achieving high torque output by the planetary carrier output shaft 721 at the initial zero speed of the starting, completing the zero-speed high-torque starting of the catapult flexible motor, and the planetary carrier output shaft 721 begins to rotate; (3) Power conversion stage: As the speed of the planetary carrier output shaft 721 increases, the speed of the sun shaft 711 begins to gradually decrease, and the power generation capability of the first motor 4 weakens, and the electromagnetic braking force it can provide also decreases. However, the inertia of the entire system has already been formed, and the inertia of the load rotating with the planetary carrier output shaft 721 has also been formed. When the speed of the sun shaft 711 decreases to 0, the electric control conversion program of the first motor 4 is switched. At this time, the first motor rotor 42 changes the direction of rotation, and the first motor 4 changes from a power generation state to an electric state, and the first motor 4 changes to an electric drive mode and runs. At this time, the second motor 5 drives the planetary carrier output shaft 721 to output torque, and the first motor rotor 42 drives the sun shaft 711 to output torque; (4) Multi-motor cooperative driving stage: After completing the power conversion stage, the first motor 4 and the second motor 5 simultaneously output the same direction torque, and the planetary carrier output shaft 721 continues to increase the output torque and speed until the planetary carrier output shaft 721 reaches the preset speed, and the catapult flexible motor completes the catapult output.

[0049] During the starting and running of the catapult flexible motor, the continuously variable transmission is in an adaptive state. When the force exceeds the transmission torque that the continuously variable transmission 6 can transmit, the continuously variable transmission 6 enters a slipping speed change state. When the force is lower than the transmission torque that the continuously variable transmission 6 can transmit, the continuously variable transmission 6 is in a constant speed transmission state. All torque jumps and even vibrations are buffered by the oil inside the continuously variable transmission 6.

[0050] During the whole process of ejection, the second motor 5 first completes its own start at the beginning of ejection, and after the first motor 4 is connected to the power generation controlled, the planetary carrier output shaft 721 connects the load with the highest ejection torque of 4.5 times the starting torque of the second motor 5, realizing the controllable "zero speed high torque" capability. If applied to the existing electromagnetic ejection equipment, the power of the existing motor can be reduced by at least 1 times; in the middle and late stages of ejection, continuous electric control can control the first motor 4 to adapt to the needs of the planetary carrier output shaft 721 connecting the load at any time, and the application of heavy load starting equipment, electric vehicles and other starting occasions requiring large torque does not need to design a larger power motor, realizing high efficiency and energy saving.

[0051] The ejection flexible motor of the present example is only the reverse operation of the above process in the fast braking stop scene, and the planetary carrier output shaft 721 connecting the load is in the process of high-speed operation, the first motor 4 is controlled to reverse brake and generate electricity, and the second motor 5 can also be set to a variable frequency motor to participate in power generation braking. The braking torque generated by power generation is the same as the starting torque given to the load end of the planetary carrier output shaft 721, and the highest reverse large torque can also reach 4.5 times the size of the starting torque of the second motor 5, realizing the fast stop of the load end. In the present embodiment, the variator sun gear 66 of the continuously variable transmission 6 can also be replaced by a variator ring gear to form a new structure, achieving similar effects.

[0052] The ejection flexible motor of the present embodiment realizes the flexible buffer transmission of the whole process through the integration of multi-motor cooperative control, planetary gear system torque multiplication, and hydrodynamic continuously variable transmission dynamic-static hydrodynamic mode switching, realizes the motor technology of autonomous cooperative control, zero speed high torque, fast dynamic response and regenerative energy circulation, and comprehensively utilizes electricity, liquid and liquid. Systematically solve the three technical bottlenecks that have existed for a long time in the field of heavy load driving: 1. Break through the physical limit of motor starting torque; 2. Eliminate the mechanical transmission damage and power grid impact; 3. Realize high-precision control in full working condition speed range.

[0053] In summary, the ejection flexible motor reconstructs the energy transmission path from the principle level: converts electromagnetic braking into mechanical output gain, uses planetary gear lever to break the torque ceiling; replace friction energy consumption with electric energy circulation to solve the contradiction between high starting torque and energy efficiency; through the oil shear and torque shunt mechanism, the industry's chronic disease of mechanical impact damage is cured; relying on multi-motor dynamic compensation, full working condition speed range coverage is realized without complex gearbox. This "electromagnetic-mechanical-flexible-control" four-in-one innovation builds a high-power driving system, providing a driving solution with performance and reliability for electromagnetic ejection, heavy industrial equipment and other fields.

[0054] In the embodiment of the application, the elastic flexible motor is further provided with a third motor 13, and an output end of the planetary gear mechanism is connected with a rotor of the third motor 13. During the starting and running of the elastic flexible motor in steps (1)-(4), the third motor 13 is in an electric driving state or an electric generating state. The third motor 13 is switched between the electric driving state and the electric generating state according to the working condition, so as to control, drive or recover electric energy, and can adapt to various application scenarios.

[0055] The third motor 13 can be a power frequency motor or a variable frequency motor, which is selected according to the use scene.

[0056] The elastic flexible motor and the control method thereof provided by the technical scheme of the embodiment realize full-process flexible buffer transmission through the planetary gear system torque multiplication and the hydrodynamic stepless variable speed dynamic-static hydrodynamic mode switching, realize the motor technology of autonomous collaborative controllability, zero-speed high torque, fast dynamic response and regenerative energy circulation, and meet the instantaneous ultra-high torque and wide-range efficient transmission requirements of the electromagnetic catapult system, the industrial heavy-load equipment starting device and the high-dynamic electric vehicle catapult acceleration scene. The elastic flexible motor can be applied to the power system of a new energy vehicle and an electric vehicle, provide a new hybrid power technology, and can also be applied to the catapult and reception of an airplane, especially the catapult and reception of a UAV.

[0057] The above is only a specific embodiment of the application, and cannot limit the scope of the application. The replacement of equivalent components or equivalent changes and modifications made within the scope of the patent protection of the application should still fall within the scope of the claims of the application.

Claims

1. A catapult flexible motor characterized by: The ejection flexible motor comprises a planetary gear mechanism (7), a continuously variable transmission (6), a first motor (4) and a second motor (5), the continuously variable transmission (6) comprises a continuously variable transmission input end (14) and a continuously variable transmission output end (15), the planetary gear mechanism (7) comprises a planetary gear mechanism first input end (16), a planetary gear mechanism second input end (17) and a planetary gear mechanism output end (18), the first motor (4) comprises a first motor output shaft (43), the second motor (5) comprises a second motor output shaft (53), the planetary gear mechanism first input end (16) is connected with the continuously variable transmission output end (15), the planetary gear mechanism second input end (17) is connected with the first motor output shaft (43), and the continuously variable transmission input end (14) is connected with the second motor output shaft (53).

2. The catapulted flexible motor of claim 1, wherein: The ejection flexible motor is further provided with a third motor (13), and the planetary gear mechanism output end (18) is connected with a rotor of the third motor (13).

3. The catapulted flexible motor of claim 1, wherein: The ejection flexible motor is provided with a shell (1), the shell (1) is internally provided with the planetary gear mechanism (7), one side of the planetary gear mechanism (7) is provided with the continuously variable transmission (6), one side of the continuously variable transmission (6) is sequentially provided with the second motor (5) and the first motor (4), and both sides of the shell (1) are respectively provided with a left end cover (2) and a right end cover (3); the right end cover (3) is provided with a through hole; The first motor (4) comprises a first motor stator (41) and a first motor rotor (42), the first motor rotor (42) and the first motor output shaft (43) are fixedly connected, the second motor (5) comprises a second motor stator (51) and a second motor rotor (52), the second motor rotor (52) and the second motor output shaft (53) are fixedly connected, the second motor output shaft (53) is internally provided with a through hole, and the first motor stator (41) and the second motor stator (51) are fixedly connected with the shell (1) respectively; The continuously variable transmission (6) is provided with a transmission housing (61), the transmission housing (61) is provided with a transmission left end cover (62) and a transmission right end cover (63) at both ends, the transmission housing (61) is internally provided with a transmission cavity (65), the transmission cavity (65) is a sealed structure; The center of the transmission right end cover (63) is provided with a through hole; The center of the transmission left end cover (62) is provided with a through hole, the inner side of the transmission left end cover (62) is provided with a transmission sun gear (66), the center of the transmission sun gear (66) is fixedly provided with a transmission input shaft (64), the transmission input shaft (64) is a continuously variable transmission input end (14), the inside of the transmission input shaft (64) is provided with a through hole; The transmission input shaft (64) penetrates the through hole of the transmission left end cover (62), and the transmission input shaft (64) is rotatably connected with the transmission left end cover (62); The outer end of the transmission input shaft (64) is fixedly connected with the second motor output shaft (53); The transmission sun gear (66) is uniformly provided with a plurality of transmission planetary shafts (671) in the circumferential direction, the transmission planetary shafts (671) are located between the transmission left end cover (62) and the transmission right end cover (63), the transmission planetary shafts (671) are rotatably connected with the transmission left end cover (62) and the transmission right end cover (63), the transmission planetary shafts (671) are fixedly provided with transmission planetary gears (67), the transmission planetary gears (67) are rotatably connected with the transmission sun gear (66); The inner side of the transmission planetary gear (67) is adjacently provided with a bucket wheel (68), and the bucket wheel (68) is fixedly connected with the transmission planetary shaft (671); The planetary gear mechanism (7) comprises a planet carrier (72), an inner ring gear (73), a sun gear (71), a sun gear shaft (711), and a planetary gear (722); the inner ring gear (73) is a first input end (16) of the planetary gear mechanism, and the sun gear (71) is a second input end (17) of the planetary gear mechanism; the planet carrier (72) comprises a planet carrier main body (724), a plurality of planet gear shafts (723) are fixedly arranged on one side of the planet carrier main body (724) at equal intervals, a planetary gear (722) is arranged on each planet gear shaft (723), and the planetary gear (722) is rotationally connected with the planet gear shaft (723); a planet carrier output shaft (721) is fixedly arranged on the other side of the planet carrier main body (724), and the planet carrier output shaft (721) is an output end (18) of the planetary gear mechanism; the planetary gear mechanism (7) is fixedly connected with the continuously variable transmission (6) through the inner ring gear (73); a plurality of planetary gears (722) are arranged at equal intervals in the inner ring gear (73), and the planetary gears (722) are in meshing connection with the inner ring gear (73); a sun gear (71) is arranged on the inner side of each planetary gear (722), the planetary gears (722) are in meshing connection with the sun gear (71), the sun gear (71) is provided with a sun gear shaft (711) at the center position, the sun gear (71) is fixedly connected with the sun gear shaft (711), the sun gear shaft (711) sequentially penetrates through the through hole of the transmission right end cover (63), the through hole of the transmission input shaft (64), and the through hole of the second motor output shaft (53), the other end of the sun gear shaft (711) is fixedly connected with the first motor output shaft (43), and the sun gear shaft (711) is in rotational connection with the transmission right end cover (63); the planet carrier output shaft (721) penetrates through the through hole of the right end cover (3), and the planet carrier output shaft (721) is in rotational connection with the right end cover (3).

4. The catapulted flexible motor of claim 1, wherein: The inner ring gear (73) is fixed to the outer side of the transmission right end cover (63) or the outer side of the transmission housing (61), and the outer side of the transmission right end cover (63) or the outer side of the transmission housing (61) on which the inner ring gear (73) is fixed is a continuously variable transmission output end (15).

5. The catapulted flexible motor of claim 1, wherein: The outer side of the planetary gear mechanism (7) is provided with a planetary gear mechanism support housing (74), and the planetary gear mechanism support housing (74) comprises a support housing main body (741) fixed to the outer side of the transmission right end cover (63) or the outer side of the transmission housing (61); The outer side of the support housing main body (741) is fixedly provided with a side end cover (742), the side end cover (742) is in rotational connection with the right end cover (3), a through hole is arranged at the middle position of the side end cover (742), the planet carrier output shaft (721) penetrates through the through hole of the side end cover (742), and the side end cover (742) is in rotational sealing connection with the planet carrier output shaft (721).

6. The catapulted flexible motor of claim 1, wherein: A first oil seal (91) is arranged at the through hole of the transmission right end cover (63) and the sun gear shaft (711), a second oil seal (92) is arranged at the through hole of the transmission input shaft (64) and the sun gear shaft (711), a fourth oil seal (94) is arranged at the through hole of the transmission left end cover (62) and the transmission input shaft (64), and a rotary seal (93) is arranged between the planetary carrier output shaft (721) and the right end cover (3).

7. The catapulted flexible motor of claim 1, wherein: A first support frame (10) is arranged between the first motor (4) and the second motor (5), the first support frame (10) is fixedly connected with the shell (1), the sun gear shaft (711) penetrates through the first support frame (10), and the sun gear shaft (711) is rotatably connected with the first support frame (10); a second support frame (11) is arranged between the second motor (5) and the continuously variable transmission (6), the second support frame (11) is fixedly connected with the shell (1), the transmission input shaft (64) penetrates through the second support frame (11), and the transmission input shaft (64) is rotatably connected with the second support frame (11).

8. The catapulted flexible motor of claim 1, wherein: The first motor (4) is a variable frequency motor, and the second motor (5) is a power frequency motor or a variable frequency motor.

9. A method of controlling a catapulting flexible electric machine as claimed in any one of claims 1-8, characterized by: The control method comprises the following steps: Step (1), the no-load starting stage of the elastic flexible motor: starting the second motor (5), keeping the first motor (4) in a power-off state, accelerating the transmission input shaft (64) of the continuously variable transmission (6) to a rated speed, until the output speed of the transmission housing (61) of the continuously variable transmission (6) and the transmission input shaft (64) reach an equal speed transmission state, the output of the transmission housing (61) drives the inner ring (73), the planetary gear (722) and the sun gear (71) of the planetary gear mechanism (7) to rotate, the sun gear (71) drives the sun gear shaft (711) and the first motor output shaft (43), thereby driving the first motor rotor (42) to rotate, and the no-load starting of the elastic flexible motor is completed. Step (2), the ejection flexible motor generates electricity and brakes: after the no-load starting phase of the ejection flexible motor is completed, the first motor (4) is powered on to start the first motor (4), the first motor (4) is in a power generation state, the first motor rotor (42) has high-speed rotating inertia due to the no-load starting phase, a large induced current is generated when the first motor rotor (42) rotates at high speed, a large electromagnetic braking torque is generated instantaneously, the large electromagnetic braking torque is output to the planetary carrier output shaft (721) through the planetary gear mechanism (7), at this time, the output torque of the planetary carrier output shaft (721) is a torque increasing torque, at the same time, the current of the second motor (5) increases, the second motor (5) drives the inner ring (73) to output a larger torque, the larger torque output by the inner ring (73) can reach the maximum torque of the motor, plus the speed reduction and torque increasing effect of the planetary carrier, the maximum torque output by the planetary carrier output shaft (721) can be several times the starting torque of the second motor (5), realizing high torque output of the planetary carrier output shaft (721) at zero initial speed, completing the zero-speed high-torque starting of the ejection flexible motor, and the second motor (5) drives the planetary carrier output shaft (721) to start rotating; Step (3), power conversion phase: as the speed of the planetary carrier output shaft (721) increases, the speed of the sun gear shaft (711) decreases, when the speed of the sun gear shaft (711) decreases to 0, the electric control conversion program of the first motor (4) is switched, at this time, the first motor rotor (42) changes the rotating direction, the first motor (4) changes from a power generation state to an electric state, the first motor (4) changes to an electric driving mode, at this time, the second motor (5) drives the planetary carrier output shaft (721) to output torque, and the first motor rotor (42) drives the sun gear shaft (711) to output torque; Step (4), multi-motor cooperative driving phase: after the power conversion phase is completed, the first motor (4) and the second motor (5) output same direction torque at the same time, the output torque and speed of the planetary carrier output shaft (721) continue to increase, until the planetary carrier output shaft (721) reaches the preset speed, and the ejection flexible motor completes the ejection output; During the starting and running of the ejection flexible motor in steps (1)-(4), the continuously variable transmission is in an adaptive state, when the force exceeds the transmission torque of the continuously variable transmission (6), the continuously variable transmission (6) is in a slipping speed change state, when the force is lower than the transmission torque of the continuously variable transmission (6), the continuously variable transmission (6) is in a constant speed transmission state, all torque changes and even vibrations are buffered by the oil in the continuously variable transmission (6).

10. The method of claim 9, wherein: During the starting and running of the ejection flexible motor in steps (1)-(4), the third motor (13) is in a no-load state, an electric state or a power generation state, the third motor (13) switches between the no-load state, the electric state and the power generation state according to the working condition, realizing control, driving or electric energy recovery.

Images