Planetary differential torque vectoring system

Abstract

The utility model discloses a kind of planetary differential torque vector systems, including composite planetary mechanism and left planetary mechanism and right planetary mechanism, composite planetary mechanism includes composite carrier and the composite big planetary gear and composite small planetary gear of setting on it same angular velocity integral rotation, the inside and outside of composite big planetary gear are respectively equipped with with its meshing composite sun gear and composite big gear ring, composite sun gear is fixedly connected to the output shaft of driving motor, composite big gear ring is connected to actuating assembly by right planetary mechanism;The outside of composite small planetary gear is equipped with with its meshing composite small gear ring, and composite small gear ring is connected to left half shaft by left planetary mechanism.The beneficial effects of the utility model are mainly reflected in: because composite planetary mechanism and left planetary mechanism can reach 13 or more by mutual cooperation total speed ratio, so smaller specification vector motor can be selected, without making vector motor larger or increasing current, power of the system can be increased, effectively improve the economy of the system.

Description

Technical Field

[0001] This utility model relates to the field of transmission technology, and more particularly to a planetary differential torque vectoring system. Background Technology

[0002] Conventional differential transmissions enable cornering by allowing the two drive wheels to rotate at different speeds. The transmission distributes drive torque equally to both wheels (open differential). The disadvantage is that the wheel with better traction only has as much traction as the wheel on a slippery surface or a wheel lightly loaded during cornering. A differential lock, which partially engages the two drive wheels through friction, can be used to increase traction and improve driving dynamics. With an adjustable differential lock, the cornering capability of an open differential can be combined with the improved traction of a locking differential. Differential transmissions are also called differentials or differential-compensated transmissions.

[0003] According to the present invention, a transmission device for a vehicle transmission system, as disclosed in authorization announcement number CN115704461A, has a single input shaft, a first output shaft, a second output shaft, and an integral differential effectively arranged between the input shaft and the two output shafts. The differential includes a first planetary gear set and a spur gear set having multiple gear set elements. The spur gear set has a first spur gear and a second spur gear meshing with it. The first gear set element is non-rotatably connected to the input shaft, the second gear set element is non-rotatably connected to the first output shaft, and a third gear set element is non-rotatably connected to the first spur gear of the spur gear set via a coupling shaft. The second spur gear of the spur gear set is non-rotatably connected to the second output shaft. The transmission device further includes a torque vector superposition unit having at least one second planetary gear set and an actuator. The second planetary gear set has multiple gear elements, wherein the first gear element of the second planetary gear set is non-rotatably connected to the coupling shaft, wherein the second gear element of the second planetary gear set is at least indirectly connected to the actuator, and wherein the third gear element of the second planetary gear set is connected to the second gear element of the first planetary gear set. However, in this mechanism, to meet the basic differential function of differential speed without torque difference, the first planetary gear set 8 (characteristic value k1) and the spur gear set 9 (characteristic value k2) need to satisfy 1 + |k1| = |k1| * |k2| (|| is the absolute value). Considering space and structural constraints, we take k1 = -4.5 and k2 = -1.222, and the total speed ratio is 1 + |k1| * |k2| + |k1| (|| is the absolute value), which is approximately 11. The first planetary gear set and the spur gear set can achieve this characteristic value and speed ratio requirement without issue. However, calculations show that, simultaneously, since the speed ratio k2 of the spur gear set 9 is 1.222, to ensure the vector motor does not rotate during straight-line driving, k3 = -1.222, and its characteristic value k3 is less than the conventional design specification |-1.5|. This poses significant challenges to the selection of needle roller bearings, load-sharing design, and manufacturing process, leading to increased costs and hindering mass production. In addition, the misalignment of the two half-shafts of the drive system in this mechanism will bring great difficulties to the overall vehicle layout. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a planetary differential torque vector system.

[0005] The objective of this utility model is achieved through the following technical solution: A planetary differential torque vectoring system includes a compound planetary mechanism and a left planetary mechanism and a right planetary mechanism disposed on its two sides. The compound planetary mechanism includes a compound planetary carrier and a compound large planetary gear and a compound small planetary gear that rotate integrally with the same angular velocity disposed thereon. One end of the compound planetary carrier is connected to the right half-shaft. A compound sun gear and a compound large ring gear are respectively provided on the inner and outer sides of the compound large planetary gear, and the compound sun gear is fixedly connected to the output shaft of the drive motor. A compound small ring gear is provided on the outer side of the compound small planetary gear, and the compound small ring gear is provided thereto. The left planetary mechanism includes at least a left planet carrier and a first element disposed thereon. The left planet carrier is fixedly connected to the left half-shaft. The left half-shaft, the right half-shaft, and the output shaft of the drive motor are coaxial. The first element is provided with a second element and a left sun gear that mesh with it. The second element is fixedly disposed on the torque transfer mechanism housing. The left sun gear is driven to the compound small gear ring through a connecting shaft. The right planetary mechanism has at least a first component, a second component, and a third component. The first component is drivenly connected to the actuation assembly, the second component is connected to the composite planet carrier or the composite small planetary gear, and the third component is connected to the composite large gear ring via a linkage shaft.

[0006] Preferably, the first component is a right planetary carrier, the second component is a right ring gear, and the third component is a right sun gear. The right planetary carrier is provided with a right planet gear, and the right ring gear and the right sun gear are respectively provided on the inner and outer sides of the right planet gear to mesh with it.

[0007] Preferably, the first component is a right gear ring, the second component is a right planetary carrier, and the third component is a right sun gear. The right planetary carrier is provided with a first right planetary gear and a second right planetary gear, which mesh with each other. The first right planetary gear meshes with the right gear ring, and the second right planetary gear meshes with the right sun gear.

[0008] Preferably, the first component is a right sun gear, the second component is a right planet carrier, and the third component is a right ring gear. The right planet carrier is provided with a right planet gear, and the right ring gear and the right sun gear are respectively provided on the inner and outer sides of the right planet gear to mesh with it.

[0009] Preferably, the first element is a first left planet gear and a second left planet gear disposed on the left planet carrier, the first left planet gear and the second left planet gear meshing with each other; the left sun gear meshes with the first left planet gear; the second element is a left gear ring, the left gear ring meshing with the second left planet gear.

[0010] Preferably, the first element is a left large planet gear and a left small planet gear that rotate integrally with the same angular velocity on the left planet carrier, and the left sun gear meshes with the left large planet gear; the second element is an internal gear ring that meshes with the left small planet gear.

[0011] Preferably, the actuation assembly includes at least a vector motor whose output shaft is coaxial with the right half-shaft, the output shaft of the vector motor being fixedly connected to the right planetary carrier, and a reducer being provided on the output shaft of the vector motor.

[0012] Preferably, the actuation assembly includes at least a vector motor disposed on one side of the drive motor, the output shaft of the vector motor being parallel to the output shaft of the drive motor; an idler shaft parallel to the output shaft of the vector motor is disposed between the output shaft of the vector motor and the output shaft of the drive motor, a first driven gear and a second driving gear being fixedly disposed on the idler shaft, the first driven gear meshing with the first driving gear fixedly disposed on the output shaft of the vector motor, and the second driving gear meshing with the second driven gear fixedly disposed on the right planetary carrier.

[0013] Preferably, the actuation assembly includes at least a vector motor disposed on one side of the drive motor, the output shaft of the vector motor being parallel to the output shaft of the drive motor; a first driving gear is fixedly disposed on the output shaft of the vector motor, a first driven gear is fixedly disposed on the right planetary carrier, and an idler gear meshing with the first driving gear and the first driven gear is disposed between the first driving gear and the first driven gear.

[0014] Preferably, the actuation assembly includes at least a vector motor disposed on one side of the drive motor, the output shaft of the vector motor being parallel to the output shaft of the drive motor; an intermediate shaft and an idler shaft parallel to the output shaft of the vector motor are disposed between the output shaft of the vector motor and the output shaft of the drive motor, the idler shaft being fixedly disposed on a first driven gear and a second driving gear, the first driven gear meshing with a first driving gear fixedly disposed on the output shaft of the vector motor; the intermediate shaft is fixedly disposed on a second driven gear and a third driving gear, the second driven gear meshing with the second driving gear, and the third driving gear meshing with a third driven gear fixedly disposed on the right planetary carrier.

[0015] The beneficial effects of this utility model are mainly reflected in: 1. The design is ingenious. The combined planetary mechanism and the left planetary mechanism work together to achieve a total speed ratio of over 13. This allows for the use of smaller vector motors, increasing the system's power without requiring larger vector motors or higher current, effectively improving the system's economy. Furthermore, the layout is rational and compact, reducing space requirements and making the system more miniaturized, which is beneficial for efficient layout.

[0016] 2. In this utility model, the characteristic value k1 of the composite planetary mechanism is -5.5, the characteristic value k2 of the left planetary mechanism is 2.182, and the characteristic value k3 of the right planetary mechanism is -2.35 or 3.35 or -3.11. The characteristic values ​​k1, k2 and k3 are all within the ideal range that can be achieved by conventional structural design and manufacturing. Therefore, there are no problems such as difficulty in selecting needle roller bearings, load sharing design and poor manufacturing process. The development and manufacturing difficulty is smaller, which is conducive to enterprise development.

[0017] 3. The compound planetary mechanism and the left planetary mechanism cooperate to form a differential assembly. In this assembly, the compound planetary carrier and the left planetary carrier are respectively connected to the right half-shaft and the left half-shaft, thereby distributing the output torque in a defined proportion. The compound planetary carrier and the left planetary carrier are all rigidly connected to the right half-shaft and the left half-shaft, shortening the power transmission path, reducing energy loss, and maximizing the control accuracy of the system to within 10ms, with fast feedback speed.

[0018] 4. In this utility model, the composite planetary carrier and the left planetary carrier serve as output elements. Through the combination of the revolution and rotation of the corresponding planetary gears, a wide range of speed change functions can be achieved. This can significantly change the overall transmission ratio of the system, meet the needs of scenarios requiring high torque output, effectively reduce the load on the vector motor and drive motor, and improve the lifespan of the system.

[0019] 5. The compound planetary gear and the compound planetary gear rotate synchronously. However, due to the difference in diameter between the two, there will be a large torque difference between the compound small gear ring and the compound planetary carrier. After the torque on the compound small gear ring is amplified by the left planetary mechanism, the left and right half shafts can obtain greater differential torque, effectively solving the problem of insufficient differential torque between the left and right half shafts.

[0020] 6. The compound planetary mechanism, left planetary mechanism and right planetary mechanism are arranged side by side, and the left and right half shafts are arranged on the same central axis, which can significantly reduce the radial dimension and lower the overall height of the vehicle.

[0021] 7. In this utility model, the first planetary gear, the second planetary gear, the left large planetary gear, and the left small planetary gear are arranged in a coordinated manner to form a positive planetary mechanism, which can make the characteristic value k of the planetary gear set at a reasonable value, and achieve a balance in structural design, cost, and manufacturing process.

[0022] 8. In this utility model, the axial area between the sun gear and the planet carrier is used to arrange the spline internal and external gear hubs of the half shaft. This way, it will not occupy additional axial space outside the drive system. The half shaft can be made longer, and its included angle can be arranged more optimally, solving the problems of the half shaft being too short and the ground clearance being too small in the coaxial system. Attached Figure Description

[0023] The technical solution of this utility model will be further described below with reference to the accompanying drawings: Figure 1 : A schematic diagram of the structure of the first embodiment of this utility model; Figure 2 : A schematic diagram of the structure of the second embodiment of this utility model; Figure 3 : A schematic diagram of the structure of the third embodiment of this utility model; Figure 4 : A schematic diagram of the structure of the fourth embodiment of this utility model; Figure 5 : A schematic diagram of the structure of the fifth embodiment of this utility model; Figure 6 : A schematic diagram of the structure of the sixth embodiment of this utility model; Figure 7 : A schematic diagram of the structure of the seventh embodiment of this utility model; Figure 8 : A schematic diagram of the structure of the eighth embodiment of this utility model. Detailed Implementation

[0024] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the protection scope of the present invention.

[0025] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] like Figures 1 to 8 As shown, this utility model discloses a planetary differential torque vectoring system, including a compound planetary mechanism 1 and a left planetary mechanism 2 and a right planetary mechanism 3 disposed on both sides thereon. In this application, the compound planetary mechanism 1, the left planetary mechanism 2, and the right planetary mechanism 3 are arranged side by side, which can significantly reduce the radial dimension and lower the overall vehicle height. At the same time, the speed ratio of the entire system can be larger, reducing the length of the drive motor and lowering costs. In addition, the compound planetary mechanism 1 and the left planetary mechanism 2 cooperate to form a differential assembly. In this assembly, the compound planetary carrier 11 and the left planetary carrier 21 are respectively connected to the right half-shaft and the left half-shaft, thereby realizing the distribution of output torque in a defined ratio. The compound planetary carrier 11 and the left planetary carrier 21 are all rigidly connected to the right half-shaft and the left half-shaft, shortening the power transmission path, reducing energy loss, and maximizing the control accuracy of the system to the greatest extent, with a control accuracy of less than 10ms and a fast feedback speed.

[0029] In this invention, the composite planetary mechanism 1 includes a composite planetary carrier 11 and a composite large planetary gear 12 and a composite small planetary gear 13 that rotate integrally with the same angular velocity on the carrier. One end of the composite planetary carrier 11 is connected to the right half-shaft 5. The inner and outer sides of the composite large planetary gear 12 are respectively provided with a composite sun gear 14 and a composite large gear ring 15 that mesh with it. The outer side of the composite small planetary gear 13 is provided with a composite small gear ring 16 that meshes with it. As described above, the composite large planetary gear 12 and the composite small planetary gear 13 rotate synchronously. However, due to the difference in diameter between them, there is a large torque difference between the composite small gear ring 16 and the composite planetary carrier 11. After the torque on the composite small gear ring 16 is amplified by the left planetary mechanism, the left and right half-shafts can obtain a greater differential torque capacity, effectively solving the problem of insufficient differential torque between the left and right half-shafts.

[0030] The right planetary mechanism 3 has at least a first component 31, a second component 33, and a third component 34. The first component 31 is drivenly connected to the actuation assembly 6, the second component 33 is connected to the composite planetary carrier 11 or the composite small planetary gear 13, and the third component 34 is connected to the composite large gear ring 15 via a linkage shaft 36. The left planetary mechanism 2 includes at least a left planetary carrier 21 and a first element 22 disposed thereon. The left planetary carrier 21 is fixedly connected to the left half-shaft 7, and the left half-shaft 7, the right half-shaft 5, and the output shaft of the drive motor 4 are coaxial. The first element 22 is provided with a second element 23 and a left sun gear 24 that mesh with it. The second element 23 is fixedly disposed on the torque transfer mechanism housing, and the left sun gear 24 is drivenly connected to the composite small gear ring 16 via a connecting shaft 25. In the above-described axial region between the sun gear and the planetary carrier, the splined internal and external gear hubs of the half-shaft are arranged. This avoids occupying additional axial space outside the drive system, allowing the half-shaft to be made longer and its included angle to be more optimized, thus solving the problems of excessively short half-shafts and insufficient ground clearance in coaxial systems. Furthermore, in this invention, the composite planetary carrier 11 and the left planetary carrier 21 serve as output elements. Through the combination of the revolution and rotation of the corresponding planetary gears, a wide range of speed changes is achieved. This significantly alters the overall transmission ratio of the system, meeting the needs of scenarios requiring high torque output, effectively reducing the load on the vector motor and drive motor, and extending the system's lifespan.

[0031] In this application, the vector motor 61 and the drive motor 4 are hydraulically or electrically driven; of course, they can also be driven by other methods, all of which fall within the protection scope of this utility model. The above design is ingenious. In this system, the overall speed ratio can be increased to over 13 through the cooperation of the compound planetary mechanism 1, the left planetary mechanism 2, and the right planetary mechanism 3. This allows for the use of a smaller vector motor, increasing the system's power without requiring a larger vector motor or increased current, effectively improving the system's economy. Simultaneously, this layout is reasonable and compact, reducing space occupation and making the system smaller, which is beneficial for a rational layout.

[0032] In the above, the composite planetary mechanism 1 and the left planetary mechanism 2 cooperate to form a differential mechanism, which integrates deceleration and differential functions into one. To satisfy the basic differential function of differential speed without torque difference, the differential mechanism must satisfy 1+|k1|=|k1|*|k2-1| (|| is the absolute value). The formula for calculating the characteristic value K of the compound planetary mechanism 1 is k=zr*zp1 / (zp2*zs), where zp1 is the number of teeth of the compound large planetary gear 12 meshing with the compound sun gear 14, zp2 is the number of teeth of the compound small planetary gear 13 meshing with the compound small gear ring 16, zr is the number of teeth of the compound large gear ring, and zs is the number of teeth of the compound sun gear. Since zp1 / zp2 is greater than 1, the compound planetary mechanism can easily achieve a large characteristic value k compared with a single row of ordinary planetary gears by setting the stepped planetary gears. Taking k1=-5.5, the characteristic value k2 of the left planetary mechanism is 2.182, and the total speed ratio is 1+|k1|*|k2-1|+|k1|=13 (|| is the absolute value). In the above-mentioned configuration, the combined planetary mechanism 1 and the left planetary mechanism 2 work together to achieve a total speed ratio of 13 or higher. This allows for the use of a smaller vector motor, eliminating the need to increase the size of the vector motor or its current to increase the system's power, thus effectively improving the system's economy. Furthermore, this layout is rational and compact, reducing the space required and making the system smaller, which is beneficial for efficient layout design.

[0033] like Figure 1As shown, this is the first embodiment of the present invention. The first component 31 is a right planetary carrier, the second component 33 is a right gear ring, and the third component 34 is a right sun gear. A right planetary gear 32 is provided on the right planetary carrier, and the right gear ring and right sun gear, respectively, mesh with the inner and outer sides of the right planetary gear 32. The first element 22 consists of a first left planetary gear 221 and a second left planetary gear 222 disposed on the left planetary carrier 21, meshing with each other. The left sun gear 24 meshes with the first left planetary gear 221. The second element 23 is a left gear ring, meshing with the second left planetary gear 222. The use of the first left planetary gear 221 and the second left planetary gear 222 in a mutually cooperating configuration, i.e., a positive planetary mechanism, allows the planetary gear set characteristic value k to be at a reasonable value, achieving a balance in structural design, cost, and manufacturability. In addition, in this embodiment, the actuation component 6 includes at least a vector motor 61 whose output shaft is coaxially arranged with the right half-shaft 5, and the output shaft of the vector motor 61 is fixedly connected to the right planetary carrier. A reducer 611 is also provided on the output shaft of the vector motor 61 to reduce the rotational speed and increase the torque. In the first embodiment, the actuation component, drive motor, and compound planetary mechanism 1, left planetary mechanism 2, and right planetary mechanism 3 are all arranged coaxially, which can significantly reduce the radial dimension, lower the overall vehicle height, maximize the balance between vehicle power and economy, and also make the structure more compact and the layout more reasonable.

[0034] The working process of the first embodiment is briefly described below: When the vehicle is traveling in a straight line, the vector motor 61 is not working, but the drive motor 4 is working, transmitting power to the composite sun gear 14 through its output shaft. The composite sun gear 14 receives the power and transmits it to the composite planetary gear 12 and the composite planetary carrier 11. The composite planetary carrier 11 then transmits the power to the right half-shaft 5. Simultaneously, the composite planetary gear 12 transmits part of the power to the composite planetary gear 13. The composite planetary gear 13 transmits the power to the left planetary carrier 21 via the composite pinion gear 16, connecting shaft 25, left sun gear 24, second left planetary gear 222, and first left planetary gear 221. The left planetary carrier 21 then transmits the power to the left half-shaft.

[0035] When the vehicle is cornering, a speed difference occurs between the left and right half-shafts. At this time, the vector motor 61 operates, and its output shaft transmits power to the right planetary carrier. The right planetary carrier transmits power to the right planetary gear 32. The right planetary gear 32 transmits part of the power to the compound planetary carrier 11 through the right ring gear. The compound planetary carrier 11 transmits power to the right half-shaft 5. The right planetary gear 32 also transmits part of the power to the right sun gear. The right sun gear transmits power to the compound large planetary gear 12 through the linkage shaft 36 and the compound large ring gear 15. The compound large planetary gear 12 transmits part of the power to the compound small planetary gear 13. The compound small planetary gear 13 transmits power to the left planetary carrier 21 through the compound small ring gear 16, the connecting shaft 25, the left sun gear 24, the second planetary gear 222, and the first planetary gear 221. The left planetary carrier 21 transmits power to the left half-shaft. The torque transmitted to the left and right half-shafts is divided into equal and opposite torques, either positive on the left and negative on the right or negative on the left and positive on the right, after passing through the planetary gear ratio. This results in a "differential torque" effect between the two half-shafts.

[0036] like Figure 2 As shown, this is the second embodiment of the present invention. The first component 31 is a right planetary carrier, the second component 33 is a right gear ring, and the third component 34 is a right sun gear. The right planetary carrier is provided with a right planet gear 32, and the right gear ring and right sun gear, which mesh with the right planet gear 32, are respectively provided on the inner and outer sides of the right planet gear 32. The first element 22 consists of a left large planet gear 229 and a left small planet gear 228 that rotate integrally with the same angular velocity on the left planetary carrier 21. The left sun gear 24 meshes with the left large planet gear 229. The second element 23 is an internal gear ring, which meshes with the left small planet gear 228. By using the left large planet gear 229 and the left small planet gear 228 in a cooperative arrangement, i.e., a positive planetary mechanism, the characteristic value k of the planetary set can be kept at a reasonable value, achieving a balance in structural design, cost, and manufacturing process. In addition, in this embodiment, the actuation component 6 includes at least a vector motor 61 whose output shaft is coaxially arranged with the right half-shaft 5, and the output shaft of the vector motor 61 is fixedly connected to the right planetary carrier. A reducer 611 is also provided on the output shaft of the vector motor 61 to reduce the rotational speed and increase the torque. In the second embodiment, the actuation component, drive motor, and compound planetary mechanism 1, left planetary mechanism 2, and right planetary mechanism 3 are all arranged coaxially, which can significantly reduce the radial dimension, lower the overall vehicle height, maximize the balance between vehicle power and economy, and also make the structure more compact and the layout more reasonable.

[0037] The working process of the second embodiment is briefly described below: When the vehicle is traveling in a straight line, the vector motor 61 is not working, but the drive motor 4 is working, transmitting power to the composite sun gear 14 through its output shaft. The composite sun gear 14 receives the power and transmits it to the composite planetary gear 12 and the composite planetary carrier 11. The composite planetary carrier 11 then transmits the power to the right half-shaft 5. Simultaneously, the composite planetary gear 12 transmits part of the power to the composite planetary gear 13. The composite planetary gear 13, through the composite small gear ring 16, connecting shaft 25, left sun gear 24, and left planetary gear 229, transmits the power to the left planetary carrier 21. The left planetary carrier 21 then transmits the power to the left half-shaft.

[0038] When the vehicle is cornering, a speed difference occurs between the left and right half-shafts. At this time, the vector motor 61 operates, and its output shaft transmits power to the right planetary carrier. The right planetary carrier transmits power to the right planetary gear 32. The right planetary gear 32 transmits part of the power to the compound planetary carrier 11 through the right ring gear. The compound planetary carrier 11 transmits power to the right half-shaft 5. The right planetary gear 32 also transmits part of the power to the right sun gear. The right sun gear transmits power to the compound large planetary gear 12 through the linkage shaft 36 and the compound large ring gear 15. The compound large planetary gear 12 transmits part of the power to the compound small planetary gear 13. The compound small planetary gear 13 transmits power to the left planetary carrier 21 through the compound small ring gear 16, the connecting shaft 25, the left sun gear 24, and the left large planetary gear 229. The left planetary carrier 21 transmits power to the left half-shaft. The torque transmitted to the left and right half-shafts is divided into equal magnitudes but opposite directions after the planetary gear ratio, resulting in a "differential torque" effect between the two half-shafts.

[0039] like Figure 3 As shown, this is the third embodiment of the present invention. The difference from the first embodiment lies in the structure of the actuation component 6. The actuation component 6 includes at least a vector motor 61 disposed on one side of the drive motor 4. The output shaft of the vector motor 61 is parallel to the output shaft of the drive motor 4. An idler shaft 62, parallel to the output shaft of the vector motor 61 and the drive motor 4, is provided between them. A first driven gear 63 and a second driving gear 64 are fixedly mounted on the idler shaft 62. The first driven gear 63 meshes with a first driving gear 65 fixedly disposed on the output shaft of the vector motor 61, and the second driving gear 64 meshes with a second driven gear 66 fixedly disposed on the right planetary carrier. The arrangement of the actuation component 6 allows for more reasonable values ​​of the characteristic value k of each planetary gear set, and the speed ratio of the entire system can be larger, resulting in a shorter drive motor length and lower cost. Furthermore, in the third embodiment, the actuation component is disposed on one side of the drive motor and the compound planetary mechanism 1, the left planetary mechanism 2, and the right planetary mechanism 3, which can reduce the axial dimension, making the structure more compact and the layout more reasonable.

[0040] The working process of the third embodiment is briefly described below: When the vehicle is traveling in a straight line, the vector motor 61 is not working, but the drive motor 4 is working, transmitting power to the composite sun gear 14 through its output shaft. The composite sun gear 14 receives the power and transmits it to the composite planetary gear 12 and the composite planetary carrier 11. The composite planetary carrier 11 then transmits the power to the right half-shaft 5. Simultaneously, the composite planetary gear 12 transmits part of the power to the composite planetary gear 13. The composite planetary gear 13, through the composite small gear ring 16, connecting shaft 25, left sun gear 24, and left planetary gear 229, transmits the power to the left planetary carrier 21. The left planetary carrier 21 then transmits the power to the left half-shaft.

[0041] When the vehicle is cornering, a speed difference occurs between the left and right half-shafts. At this time, the vector motor 61 operates, and its output shaft transmits power to the right planetary carrier through the first driving gear 65, the first driven gear 63, the idler shaft 62, the second driving gear 64, and the second driven gear 66. The right planetary carrier transmits power to the right planetary gear 32, and the right planetary gear 32 transmits part of the power to the compound planetary carrier 11 through the right ring gear. The compound planetary carrier 11 transmits power to the right half-shaft 5. The right planetary gear 32 also transmits part of the power to the right sun gear, and the right sun gear transmits power to the compound large planetary gear 12 through the linkage shaft 36 and the compound large ring gear 15. The compound large planetary gear 12 transmits part of the power to the compound small planetary gear 13, and the compound small planetary gear 13 transmits power to the left planetary carrier 21 through the compound small ring gear 16, the connecting shaft 25, the left sun gear 24, and the left large planetary gear 229. The left planetary carrier 21 transmits power to the left half-shaft. The torque transmitted to the left and right half-shafts is divided by the planetary gear set into equal but opposite torques, either positive on the left and negative on the right, or negative on the left and positive on the right, ultimately creating a "differential torque" effect between the two half-shafts.

[0042] like Figure 4 As shown, this is the fourth embodiment of the present invention. The difference from the first embodiment lies in the structure of the actuation component 6. The actuation component 6 includes at least a vector motor 61 disposed on one side of the drive motor 4. The output shaft of the vector motor 61 is parallel to the output shaft of the drive motor 4. A first driving gear 65 is fixedly disposed on the output shaft of the vector motor 61, and a first driven gear 63 is fixedly disposed on the right planetary carrier. An idler gear 67 meshes between the first driving gear 65 and the first driven gear 63. The arrangement of the actuation component 6 makes the characteristic value k of each planetary gear set more reasonable, and the speed ratio of the entire system can be larger, resulting in a shorter drive motor length and lower cost. Furthermore, in the fourth embodiment, the actuation component is disposed on one side of the drive motor and the compound planetary mechanism 1, the left planetary mechanism 2, and the right planetary mechanism 3, which can reduce the axial dimension, making the structure more compact and the layout more reasonable.

[0043] The working process of the fourth embodiment is briefly described below: When the vehicle is traveling in a straight line, the vector motor 61 is not working, but the drive motor 4 is working, transmitting power to the composite sun gear 14 through its output shaft. The composite sun gear 14 receives the power and transmits it to the composite planetary gear 12 and the composite planetary carrier 11. The composite planetary carrier 11 then transmits the power to the right half-shaft 5. Simultaneously, the composite planetary gear 12 transmits part of the power to the composite planetary gear 13. The composite planetary gear 13, through the composite small gear ring 16, connecting shaft 25, left sun gear 24, and left planetary gear 229, transmits the power to the left planetary carrier 21. The left planetary carrier 21 then transmits the power to the left half-shaft.

[0044] When the vehicle is cornering, a speed difference occurs between the left and right half-shafts. At this time, the vector motor 61 operates, and its output shaft transmits power to the right planetary carrier through the first driving gear 65, idler gear 67, and first driven gear 63. The right planetary carrier transmits power to the right planetary gear 32, and the right planetary gear 32 transmits part of the power to the compound planetary carrier 11 through the right ring gear. The compound planetary carrier 11 transmits power to the right half-shaft 5. The right planetary gear 32 also transmits part of the power to the right sun gear, and the right sun gear transmits power to the compound large planetary gear 12 through the linkage shaft 36 and the compound large ring gear 15. The compound large planetary gear 12 transmits part of the power to the compound small planetary gear 13, and the compound small planetary gear 13 transmits power to the left planetary carrier 21 through the compound small ring gear 16, connecting shaft 25, left sun gear 24, and left large planetary gear 229. The left planetary carrier 21 transmits power to the left half-shaft. The torque transmitted to the left and right half-shafts is divided into equal and opposite torques, either positive on the left and negative on the right or negative on the left and positive on the right, after passing through the planetary gear ratio. This results in a "differential torque" effect between the two half-shafts.

[0045] like Figure 5The diagram shows the fifth embodiment of this utility model. The difference from the first embodiment lies in the structure of the actuation component 6. The actuation component 6 includes at least a vector motor 61 disposed on one side of the drive motor 4. The output shaft of the vector motor 61 is parallel to the output shaft of the drive motor 4. An intermediate shaft 68 and an idler shaft 62, parallel to the output shaft of the vector motor 61 and the drive motor 4, are provided between them. A first driven gear 63 and a second driving gear 64 are fixedly mounted on the idler shaft 62. The first driven gear 63 meshes with a first driving gear 65 fixedly mounted on the output shaft of the vector motor 61. A second driven gear 66 and a third driving gear 69 are fixedly mounted on the intermediate shaft 68. The second driven gear 66 meshes with the second driving gear 64, and the third driving gear 69 meshes with a third driven gear 60 fixedly mounted on the right planetary carrier. The configuration of the actuation component 6 allows for more reasonable values ​​of the characteristic value k of each planetary gear set, and enables a larger speed ratio for the entire system, resulting in a shorter drive motor and lower cost. In addition, in the fifth embodiment, the actuation component is located on one side of the drive motor and the compound planetary mechanism 1, the left planetary mechanism 2 and the right planetary mechanism 3, which can reduce the axial dimension and make the structure more compact and the layout more reasonable.

[0046] The working process of the fifth embodiment is briefly described below: When the vehicle is traveling in a straight line, the vector motor 61 is not working, but the drive motor 4 is working, transmitting power to the composite sun gear 14 through its output shaft. The composite sun gear 14 receives the power and transmits it to the composite planetary gear 12 and the composite planetary carrier 11. The composite planetary carrier 11 then transmits the power to the right half-shaft 5. Simultaneously, the composite planetary gear 12 transmits part of the power to the composite planetary gear 13. The composite planetary gear 13, through the composite small gear ring 16, connecting shaft 25, left sun gear 24, and left planetary gear 229, transmits the power to the left planetary carrier 21. The left planetary carrier 21 then transmits the power to the left half-shaft.

[0047] When the vehicle is cornering, a speed difference occurs between the left and right half-shafts. At this time, the vector motor 61 operates, and its output shaft transmits power to the right planetary carrier through the first driving gear 65, the first driven gear 63, the idler shaft 62, the second driving gear 64, the second driven gear 66, the intermediate shaft 68, the third driving gear 69, and the third driven gear 60. The right planetary carrier transmits power to the right planetary gear 32, and the right planetary gear 32 transmits part of the power to the compound planetary carrier 11 through the right ring gear. The compound planetary carrier 11 transmits power to the right half-shaft 5. The right planetary gear 32 also transmits a portion of the power to the right sun gear. The right sun gear transmits the power to the compound planetary gear 12 via the linkage shaft 36 and the compound large gear ring 15. The compound planetary gear 12 transmits a portion of the power to the compound small planetary gear 13. The compound small planetary gear 13 transmits the power to the left planet carrier 21 via the compound small gear ring 16, the connecting shaft 25, the left sun gear 24, and the left large planetary gear 229. The left planet carrier 21 then transmits the power to the left half-shaft. The torque transmitted to the left and right half-shafts is divided into equal magnitudes but opposite directions after the planetary gear ratio is adjusted, resulting in either a positive left and a negative right or a negative left and a positive right torque. This ultimately creates a differential torque effect between the two half-shafts.

[0048] In the first to fifth embodiments, the right planetary mechanism 3, through a reasonable speed ratio configuration, allows the second component 33 and the third component 34 to act simultaneously as dual inputs when the left and right half-shafts rotate at the same speed. After calculation, the speed ratio of the third component 34 to the third component 34 is 2.35. Therefore, in this utility model, when the characteristic value k3 of the right planetary mechanism is -2.35, the speed of the first component 31 is exactly 0 RPM, that is, the vector motor remains stationary.

[0049] Compared with the existing technology CN114008354B, the above design has a composite planetary mechanism characteristic value k1=-5.5, a left planetary mechanism characteristic value k2=2.182, and a right planetary mechanism characteristic value k3=-2.35. The characteristic values ​​k1, k2, and k3 are all within the ideal range that can be achieved by conventional structural design and manufacturing. Therefore, there are no problems with needle roller bearing selection, load sharing design, or poor manufacturing process. The development and manufacturing difficulty is lower, which is beneficial to enterprise development.

[0050] like Figure 6As shown in the sixth embodiment of this utility model, the first component 31 is a right gear ring, the second component 33 is a right planetary carrier, and the third component 34 is a right sun gear. The right planetary carrier has a first right planetary gear 39 and a second right planetary gear 38, which mesh with each other. The first right planetary gear 39 meshes with the right gear ring, and the second right planetary gear 38 meshes with the right sun gear. The first element 22 consists of a first left planetary gear 221 and a second left planetary gear 222 disposed on the left planetary carrier 21, which mesh with each other. The left sun gear 24 meshes with the first left planetary gear 221. The second element 23 is a left gear ring, which meshes with the second left planetary gear 222. The first left planetary gear 221 and the second left planetary gear 222, along with the first right planetary gear 39 and the second right planetary gear 38, are arranged in a positive planetary mechanism. This ensures that the characteristic value k of the planetary gear set is at a reasonable value, achieving a balance between structural design, cost, and manufacturability. Furthermore, in this embodiment, the actuation component 6 includes at least a vector motor 61 whose output shaft is coaxially arranged with the right half-shaft 5. The output shaft of the vector motor 61 is fixedly connected to the right planetary carrier. A reducer 611 is also provided on the output shaft of the vector motor 61 to reduce the rotational speed and increase the torque. In the sixth embodiment, the actuation component, the drive motor, and the composite planetary mechanism 1, the left planetary mechanism 2, and the right planetary mechanism 3 are all arranged coaxially. This significantly reduces the radial dimensions and the overall vehicle height, maximizing both vehicle power and economy, and resulting in a more compact structure and a more rational layout.

[0051] The working process of the sixth embodiment is briefly described below: When the vehicle is traveling in a straight line, the vector motor 61 is not working, but the drive motor 4 is working, transmitting power to the composite sun gear 14 through its output shaft. The composite sun gear 14 receives the power and transmits it to the composite planetary gear 12 and the composite planetary carrier 11. The composite planetary carrier 11 then transmits the power to the right half-shaft 5. Simultaneously, the composite planetary gear 12 transmits part of the power to the composite planetary gear 13. The composite planetary gear 13 transmits the power to the left planetary carrier 21 via the composite pinion gear 16, connecting shaft 25, left sun gear 24, second left planetary gear 222, and first left planetary gear 221. The left planetary carrier 21 then transmits the power to the left half-shaft.

[0052] When the vehicle corners, a speed difference occurs between the left and right half-shafts. At this time, the vector motor 61 operates, and its output shaft transmits power to the right planetary carrier and the right sun gear through the right ring gear, the first right planetary gear 39, and the second right planetary gear 3. The right planetary carrier transmits power to the compound planetary carrier 11, which in turn transmits power to the right half-shaft 5. The right sun gear transmits power to the compound large planetary gear 12 through the linkage shaft 36 and the compound large ring gear 15. The compound large planetary gear 12 transmits part of the power to the compound small planetary gear 13. The compound small planetary gear 13 transmits power to the left planetary carrier 21 through the compound small ring gear 16, the connecting shaft 25, the left sun gear 24, the second planetary gear 222, and the first planetary gear 221. The left planetary carrier 21 then transmits power to the left half-shaft. The torque transmitted to the left and right half-shafts, after being adjusted by the planetary gear ratio, forms equal but opposite torques, either positive on the left and negative on the right or negative on the left and positive on the right, ultimately creating a "differential torque" effect between the two half-shafts.

[0053] like Figure 7 As shown in the seventh embodiment of this utility model, the first component 31 is a right gear ring, the second component 33 is a right planetary carrier, and the third component 34 is a right sun gear. The right planetary carrier is provided with a first right planetary gear 39 and a second right planetary gear 38, which mesh with each other. The first right planetary gear 39 meshes with the right gear ring, and the second right planetary gear 38 meshes with the right sun gear. The first element 22 consists of a left large planetary gear 229 and a left small planetary gear 228 that rotate integrally with the same angular velocity on the left planetary carrier 21. The left sun gear 24 meshes with the left large planetary gear 229. The second element 23 is an internal gear ring that meshes with the left small planetary gear 228 and is fixedly mounted on the torque transfer mechanism housing. The use of the first right planetary gear 39 and the second right planetary gear 38 in a mutually cooperating configuration, i.e., a positive planetary mechanism, allows the planetary gear set characteristic value k to be at a reasonable value, achieving a balance in structural design, cost, and manufacturing process. In addition, in this embodiment, the actuation component 6 includes at least a vector motor 61 whose output shaft is coaxially arranged with the right half-shaft 5, and the output shaft of the vector motor 61 is fixedly connected to the right planetary carrier. A reducer 611 is also provided on the output shaft of the vector motor 61 to reduce the rotational speed and increase the torque. In the sixth embodiment, the actuation component, drive motor, and compound planetary mechanism 1, left planetary mechanism 2, and right planetary mechanism 3 are all arranged coaxially, which can significantly reduce the radial dimension, lower the overall vehicle height, maximize the balance between vehicle power and economy, and also make the structure more compact and the layout more reasonable.

[0054] The working process of the seventh embodiment is briefly described below: When the vehicle is traveling in a straight line, the vector motor 61 is not working, but the drive motor 4 is working, transmitting power to the composite sun gear 14 through its output shaft. The composite sun gear 14 receives the power and transmits it to the composite planetary gear 12 and the composite planetary carrier 11. The composite planetary carrier 11 then transmits the power to the right half-shaft 5. Simultaneously, the composite planetary gear 12 transmits some power to the composite planetary gear 13. The composite planetary gear 13 transmits power to the left planetary carrier 21 via the composite small gear ring 16, connecting shaft 25, left sun gear 24, left planetary gear 229, and left planetary carrier 21. The left planetary carrier 21 then transmits the power to the left half-shaft.

[0055] When the vehicle corners, a speed difference occurs between the left and right half-shafts. At this time, the vector motor 61 operates, and its output shaft transmits power to the right planetary carrier and the right sun gear through the right ring gear, the first right planetary gear 39, and the second right planetary gear 3. The right planetary carrier transmits power to the compound planetary carrier 11, which in turn transmits power to the right half-shaft 5. The right sun gear transmits power to the compound large planetary gear 12 through the linkage shaft 36 and the compound large ring gear 15. The compound large planetary gear 12 transmits part of the power to the compound small planetary gear 13. The compound small planetary gear 13 transmits power to the left planetary carrier 21 through the compound small ring gear 16, the connecting shaft 25, the left sun gear 24, the left large planetary gear 229, and the left planetary carrier 21. The left planetary carrier 21 then transmits power to the left half-shaft. The torque transmitted to the left and right half-shafts, after being adjusted by the planetary gear ratio, forms equal but opposite torques, either positive on the left and negative on the right or negative on the left and positive on the right, ultimately creating a "differential torque" effect between the two half-shafts.

[0056] In the sixth and seventh embodiments, the right planetary mechanism 3, through a reasonable speed ratio configuration, allows the second component 33 and the third component 34 to act simultaneously as dual inputs when the left and right half-shafts rotate at the same speed. After calculation, the speed ratio of the third component 34 to the third component 34 is 3.35. Therefore, in this utility model, when the characteristic value k3 of the right planetary mechanism is 3.35, the speed of the first component 31 is exactly 0 RPM, that is, the vector motor remains stationary.

[0057] Compared with existing technologies, the characteristic value of the composite planetary mechanism is k1=-5.5, the characteristic value of the left planetary mechanism is k2=2.182, and the characteristic value of the right planetary mechanism is k3=3.35. The characteristic values ​​k1, k2 and k3 are all within the ideal range that can be achieved by conventional structural design and manufacturing. Therefore, there are no problems such as difficulty in selecting needle roller bearings, load sharing design and poor manufacturing process. The development and manufacturing difficulty is smaller, which is conducive to enterprise development.

[0058] like Figure 8As shown in the eighth embodiment of this utility model, the first component 31 is a right sun gear, the second component 33 is a right planet carrier, and the third component 34 is a right ring gear. A right planet gear 32 is provided on the right planet carrier, and the right ring gear and right sun gear, respectively, mesh with the inner and outer sides of the right planet gear 32. The first element 22 consists of a first left planet gear 221 and a second left planet gear 222 disposed on the left planet carrier 21, meshing with each other. The left sun gear 24 meshes with the first left planet gear 221. The second element 23 is a left ring gear, meshing with the second left planet gear 222. The use of the first left planet gear 221 and the second left planet gear 222 in a mutually cooperating configuration, i.e., a positive planetary mechanism, allows the planetary gear set characteristic value k to be at a reasonable value, achieving a balance in structural design, cost, and manufacturing process. In addition, in this embodiment, the actuation component 6 includes at least a vector motor 61 whose output shaft is coaxially arranged with the right half-shaft 5, and the output shaft of the vector motor 61 is fixedly connected to the right planetary carrier. A reducer 611 is also provided on the output shaft of the vector motor 61 to reduce the rotational speed and increase the torque. In the first embodiment, the actuation component, drive motor, and compound planetary mechanism 1, left planetary mechanism 2, and right planetary mechanism 3 are all arranged coaxially, which can significantly reduce the radial dimension, lower the overall vehicle height, maximize the balance between vehicle power and economy, and also make the structure more compact and the layout more reasonable.

[0059] The working process of the eighth embodiment is briefly described below: When the vehicle is traveling in a straight line, the vector motor 61 is not working, but the drive motor 4 is working, transmitting power to the composite sun gear 14 through its output shaft. The composite sun gear 14 receives the power and transmits it to the composite planetary gear 12 and the composite planetary carrier 11. The composite planetary carrier 11 then transmits the power to the right half-shaft 5. Simultaneously, the composite planetary gear 12 transmits part of the power to the composite planetary gear 13. The composite planetary gear 13 transmits the power to the left planetary carrier 21 via the composite pinion gear 16, connecting shaft 25, left sun gear 24, second left planetary gear 222, and first left planetary gear 221. The left planetary carrier 21 then transmits the power to the left half-shaft.

[0060] When the vehicle turns, a speed difference occurs between the left and right half-shafts. At this time, the vector motor 61 operates, and its output shaft transmits power to the right sun gear. The right sun gear, through the right planet gear 32, transmits power to the right planet carrier and the right ring gear respectively. The right ring gear, through the linkage shaft 36 and the compound large ring gear 15, transmits power to the compound large planet gear 12. The compound large planet gear 12 transmits part of the power to the compound small planet gear 13. The compound small planet gear 13, through the compound small ring gear 16, the connecting shaft 25, the left sun gear 24, the second left planet gear 222, and the first left planet gear 221, transmits power to the left planet carrier 21. The left planet carrier 21 transmits power to the left half-shaft. The compound large planet gear 12 transmits power to the right half-shaft 5 through the compound planet carrier 11. Meanwhile, the right planetary carrier transmits another portion of the power to the compound pinion gear 16. The compound pinion gear 16 then transmits a portion of the power to the left planetary carrier 21 via the connecting shaft 25, the left sun gear 24, the second left planetary gear 222, and the first left planetary gear 221. The left planetary carrier 21 then transmits the power to the left half-shaft. The compound pinion gear 16 also transmits another portion of the power to the compound planetary gear 13. The compound planetary gear 13 then transmits the power to the right half-shaft 5 via the compound planetary carrier 11. The torque transmitted to the left and right half-shafts, after being adjusted by the planetary gear ratio, forms equal but opposite torques, either positive on the left and negative on the right, or negative on the left and positive on the right, ultimately creating a differential torque effect between the two half-shafts.

[0061] In the eighth embodiment, the right planetary mechanism 3, through a reasonable speed ratio configuration, allows the second component 33 and the third component 34 to act simultaneously as dual inputs when the left and right half-shafts rotate at the same speed. After calculation, the speed ratio of the third component 34 to the third component 34 is -3.11. Therefore, in this utility model, when the characteristic value k3 of the right planetary mechanism is -3.11, the speed of the first component 31 is exactly 0 RPM, that is, the vector motor remains stationary.

[0062] Compared with existing technologies, the characteristic values ​​of the composite planetary mechanism are k1=-5.5, the characteristic value of the left planetary mechanism is k2=2.182, and the characteristic value of the right planetary mechanism is k3=-3.11. The characteristic values ​​k1, k2 and k3 are all within the ideal range that can be achieved by conventional structural design and manufacturing. Therefore, there are no problems such as difficulty in selecting needle roller bearings, load sharing design and poor manufacturing process. The development and manufacturing difficulty is smaller, which is conducive to enterprise development.

[0063] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0064] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementations or modifications made without departing from the spirit of this utility model should be included within the scope of protection of this utility model.

Claims

1. A planetary differential torque vector system, characterized in that: The system includes a composite planetary mechanism (1) and a left planetary mechanism (2) and a right planetary mechanism (3) disposed on both sides thereof. The composite planetary mechanism (1) includes a composite planetary carrier (11) and a composite large planetary gear (12) and a composite small planetary gear (13) that rotate together at the same angular velocity on it. One end of the composite planetary carrier (11) is connected to the right half shaft (5). The inner and outer sides of the composite large planetary gear (12) are respectively provided with a composite sun gear (14) and a composite large gear ring (15) that mesh with it. The composite sun gear (14) is fixedly connected to the output shaft of the drive motor (4). The outer side of the composite small planetary gear (13) is provided with a composite small gear ring (16) that meshes with it. The left planetary mechanism (2) includes at least a left planet carrier (21) and a first element (22) disposed thereon. The left planet carrier (21) is fixedly connected to the left half shaft (7). The left half shaft (7), the right half shaft (5), and the output shaft of the drive motor (4) are coaxial. The first element (22) is provided with a second element (23) and a left sun gear (24) that mesh with it. The second element (23) is fixedly disposed on the torque transfer mechanism housing. The left sun gear (24) is drivenly connected to the compound small gear ring (16) through a connecting shaft (25). The right planetary mechanism (3) has at least a first component (31), a second component (33) and a third component (34). The first component (31) is connected to the actuation assembly (6), the second component (33) is connected to the composite planet carrier (11) or the composite small planetary gear (13), and the third component (34) is connected to the composite large gear ring (15) via a linkage shaft (36).

2. The planetary differential torque vector system according to claim 1, characterized in that: The first component (31) is a right planet carrier, the second component (33) is a right gear ring, the third component (34) is a right sun gear, the right planet carrier is provided with a right planet gear (32), and the right planet gear (32) is provided with the right gear ring and the right sun gear meshing with it on the inner and outer sides of the right planet gear (32), respectively.

3. The planetary differential torque vector system according to claim 1, characterized in that: The first component (31) is a right gear ring, the second component (33) is a right planet carrier, and the third component (34) is a right sun gear. The right planet carrier is provided with a first right planet gear (39) and a second right planet gear (38). The first right planet gear (39) and the second right planet gear (38) mesh with each other. The first right planet gear (39) meshes with the right gear ring, and the second right planet gear (38) meshes with the right sun gear.

4. The planetary differential torque vector system according to claim 1, characterized in that: The first component (31) is the right sun gear, the second component (33) is the right planet carrier, the third component (34) is the right gear ring, the right planet carrier is provided with a right planet gear (32), and the right planet gear (32) is provided with the right gear ring and the right sun gear meshing with it on the inner and outer sides of the right gear ring and the right sun gear, respectively.

5. The planetary differential torque vector system according to claim 1, characterized in that: The first element (22) is a first left planetary gear (221) and a second left planetary gear (222) disposed on the left planetary carrier (21), and the first left planetary gear (221) and the second left planetary gear (222) mesh with each other; the left sun gear (24) meshes with the first left planetary gear (221); the second element (23) is a left gear ring, and the left gear ring meshes with the second left planetary gear (222).

6. The planetary differential torque vector system according to claim 1, characterized in that: The first element (22) is a left large planetary gear (229) and a left small planetary gear (228) that rotate together at the same angular velocity on the left planetary carrier (21), and the left sun gear (24) meshes with the left large planetary gear (229); the second element (23) is an internal gear ring that meshes with the left small planetary gear (228) and is fixedly mounted on the torque transfer mechanism housing.

7. The planetary differential torque vectoring system according to any one of claims 1-6, characterized in that: The actuation assembly (6) includes at least a vector motor (61) whose output shaft is coaxial with the right half shaft (5). The output shaft of the vector motor (61) is fixedly connected to the right planetary carrier (31). A reducer (611) is also provided on the output shaft of the vector motor (61).

8. The planetary differential torque vectoring system according to claim 5, characterized in that: The actuation assembly (6) includes at least a vector motor (61) disposed on one side of the drive motor (4), the output shaft of the vector motor (61) being parallel to the output shaft of the drive motor (4); an idler shaft (62) parallel to the output shaft of the vector motor (61) and the output shaft of the drive motor (4) is provided between them, a first driven gear (63) and a second driving gear (64) are fixedly disposed on the idler shaft (62), the first driven gear (63) meshes with a first driving gear (65) fixedly disposed on the output shaft of the vector motor (61), and the second driving gear (64) meshes with a second driven gear (66) fixedly disposed on the right planetary carrier (31).

9. The planetary differential torque vectoring system according to claim 5, characterized in that: The actuation assembly (6) includes at least a vector motor (61) disposed on one side of the drive motor (4), the output shaft of the vector motor (61) being parallel to the output shaft of the drive motor (4); a first driving gear (65) is fixedly disposed on the output shaft of the vector motor (61), a first driven gear (63) is fixedly disposed on the right planetary carrier (31), and an idler gear (67) meshing with the first driving gear (65) and the first driven gear (63) is disposed between the first driving gear (65) and the first driven gear (63).

10. The planetary differential torque vectoring system according to claim 5, characterized in that: The actuation assembly (6) includes at least a vector motor (61) disposed on one side of the drive motor (4), the output shaft of the vector motor (61) being parallel to the output shaft of the drive motor (4); an intermediate shaft (68) and an idler shaft (62) parallel to the output shaft of the vector motor (61) and the output shaft of the drive motor (4) are provided between them, the idler shaft (62) being fixedly provided with a first driven gear (63) and a second driving gear (64), the first driven gear (63) meshing with a first driving gear (65) fixedly disposed on the output shaft of the vector motor (61); a second driven gear (66) and a third driving gear (69) are fixedly disposed on the intermediate shaft (68), the second driven gear (66) meshing with the second driving gear (64), and the third driving gear (69) meshing with a third driven gear (60) fixedly disposed on the right planetary carrier (31).

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