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

Abstract

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

Description

TECHNICAL FIELD

[0001] The utility model relates to multi -source drive electromechanical integrated transmission technical field especially is related to a double machine electricity port double modulation integrated type electromechanical composite compound planetary multi -source drive transmission system. BACKGROUND

[0002] In the key equipment in the field of new energy, aerospace, ocean engineering, etc., there are multiple motor drive gear transmission devices of multi-source confluence drive transmission system to meet the demand of high power, high efficiency, reliable drive transmission output under complex working conditions, such as yaw system of wind turbine, cutter drive system of hard rock tunneling equipment (TBM) and the like.

[0003] However, the current multi-power source confluence drive transmission mode basically adopts multiple traditional single machine electricity port motors + mechanical components for driving, so that the overall multi-source confluence structure is too complex, the system integration of multiple branch confluence drive is low, which can cause additional energy loss and higher system failure rate; and for single branch transmission of multi-source confluence drive transmission system, the branch planetary gear transmission configuration mode in the existing multi-source confluence drive transmission system has problems such as large volume, too long transmission chain, serious unbalanced load and single transmission form. SUMMARY

[0004] The utility model discloses a double machine electricity port double modulation integrated type electromechanical composite compound planetary multi -source drive transmission system to solve the problem of energy loss, large volume, too long transmission chain, serious unbalanced load and single transmission form of prior art.

[0005] A double machine electricity port double modulation integrated type electromechanical composite compound planetary multi -source drive transmission system, comprising a double modulation composite integrated effect double machine electricity port motor, a differential planetary gear train, a compound planetary gear and a multi-gear parallel transmission structure, the double machine electricity port motor and the differential planetary gear train constitute an electromechanical composite transmission device of the double machine electricity port motor;The double modulation composite outer rotor of the double machine electricity port motor serves as the outer mechanical port of the double machine electricity port motor and also simultaneously acts as the planetary carrier input end of the differential planetary gear train;The gear shaft front section of the differential planetary gear train serves as the inner mechanical port of the double machine electricity port motor, the gear shaft rear section of the differential planetary gear train serves as the sun gear input end of the differential planetary gear train, the differential planetary gear train is connected to the compound planetary gear through a shaft, and finally the multi-gear parallel transmission structure collects the power of multiple branches to the driving pinion, finally drives the third inner tooth ring to rotate.

[0006] In addition, the double machine electricity port double modulation integrated type electromechanical composite compound planetary multi -source drive transmission system according to the utility model can also have the following additional technical features.

[0007] Further, the double machine electricity port motor comprises a stator, a double modulation composite outer rotor and a magnetoresistive inner rotor.

[0008] The stator surface is provided with an open slot, the modulator is attached to the bottom of the open slot tooth of the stator to form a modulation tooth, two sets of outer modulation windings and inner modulation windings with different numbers of magnetic pole pairs are placed in the open slot, and the outer modulation windings and the inner modulation windings respectively serve as two electric ports of the double electromechanical port motor.

[0009] Further, the double-modulation composite outer rotor comprises tangential magnetization permanent magnets, radial magnetization permanent magnets, and magnetic conductive cores, the magnetic conductive cores are arranged between the tangential magnetization permanent magnets, and the radial magnetization permanent magnets are arranged along the periphery on the outside of the double-modulation composite outer rotor.

[0010] Further, the double electromechanical port motor has double modulation effects, wherein the inner modulation effect is formed by the modulation tooth, the inner modulation winding, and the double-modulation composite outer rotor; the outer modulation effect is formed by the outer modulation winding, the double-modulation composite outer rotor, and the reluctance inner rotor, and the two modulation effects share the double-modulation composite outer rotor, and both modulate the permanent magnet magnetic field of the double-modulation composite outer rotor, so that the double electromechanical port motor has a double-modulation composite integration effect.

[0011] The number of magnetic pole pairs P of the double-modulation composite outer rotor ro is equal to the number of magnetic pole pairs P of the outer modulation winding W1 , and the sum or the absolute value of the difference of the number of modulation teeth Q on the stator S forms the outer modulation effect of the stator, the double-modulation composite outer rotor, the outer modulation winding, and the modulation tooth on the stator.

[0012] The number of magnetic pole pairs P of the double-modulation composite outer rotor ro is equal to the number of magnetic pole pairs P of the inner modulation winding W2 , and the sum or the absolute value of the difference of the number of magnetic pole pairs P of the reluctance inner rotor ri forms the inner modulation effect of the stator, the double-modulation composite outer rotor, the inner modulation winding, and the reluctance inner rotor.

[0013] The output torque of the double-modulation composite outer rotor is jointly affected by the outer modulation effect and the inner modulation effect, and the output torque of the reluctance inner rotor is only affected by the outer modulation effect.

[0014] The electromagnetic torque T generated by the outer modulation winding W1 , the electromagnetic torque T generated by the inner modulation winding W2 , the output torque T of the double-modulation composite outer rotor ro , the output torque T of the reluctance inner rotor ri , the number of magnetic pole pairs P of the reluctance inner rotor ri , the number of magnetic pole pairs P of the double-modulation composite outer rotor ro , the current effective value I of the outer modulation winding W1 , the current effective value I of the inner modulation winding W2 , and the current angle ψ of the outer modulation windingW1 , the current angle ψ of the inner modulation winding W2 , the pole pair number P of the outer modulation winding W1 , the pole pair number P of the inner modulation winding W2 , satisfies:

[0015]

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

[0017] The rotation speed n of the double-modulation compound outer rotor ro is controlled by the current frequency f W1 of the outer modulation winding and the current frequency f W2 of the inner modulation winding; the rotation speed n of the reluctance inner rotor ri is controlled only by the current frequency f W1 of the outer modulation winding, and satisfies:

[0018]

[0019] Further, the differential planetary gear train comprises a sun gear, a planet gear, a planet carrier and a first inner ring, the sun gear, the planet gear, the planet carrier and the first inner ring can all rotate freely on corresponding central shafts, the gear shaft of the sun gear is made into an integrated structure with the reluctance inner rotor, the planet carrier is made into an integrated structure with the double-modulation compound outer rotor, the plurality of planet gears are respectively engaged with the sun gear, the planet gears are installed on the planet carrier through fixed shaft pins and bearings, the plurality of planet gears are engaged with the first inner ring, and power is output through the first inner ring.

[0020] Further, the stator of the double-electromechanical port motor is installed on the rack, the double-modulation compound outer rotor cooperates with the stator and the outer modulation winding to output an outer torque, the double-modulation compound outer rotor cooperates with the planet gear through a pin shaft and a bearing; the front section of the gear shaft of the sun gear serves as an inner mechanical port of the double-electromechanical port motor, cooperates with the stator and the inner modulation winding to output an inner torque; the rear section of the gear shaft of the sun gear serves as a sun gear input shaft of the differential planetary gear train and is connected with the sun gear through a bearing.

[0021] The stator, the double-modulation composite outer rotor and the reluctance inner rotor are located on the same axis, the double-modulation composite outer rotor and the reluctance inner rotor start to rotate under the action of the stator magnetic field, and the electromechanical composite transmission device converges power to the first inner gear ring to output single torque; the double electromechanical port motor is used to realize multi-source converging transmission, and the current frequency of the double electromechanical port motor is changed to meet the requirement of resistance torque change of the multi-source driving transmission system.

[0022] Further, the compound planetary gear includes a second inner gear ring, a compound planetary carrier, an angular contact ball bearing, a compound planetary gear input shaft, a compound small sun gear, a compound planetary gear output shaft, a small planetary gear, a double gear, the compound planetary gear input shaft is connected to an output gear shaft of the first inner gear ring, the compound planetary gear input shaft transmits power to the double gear, the compound planetary gear input shaft is installed on the front end cover through the angular contact ball bearing, the double gear is installed on a double gear mandrel, is axially positioned by a hole, an elastic retainer and a washer, the double gear mandrel is installed on the compound planetary carrier through an elastic retainer for the shaft, the pinion of the double gear is engaged with the second inner gear ring and the small planetary gear at the same time, the second inner gear ring is installed on the machine body through a deep groove ball bearing, the small planetary gear is installed on a small planetary gear mandrel through an angular contact ball bearing and a small planetary gear sleeve, the small planetary gear mandrel is installed on the compound planetary carrier through an elastic retainer for the small planetary gear shaft, the small planetary gear is engaged with the compound small sun gear, the compound small sun gear is installed on a compound small sun gear mandrel through an angular contact ball bearing and a compound small sun gear sleeve, the compound small sun gear mandrel is installed on the compound planetary carrier through an elastic retainer for the compound small sun gear shaft, the compound planetary carrier is installed on the bearing cover and the rear end cover, the compound planetary gear output shaft is connected to the compound planetary carrier through a key on the right side to transmit power, and an output bearing end cover is installed on the compound planetary gear output shaft.

[0023] Further, the compound planetary gear has three transmission modes, the first mode is that the second inner gear ring is fixed, the compound planetary gear input shaft drives the double gear to engage and transmit power, and then drives the compound planetary carrier to rotate, and the power is output by the compound planetary gear output shaft; the second mode is that the compound small sun gear is fixed, the compound planetary gear input shaft drives the double gear to engage and transmit power, and then drives the compound planetary carrier to rotate, and the power is output by the compound planetary gear output shaft; the third mode is that the rotation of the small planetary gear is limited, the compound planetary gear input shaft drives the double gear to rotate, and then drives the compound planetary carrier to rotate, and the power is output by the compound planetary gear output shaft.

[0024] Further, the multi-gear parallel transmission structure includes a third inner gear ring as a power disc and a plurality of driving pinions, each branch of the driving pinion is driven by a double electromechanical port motor through a gear box to converge power on the third inner gear ring, and the center included angle formed by any two adjacent driving sources on the third inner gear ring is adjusted to be an integer multiple of the single tooth angle of the third inner gear ring on the power disc, and the axis included angle of any two adjacent driving pinions is 120°.

[0025] Further, the small planet gears are respectively meshed with pinions in the double gear and the double small sun gears, and the small planet gears are only subjected to unidirectional load in the tangential direction. The input torque is distributed by the planet gear set bearing the unidirectional torque, which can be realized by partially limiting the floating ability of the double small planet gears, thereby introducing additional support force for the double planet gears, and reducing the meshing force between the double small planet gears and the idler sun gear. During operation, the load torque directions of the gear teeth of each planet gear are the same when meshing in and out, and the load torque is always unidirectional. By using the transmission structure, the planet gears have the function of inhibiting the planet load bias transmission, and the transmission efficiency and the performance of the gears can be effectively ensured.

[0026] The utility model discloses the beneficial effects are:

[0027] (1) the existing multi-source bus driving system planet gear transmission structure exists volume too big, transmission chain is too long, and transmission form is single, and the problem such as poor partial load performance. The utility model discloses a kind of transmission structure of double planet gear, can realize multiple transmission ratio form, input power is passed through double planet gear, after limiting the movement of certain component in limit planet transmission system structure, it can realize fixed transmission ratio output, with high adaptability. Small volume and light weight double planet gear is used, the volume and weight of planet gear reducer can be overcome The disadvantage, and then the structure of planet gear reducer can be optimized, the number of transmission can be reduced, so that the volume of planet gear reducer is reduced, and the power density of transmission is improved. For the planet wheel in transmission system, it is only single-sided loading, with certain partial load inhibition capacity, so that the carrying capacity of gear is higher, the strength is higher, the operation is more stable, the noise is lower, and the efficiency is higher.

[0028] (2) the utility model discloses electromechanical composite transmission device of double motor electrical port motor, and the double modulation composite outer rotor of double motor electrical port motor is as the outer mechanical port of double motor electrical port motor, and simultaneously acts as the planet carrier input end of differential planet gear train, and the gear shaft front section of sun gear in differential planet gear train is as the inner mechanical port of double motor electrical port motor, and the gear shaft rear section is as the sun gear input shaft of differential planet gear train, is connected with sun gear through bearing, and finally through the first inner tooth ring power bus output, through the transmission component compound of double motor electrical port motor and differential planet gear train, the energy loss in transmission process is reduced, the coupling and part bearing required for electromechanical transmission are saved, and the number of system parts is reduced. In addition, the speed function of system can be realized by adjusting the current frequency of electromechanical port double modulation motor. The transmission torque of this electromechanical composite transmission structure is larger, the carrying capacity is stronger, and the transmission ratio is larger.

[0029] (3) The double-machine electrical port motor is used as a plurality of power sources for current confluence driving, wherein the outer modulation winding and the inner modulation winding are used as two electrical ports, the double-modulation composite outer rotor and the reluctance type inner rotor are used as two mechanical ports, the double-modulation composite outer rotor transmits power to the sun gear, and the reluctance type inner rotor transmits power to the planet carrier, so that the structure can realize that one motor is used to replace a plurality of motors and mechanical components, the structure is compact, the integration degree is high, the double-machine electrical port motor has the advantages of cooperative work, compared with the traditional multi-source current confluence driving, the space volume of the motor, the transmission and the planetary gear box is saved, and the structure of the utility model is more compact.

[0030] (4) The double-machine electrical port motor is used as a plurality of power sources for current confluence driving, wherein the outer modulation winding and the inner modulation winding are used as two electrical ports, the double-modulation composite outer rotor and the reluctance type inner rotor are used as two mechanical ports, the double-modulation composite outer rotor transmits power to the sun gear, and the reluctance type inner rotor transmits power to the planet carrier, so that the structure can realize that one motor is used to replace a plurality of motors and mechanical components, the structure is compact, the integration degree is high, the double-machine electrical port motor has the advantages of cooperative work, compared with the traditional multi-source current confluence driving, the space volume of the motor, the transmission and the planetary gear box is saved, and the structure of the utility model is more compact.

[0031] (5) The existing multi-source current confluence driving system mainly adopts a variable frequency motor driving, and power confluence is realized through a plurality of reducers, so that the space structure is too complex and compact, the load bias problem is serious in the transmission process, and large mechanical impact and torque imbalance problems are prone to occur. The double-machine electrical port motor, the differential planetary gear train, the multiple planetary gear and the multi-gear parallel transmission structure and the like are used in the utility model, so that the load can be dispersed, even if a power source fails, other power sources can still work, so that the continuous operation of the system is ensured, in addition, the double-machine electrical port motor can save the space volume of the motor transmission and improve the transmission efficiency. The multiple planetary gear is adopted, the floating ability of part of the small planetary gears is limited to ensure that the load torque directions borne by the gear teeth of each planetary gear are the same when the gear teeth are internally meshed and externally meshed, and the serious load bias problem of the planetary gear is inhibited. BRIEF DESCRIPTION OF DRAWINGS

[0032] The above and / or additional aspects and advantages of the utility model will become apparent and more readily appreciated from the following description of the embodiments, with reference to the following drawings, in which:

[0033] Figure 1 It is a structural schematic view of the double-machine electrical port double-modulation integrated electromechanical composite multiple-source driving and transmission system of the utility model;

[0034] Figure 2 It is a structural schematic view of the electromechanical composite transmission device of the double-machine electrical port motor;

[0035] Figure 3 It is a sectional view of the double-machine electrical port motor;

[0036] Figure 4 A double-modulation-effect magnetic circuit diagram for a double electromechanical port motor;

[0037] Figure 5 A motor structure diagram for external modulation effect of a double electromechanical port motor;

[0038] Figure 6 A motor structure diagram for internal modulation effect of a double electromechanical port motor;

[0039] Figure 7 A structure schematic diagram of a differential planetary gear train;

[0040] Figure 8 A sectional view of a compound planetary gear;

[0041] Figure 9 A left view structure schematic diagram of a compound planetary gear;

[0042] Figure 10 A right view structure schematic diagram of a compound planetary gear;

[0043] Figure 11 A structure diagram of a first transmission mode of a compound planetary gear;

[0044] Figure 12 A structure diagram of a second transmission mode of a compound planetary gear;

[0045] Figure 13 A structure diagram of a third transmission mode of a compound planetary gear;

[0046] Figure 14 A schematic diagram of single-face load bearing of a small planetary gear in a compound planetary gear;

[0047] Figure 15 A one-way load bearing structure diagram of a compound planetary gear;

[0048] Figure 16 A bias load suppression principle diagram of a compound planetary gear;

[0049] Figure 17 A schematic diagram of a multi-gear parallel transmission structure. DETAILED DESCRIPTION

[0050] In order to make the purpose, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. The drawings show several embodiments of the present application. However, the present application can be realized in many different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0051] It should be noted that when an element is referred to as being "mounted" on another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present. As used herein the terms "vertical", "horizontal", "left", "right", "upper", "lower", and the like are used for clarity to provide for example relative positional relationships. However, it will be appreciated that the application can assume various alternative orientations, except where expressly omitted or implied limited, and that the terms should be interpreted as encompassing the various alternative positions.

[0052] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0053] As shown in Figure 1 The present application provides a double-mechatronics port double-modulation integrated mechatronics composite compound planetary multi-source drive transmission system, which comprises a double-modulation composite integrated motor 1, a differential planetary gear train 2, a compound planetary gear 3 and a multi-gear parallel transmission structure 4.

[0054] Reference Figure 2, the double electromechanical port motor and the differential planetary gear train 2 constitute an electromechanical composite transmission device of the double electromechanical port motor, the stator 1-1 of the double electromechanical port motor is installed on the rack 1-10, the modulator is attached to the open slot tooth bottom of the stator to form the modulation tooth 1-4, the outer modulation winding 1-5 and the inner modulation winding 1-6 are respectively installed in the stator slot, the double modulation composite outer rotor 1-2 of the double electromechanical port motor serves as the outer mechanical port of the double electromechanical port motor, cooperates with the stator 1-1 and the outer modulation winding 1-5 to output the outer torque, simultaneously acts as the planetary carrier input end 2-3 of the differential planetary gear train and cooperates with the planetary gear 2-2 through the bearing 1-12; the front section of the gear shaft of the sun gear 2-1 of the differential planetary gear train serves as the inner mechanical port of the double electromechanical port motor, cooperates with the stator 1-1 and the inner modulation winding 1-6 to output the inner torque, and the rear section of the gear shaft serves as the sun gear input shaft of the differential planetary gear train and is connected with the sun gear 2-1 through the bearing 1-12. The stator 1-1, the double modulation composite outer rotor 1-2 and the reluctance type inner rotor 1-3 are located on the same axis, the double modulation composite outer rotor 1-2 and the reluctance type inner rotor 1-3 start to rotate under the action of the stator magnetic field, and the double electromechanical port motor converges power to the first inner gear ring 2-4 through the composite transmission structure with the differential gear to output a single torque. The double electromechanical port motor is used to realize multi-source converging transmission, and the requirement of large resistance torque change of the multi-source driving transmission system can be met by changing the current frequency of the double electromechanical port motor.

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

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

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

[0058] Figure 4 As shown in the figure, the double modulation composite outer rotor 1-2 comprises tangential magnetization permanent magnets 1-7, radial magnetization permanent magnets 1-8 and magnetic conductive cores 1-9, the magnetic conductive cores 1-9 are placed between the tangential magnetization permanent magnets 1-7, and the radial magnetization permanent magnets 1-8 are placed along the outer side of the rotor periphery. This kind of rotor structure can enhance the magnetic flux modulation effect, increase the effective working harmonics of the air gap magnetic field, and at the same time maintain the fundamental component in the internal air gap, thereby improving the air gap flux density of the double electromechanical port motor.

[0059] Figure 4As shown, the double electromechanical port motor has a magnetic field double magnetic modulation composite effect, the magnetic field generated by the double modulation composite outer rotor 1-2 is subjected to the composite modulation of the modulation tooth 1-4 on the stator slot and the reluctance inner rotor 1-3; The double modulation composite outer rotor 1-2 acts as an excitation module for the outer modulation effect, and also acts as a modulation module for the inner modulation effect.

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

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

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

[0063]

[0064] Wherein, k1, k2 are constants only related to the size structure of the motor, G ri_W2 is the transmission ratio of the reluctance inner rotor to the outer modulation winding, G ro_W1 is the transmission ratio of the double modulation composite outer rotor to the outer modulation winding, G ro_W2The transmission ratio of the dual-modulation compound outer rotor and the inner modulation winding.

[0065] The rotation speed n of the dual-modulation compound outer rotor ro The current frequency f of the outer modulation winding W1 And the current frequency f of the inner modulation winding W2 Control; the rotation speed n of the magnetorheological inner rotor ri Only the current frequency f of the outer modulation winding W1 Control, meet:

[0066]

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

[0068] The dual-modulation compound outer rotor 1-2 is a first mechanical port, serving as a power input shaft of the driving planet carrier 2-3 in the differential planetary gear train.

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

[0070] In combination Figure 7 To specifically illustrate the differential planetary gear train 2 in the utility model, it comprises a sun gear 2-1, a planet gear 2-2, a planet carrier 2-3 and a first inner ring gear 2-4, and all the components can freely rotate on the central shaft. The sun gear 2-1 gear shaft is integrated with the magnetorheological inner rotor 1-3 of the dual-mechanical-electrical port motor, the planet carrier 2-3 is integrated with the dual-modulation compound outer rotor 1-2 of the dual-mechanical-electrical port motor, the plurality of planet gears 2-2 are respectively engaged with the sun gear 2-1, the planet gears 2-2 are installed on the planet carrier 2-3 through the fixed shaft pin and the bearing, the plurality of planet gears 2-2 are externally engaged with the first inner ring gear 2-4, and the power is output through the first inner ring gear 2-4.

[0071] In combination Figure 8 , Figure 9 , Figure 10The utility model discloses a double planetary gear, which comprises a rear end cover 3-1, a machine body 3-2, a deep groove ball bearing 3-3, an inner tooth ring 3-4, a hole elastic check ring 3-5, an angular contact ball bearing 3-6, a washer 3-7, a double planetary carrier 3-8, a double gear spindle 3-9, an axle elastic check ring 3-10, a bearing cover 3-11, a front end cover 3-12, a double planetary gear input shaft 3-13, a small planetary gear axle elastic check ring 3-14, a double small sun gear axle elastic check ring 3-15, a double small sun gear sleeve 3-16, a double small sun gear spindle 3-17, a double small sun gear 3-18, an output bearing end cover 3-19, a key 3-20, a double planetary gear output shaft 3-21, a small planetary gear spindle 3-22, a small planetary gear sleeve 3-23, a small planetary gear 3-24 and a double gear 3-25.

[0072] The double planetary gear input shaft 3-13 is connected with the output gear shaft of the second inner tooth ring of the differential planetary gear system, and the double planetary gear input shaft 3-13 transmits power to the double gear 3-25, the main shaft 3-19 is installed on the front end cover 3-12 through the angular contact ball bearing 3-6, the double gear 3-25 is installed on the double gear spindle 3-9 and axially positioned through the hole elastic check ring 3-6 and the washer 3-7, the double gear spindle 3-9 is installed on the double planetary carrier 3-8 through the axle elastic check ring 3-10, the left gear of the double gear 3-25 is simultaneously engaged with the inner tooth ring 3-4 and the small planetary gear 3-24, the inner tooth ring 3-4 is installed on the machine body 3-2 through the deep groove ball bearing 3-3, the small planetary gear 3-24 is installed on the small planetary gear spindle 3-22 through the angular contact ball bearing 3-6 and the small planetary gear sleeve 3-23, the small planetary gear spindle 3-22 is installed on the double planetary carrier 3-8 through the small planetary gear axle elastic check ring 3-14, the small planetary gear 3-24 is engaged with the double small sun gear 3-18, the double small sun gear 3-18 is installed on the double small sun gear spindle 3-17 through the angular contact ball bearing 3-6 and the double small sun gear sleeve 3-16, the double small sun gear spindle 3-17 is installed on the double planetary carrier 3-8 through the double small sun gear axle elastic check ring 3-15, the double planetary carrier 3-8 is installed on the bearing cover 3-11 and the rear end cover 3-1 through the angular contact ball bearing 3-6 and the angular contact ball bearing 3-6 and can be axially positioned, the right side of the double planetary gear output shaft 3-21 is connected with the double planetary carrier 3-8 through the key 3-20 and transmits power, and the output bearing end cover 3-19 is installed on the double planetary gear output shaft 3-21.

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

[0074] The pinion in the double gear 3-25 meshes with the inner gear 3-4 and the asteroid gear 3-24, and the double gear 3-25 drives the double gear spindle 3-9 to rotate and further drives the compound planetary carrier 3-8 to drive.

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

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

[0077] The principle of the first transmission mode of the compound planetary gear 3 is combined Figure 11 It can be explained that the first transmission scheme is to fix the inner gear 3-4 by using brake pads or other braking methods Z1, and the sun gear on the compound planetary gear input shaft 3-13 drives the double gear 3-25 right side large planetary gear to mesh and drive, under the action of fixing the inner gear 3-4, the double gear 3-25 drives the compound planetary carrier 3-8 at a certain speed, and further drives the compound planetary gear output shaft 3-21 to rotate and output power, realizing the first transmission mode.

[0078] The principle of the second transmission mode of the compound planetary gear 3 is combined Figure 12 It can be explained that the second transmission scheme is to fix the compound small sun gear 3-18 by using brake pads or other braking methods Z2, and the sun gear on the compound planetary gear input shaft 3-13 drives the double gear 3-25 right side large planetary gear to mesh and drive, under the action of fixing the compound small sun gear 3-18, the double gear 3-25 drives the compound planetary carrier 3-8 at a certain speed, and further drives the compound planetary gear output shaft 3-21 to rotate and output power, realizing the second transmission mode.

[0079] The principle of the third transmission mode of the compound planetary gear 3 is combined Figure 13It can be explained that the third transmission scheme is to use brake pads or other braking methods Z3 to limit the rotation of the asteroid wheel 3-24, the sun gear on the compound planetary gear input shaft 3-13 drives the large planet gear on the right side of the double gear 3-25 to mesh and drive, after limiting the rotation of the small asteroid wheel 36, the rotation of the double gear 3-25 is also limited, so the compound planetary gear input shaft 3-13 directly drives the compound planetary carrier 3-8 to rotate, and then drives the compound planetary gear output shaft 3-21 to rotate and output power, realizing the third transmission mode.

[0080] The principle of inhibiting the eccentric load of the planet wheel in the compound planetary gear 3 can be combined with Figure 14 、 Figure 15 、 Figure 16 It can be explained that the small asteroid wheel 3-24 is meshed with the pinion in the double gear 3-25, the small asteroid wheel 3-24 is meshed with the compound small sun gear 3-18, and the pinion in the double gear 3-37 is meshed with the inner gear 3-4. In the above transmission scheme, only one of the inner gear and the compound small sun gear is fixed, the other is floating, or both are floating, thereby introducing additional support force for the compound planetary gear, and reducing the meshing force between the compound small planetary gear and the idler sun gear, so that the small asteroid wheel 3-24 and the pinion in the double gear 3-25 are only subjected to unidirectional load. In the operation process of the unidirectional torsion compound planetary gear, the load torque direction of the tooth of each planet wheel is the same when it is internally meshed and externally meshed. Using this transmission structure has the function of inhibiting the eccentric load transmission of the planetary gear, which can effectively ensure the transmission efficiency and improve the load sharing performance of the gear. As Figure 16 shown is a general case of unidirectional torsion load sharing diagram of compound planetary gear, including a driving sun gear (DS), an idler sun gear (IS), a ring gear (RG), a group of compound small planet gears (e.g. LP1, LP2), a group of compound large planet gears (e.g. NP1, NP2) and a planet carrier (PC). The compound small planet gears and the compound large planet gears have the same tooth profile, and the large planet gears and the small planet gears of each compound planet gear are spaced along the planet carrier axis. They are rotationally coupled together and have the same angular velocity. The driving sun gear and the idler sun gear are coaxially arranged and separated along the central axis of the planetary gear train. The ring gear is located around the idler sun gear and in the same radial plane as the idler sun gear. The power input from the motor is transmitted to the driving sun gear. The driving sun gear (DS) drives the large planet gears (LP) and the small planet gears (NP) in the compound planet gears in turn. The driving force of the compound planet gear is the combined action of the planet carrier (PC) and the ring gear (RG) with the idler sun gear (IS), Figure 16In the formula, F is the initial support force, N is the gear ratio of the large planetary gear and the small planetary gear, and when the torque acts on the driving sun gear, the tangential meshing force F0 is generated at the meshing point of the driving sun gear and the large planetary gear. Therefore, a part of the power is transmitted to the carrier, and the remaining part is transmitted to the idler sun gear. The single-torque complex planetary gear transmission structure determines the load sharing distribution between the carrier and the idler sun gear to the extent that the small planetary gears are allowed to float in the circumferential direction, the idler sun gear drives and distributes the power among the complex large planetary gears, the input torque is realized through the planetary gear set bearing the single-torque, the load distribution can be realized by partially limiting the floating ability of the complex small planetary gears, thereby introducing an additional support force AF for the complex planetary gear, and the meshing force between the complex large planetary gear and the idler sun gear is reduced by AF / 2. The partial load of the multi-stage planetary gear is an important factor causing the failure of the complex planetary gear transmission structure, and inhibiting the influence of the partial load on the operation of the complex planetary gear can prolong the service life of the complex planetary gear transmission structure. Therefore, the function of inhibiting the load can be achieved, the carrying capacity of the gear is higher, the strength is higher, the operation is more stable, the noise is lower, and the efficiency is higher.

[0081] As shown in Figure 17 The multi-gear parallel transmission structure includes a third inner gear ring 4-2 as a power disc and a plurality of driving pinions 4-1, the driving pinions 4-1 of each branch converge power on the third gear ring 4-2 after being gear-driven by a double electromechanical port motor, and the central included angle formed by any two adjacent driving pinions 4-1 on the third gear ring 4-2 should be adjusted to be an integer multiple of the single-tooth angle of the gear ring on the power disc, and the axis included angle of any two adjacent driving pinions is 120°.

[0082] In summary, the beneficial effects of the utility model are:

[0083] (1) The existing multi-source converging drive system has the problems of large volume, long transmission chain, single transmission form, poor partial load performance and the like. The utility model adopts a complex planetary gear transmission structure, can realize multiple transmission ratio forms, and after limiting the movement of a component in the planetary transmission system structure, can realize fixed transmission ratio output, has high adaptability. The complex planetary gear with small volume and light weight can overcome the disadvantages of large volume and weight of the planetary gear reducer, and further optimize the structure of the planetary gear reducer, can reduce the number of transmission stages, thereby reducing the volume of the planetary gear reducer and improving the power density of the transmission. For the planetary gear in the transmission system, it is only single-sided loaded and has a certain partial load suppression capability, so that the carrying capacity of the gear is higher, the strength is higher, the operation is more stable, the noise is lower, and the efficiency is higher.

[0084] (2) The utility model discloses a double electromechanical port motor electromechanical composite transmission device, the double modulation composite outer rotor of double electromechanical port motor is the outer mechanical port of double electromechanical port motor, and simultaneously acts as the planet carrier input end of differential planetary gear train, the gear shaft front section of sun gear in differential planetary gear train is the inner mechanical port of double electromechanical port motor, and the gear shaft rear section is the sun gear input shaft of differential planetary gear train, is connected through bearing and sun gear, and finally through the first inner tooth ring power bus output, through the transmission component compound of double electromechanical port motor and differential planetary gear train, the energy loss of transmission process is reduced, the shaft coupling and part bearing etc. needed for electromechanical transmission are saved, and the number of system parts is reduced, in addition, the speed function of system can be realized through adjusting the current frequency of electromechanical port double modulation motor, and the transmission torque of this electromechanical composite transmission structure is larger, and the carrying capacity is stronger, and the transmission ratio is large;

[0085] (3) The utility model discloses a double electromechanical port motor as multiple power source bus driving, wherein the outer modulation winding and the inner modulation winding are two electric ports, the double modulation composite outer rotor and the reluctance inner rotor are two mechanical ports respectively, the double modulation composite outer rotor transmits power to the sun gear, and the reluctance inner rotor transmits power to the planet carrier, this structure can realize using one motor instead of " multiple motors + mechanical components", has the advantages of compact structure, high integration, double electromechanical port collaborative work, compared with traditional multiple source bus driving, saves the space volume of motor, transmission and planetary gear box, so that the structure of the utility model is more compact;

[0086] (4) The utility model discloses a double electromechanical port motor realizes two magnetic field modulation type motors in one motor, the modulator attached to the open slot tooth bottom of stator, the double modulation composite outer rotor includes tangential magnetization permanent magnet, radial magnetization permanent magnet and magnetic core, this structure can enhance the magnetic flux modulation effect, increase the effective working harmonic of air gap magnetic field, improve the air gap flux density and electromagnetic torque of motor;

[0087] (5) The existing multiple source bus driving system mainly adopts variable frequency motor drive, realizes power bus through multistage speed reducer, so the space structure is too complex compact, and the transmission process is seriously unbalanced, and the problem of large mechanical impact and torque imbalance is prone to. The utility model discloses a double electromechanical port motor, differential planetary gear train, multiple planetary gear and multiple gear parallel transmission structure etc. group of multiple components, can disperse load, even if the failure of certain power source, other power source can still work, thereby guaranteeing the continuous operation of system, in addition, the space volume of motor transmission can be saved by adopting double electromechanical port motor, and transmission efficiency is improved. The floating ability of part small planetary gear is limited to ensure that the load torque direction that each planet wheel tooth bears is same when being in internal meshing and external meshing by adopting multiple planetary gear, and the problem of serious planet gear unbalance is inhibited.

[0088] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0089] The above-described embodiments only express several implementation manners of the present application, the description is relatively specific and detailed, but it cannot be understood as the limitation of the patent scope of the present application. It should be noted that, for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A dual electro-mechanical port dual-modulation integrated electro-mechanical hybrid compound planetary multi-source drive transmission system, characterized in that, The application relates to a double electromechanical port motor with a double-modulation composite integrated effect, a differential planetary gear train, a compound planetary gear and a multi-gear parallel transmission structure, wherein the double electromechanical port motor and the differential planetary gear train form an electromechanical composite transmission device of the double electromechanical port motor; a double-modulation composite outer rotor of the double electromechanical port motor serves as an outer mechanical port of the double electromechanical port motor and simultaneously serves as a planetary carrier input end of the differential planetary gear train; a front section of a gear shaft of the differential planetary gear train serves as an inner mechanical port of the double electromechanical port motor, a rear section of the gear shaft of the differential planetary gear train serves as a sun gear input end of the differential planetary gear train, the differential planetary gear train is connected with the compound planetary gear through a shaft, and finally the multi-gear parallel transmission structure collects power of multiple branches on a driving pinion to finally drive a third inner gear ring to rotate.

2. The dual electro-mechanical port dual-modulation integrated electro-mechanical compound compound planetary multi-source drive transmission system of claim 1, wherein, The double electromechanical port motor comprises a stator, a double-modulation composite outer rotor and a magnetoresistive inner rotor. The stator is provided with an open slot on a surface, a modulator is attached to a tooth bottom of the open slot of the stator to form a modulation tooth, two sets of outer modulation windings and inner modulation windings with different numbers of magnetic pole pairs are arranged in the open slot, and the outer modulation windings and the inner modulation windings respectively serve as two electric ports of the double electromechanical port motor.

3. The dual electro-mechanical port dual-modulation integrated electro-mechanical compound compound planetary multi-source drive transmission system of claim 2, wherein, The double-modulation composite outer rotor comprises tangential magnetization permanent magnets, radial magnetization permanent magnets and a magnetic conducting core, the magnetic conducting core is arranged between the tangential magnetization permanent magnets, and the radial magnetization permanent magnets are arranged on a periphery along an outer side of the double-modulation composite outer rotor.

4. The dual electro-mechanical port dual-modulation integrated electro-mechanical compound compound planetary multi-source drive transmission system of claim 3, wherein, The double electromechanical port motor has a double-modulation effect, wherein an inner modulation effect is formed by the modulation tooth, the inner modulation windings and the double-modulation composite outer rotor; an outer modulation effect is formed by the outer modulation windings, the double-modulation composite outer rotor and the magnetoresistive inner rotor, and the two modulation effects share the double-modulation composite outer rotor and modulate the permanent magnet magnetic field of the double-modulation composite outer rotor, so that the double electromechanical port motor has a double-modulation composite integrated effect. The number of pole pairs P of the double-modulation compound outer rotor ro is equal to the number of pole pairs P of the outer modulation winding W1 and the absolute value of the sum or difference of the number of modulation teeth Q on the stator S forms an outer modulation effect with the stator, the double-modulation compound outer rotor, the outer modulation winding and the modulation teeth on the stator. The number of pole pairs P of the double-modulation compound outer rotor ro The number of pole pairs P of the inner modulation winding W2 The number of pole pairs P of the reluctance inner rotor ri The absolute value of the sum or difference of the number of pole pairs P of the stator, the double-modulation compound outer rotor, the inner modulation winding and the reluctance inner rotor, so that the stator, the double-modulation compound outer rotor, the inner modulation winding and the reluctance inner rotor form an inner modulation effect; The output torque of the double-modulation composite outer rotor is jointly affected by the outer modulation effect and the inner modulation effect, and the output torque of the magnetoresistive inner rotor is only affected by the outer modulation effect. electromagnetic torque T generated by the outer modulation winding W1 electromagnetic torque T generated by the inner modulation winding W2 output torque T of the double-modulation compound outer rotor ro output torque T of the reluctance inner rotor ri the number of pole pairs P of the reluctance inner rotor ri the number of pole pairs P of the double-modulation compound outer rotor ro effective value I of the current of the outer modulation winding W1 effective value I of the current of the inner modulation winding W2 current angle ψ of the outer modulation winding W1 current angle ψ of the inner modulation winding W2 the number of pole pairs P of the outer modulation winding W1 the number of pole pairs P of the inner modulation winding W2 satisfies: wherein k1, k2 are constants related only to the size structure of the motor, G ri_W2 is the transmission ratio of the magnetically geared inner rotor with outer modulated winding, G ro_W1 is the transmission ratio of the double-modulated compound outer rotor with outer modulated winding, G ro_W2 is the transmission ratio of the double-modulated compound outer rotor with inner modulated winding; The rotational speed n of the double-modulation compound outer rotor ro The current frequency f of the outer modulation winding W1 And the current frequency f of the inner modulation winding W2 The rotational speed n of the magnetically-energized inner rotor ri The current frequency f of the outer modulation winding W1 Is controlled to satisfy:

5. The dual electro-mechanical port dual-modulation integrated electro-mechanical compound compound planetary multi-source drive transmission system of claim 4, wherein, The differential planetary gear train comprises a sun gear, a planet gear, a planetary carrier and a first inner gear ring, the sun gear, the planet gear, the planetary carrier and the first inner gear ring can freely rotate on corresponding central shafts, the gear shaft of the sun gear is integrated with the magnetoresistive inner rotor, the planetary carrier is integrated with the double-modulation composite outer rotor, the planet gears are respectively engaged with the sun gear, the planet gears are installed on the planetary carrier through fixing shaft pins and bearings, the planet gears are engaged with the first inner gear ring, and power is output through the first inner gear ring.

6. The dual electro-mechanical port dual-modulation integrated electro-mechanical compound compound planetary multi-source drive transmission system of claim 5, wherein, The stator of the double electromechanical port motor is installed on a rack, the double-modulation composite outer rotor cooperates with the stator and the outer modulation windings to output an outer torque, the double-modulation composite outer rotor cooperates with the planet gears through a pin shaft and a bearing; the front section of the gear shaft of the sun gear serves as an inner mechanical port of the double electromechanical port motor, cooperates with the stator and the inner modulation windings to output an inner torque, and the rear section of the gear shaft of the sun gear serves as a sun gear input shaft of the differential planetary gear train and is connected with the sun gear through a bearing. The stator, the double-modulation composite outer rotor and the reluctance inner rotor are located on the same axis, the double-modulation composite outer rotor and the reluctance inner rotor start to rotate under the action of the stator magnetic field, and the electromechanical composite transmission device converges power to the first inner gear ring to output single torque; the double electromechanical port motor is used to realize multi-source converging transmission, and the current frequency of the double electromechanical port motor is changed to meet the requirement of resistance torque change of the multi-source driving transmission system.

7. The dual electro-mechanical port dual-modulation integrated electro-mechanical compound compound planetary multi-source drive transmission system of claim 6, wherein, The compound planetary gear includes a second inner gear ring, a compound planetary carrier, an angular contact ball bearing, a compound planetary gear input shaft, a compound small sun gear, a compound planetary gear output shaft, a small planet gear and a double gear, the compound planetary gear input shaft is connected with an output gear shaft of the first inner gear ring, the compound planetary gear input shaft transmits power to the double gear, the compound planetary gear input shaft is installed on the front end cover through the angular contact ball bearing, the double gear is installed on a double gear mandrel, is axially positioned by a hole, an elastic retainer and a washer, the double gear mandrel is installed on the compound planetary carrier through an elastic retainer, the pinion of the double gear is engaged with the second inner gear ring and the small planet gear at the same time, the second inner gear ring is installed on the machine body through a deep groove ball bearing, the small planet gear is installed on a small planet gear mandrel through an angular contact ball bearing and a small planet gear sleeve, the small planet gear mandrel is installed on the compound planetary carrier through a small planet gear elastic retainer, the small planet gear is engaged with the compound small sun gear, the compound small sun gear is installed on a compound small sun gear mandrel through an angular contact ball bearing and a compound small sun gear sleeve, the compound small sun gear mandrel is installed on the compound planetary carrier through a compound small sun gear elastic retainer, the compound planetary carrier is installed on the bearing cover and the rear end cover, the right side of the compound planetary gear output shaft is connected with the compound planetary carrier through a key to transmit power, and an output bearing end cover is installed on the compound planetary gear output shaft.

8. The dual electro-mechanical port dual-modulation integrated electro-mechanical compound compound planetary multi-source drive transmission system of claim 7, wherein, The compound planetary gear has three transmission modes, the first mode is that the second inner gear ring is fixed, the compound planetary gear input shaft drives the double gear to engage and transmit, then drives the compound planetary carrier to rotate, and the compound planetary gear output shaft outputs; the second mode is that the compound small sun gear is fixed, the compound planetary gear input shaft drives the double gear to engage and transmit, then drives the compound planetary carrier to rotate, and the compound planetary gear output shaft outputs; the third mode is that the rotation of the small planet gear is limited, the compound planetary gear input shaft drives the double gear to rotate, then drives the compound planetary carrier to rotate, and the compound planetary gear output shaft outputs.

9. The dual electro-mechanical port dual-modulation integrated electro-mechanical compound compound planetary multi-source drive transmission system of claim 8, wherein, The multi-gear parallel transmission structure includes a third inner gear ring as a power disc and a plurality of driving pinions, each branch of the driving pinion is driven by a double electromechanical port motor through a gear box to converge power on the third inner gear ring, and the center included angle formed by any two adjacent driving sources on the third inner gear ring is adjusted to be an integer multiple of the single tooth angle of the third inner gear ring on the power disc, and the axis included angle of any two adjacent driving pinions is 120°.

10. The dual electro-mechanical port dual-modulation integrated electro-mechanical compound compound planetary multi-source drive transmission system of claim 9, wherein, The small planet gear is engaged with the pinion in the double gear and the compound small sun gear, and the small planet gear only bears unidirectional load in the tangential direction.

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