Planetary differential torque vectoring system

Abstract

The utility model discloses a kind of planetary differential torque vector control systems, including left half axle and right half axle, left half axle and right half axle between being equipped with composite planetary row and right planetary row, composite planetary row includes composite planet carrier, composite planet carrier is equipped with composite big planet wheel and composite small planet wheel, the inside of composite big planet wheel is equipped with composite big sun gear, composite big sun gear is fixedly connected to the output shaft of driving motor, the output shaft of driving motor is coaxial with right half axle;Composite small planet is equipped with differential planetary row, differential planetary row is fixedly connected to left half axle;Right planetary row is located with composite small planet wheel close one end, and it is used to transmit torque output by actuating assembly to composite planetary row or / and differential planetary row.The utility model has the beneficial effects mainly reflected in: design is ingenious, differential planetary row is sleeved on composite planetary row, that is, differential planetary row and composite planetary row adopt laminated arrangement, can substantially reduce axial dimension, so that layout is more reasonable compact.

Description

Technical Field

[0001] This utility model relates to the field of automotive power chassis technology, and more specifically, to a planetary differential torque vector control 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] As disclosed in patent announcement CN114026352B, a transmission device includes an input shaft, a first output shaft, a second output shaft, a first planetary gear set, and a second planetary gear set connected to the first planetary gear set. Each planetary gear set includes multiple elements. The input shaft, the two output shafts, the planetary gear sets, and their elements are arranged and configured such that the torque introduced via the input shaft is converted and distributed between the two output shafts at a defined ratio, and the generation of a summation torque is prevented. Here, at least one element of the first planetary gear set is rotatably connected to another element of the second planetary gear set, and yet another element of the second planetary gear set is fixed to a non-rotatable structural element. However, this device uses a friction plate clutch mechanism for execution, which has weak torque control and response accuracy, making it impossible to achieve high-response, high-precision control and posing safety hazards. Furthermore, this layout has a small speed ratio, which cannot meet the wheel-end torque requirements, resulting in significant limitations. In addition, the three planetary gear sets are arranged side-by-side, significantly increasing the axial length, which is not conducive to rational layout, occupies a large space, and is prone to interference with the subframe, posing safety hazards. 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 control system.

[0005] The objective of this utility model is achieved through the following technical solution: A planetary differential torque vector control system includes a left half-shaft and a right half-shaft coaxially arranged. A compound planetary gear set and a right planetary gear set coaxially arranged between the left and right half-shafts are provided. The compound planetary gear set includes a compound planet carrier fixedly mounted on the right half-shaft. The compound planet carrier is provided with a compound large planet gear and a compound small planet gear that rotate synchronously. A compound large sun gear is provided on the inner side of the compound large planet gear and meshes with it. The compound large sun gear is fixedly connected to the output shaft of a drive motor. The output shaft of the drive motor is coaxial with the right half-shaft. A differential planetary gear set is sleeved on the compound small planet gear. The differential planetary gear set is fixedly connected to the left half-shaft. The right planetary gear set is located at the end close to the compound small planet gear and is used to transmit the torque output by the actuation component to the compound planetary gear set and / or the differential planetary gear set.

[0006] Preferably, the differential planetary gear set includes a differential planetary carrier fixed on the torque transfer mechanism housing, a differential planetary gear is provided on the differential planetary carrier, a differential sun gear and a differential ring gear are respectively provided on the inner and outer sides of the differential planetary gear, and the differential ring gear is fixedly provided on the left half shaft; a composite ring gear is provided on the outer side of the composite planetary gear, and the composite ring gear is fixedly connected to the differential sun gear.

[0007] Preferably, the right planetary gear set includes a right planetary carrier fixedly mounted on the composite planetary carrier, a right planetary gear mounted on the right planetary carrier, a right sun gear and a right ring gear meshing with the inner and outer sides of the right planetary gear, respectively, and the right ring gear is fixedly connected to the actuation assembly; a composite sun gear meshing with the inner side of the composite planetary gear is provided, and the composite sun gear is fixedly connected to the right sun gear.

[0008] Preferably, the right planetary gear set includes a right planetary carrier fixedly mounted on the composite planetary carrier, on which a first planetary gear and a second planetary gear are mounted. The first planetary gear and the second planetary gear rotate together at the same angular velocity, and the diameter of the first planetary gear is larger than the diameter of the second planetary gear. A right sun gear is provided on the inner side of the first planetary gear, and a composite sun gear meshing with the inner side of the composite small planetary gear is provided. The composite sun gear is fixedly connected to the right sun gear. A right gear ring is provided on the outer side of the second planetary gear and meshing with it. The right gear ring is fixedly connected to the actuation assembly.

[0009] Preferably, the right planetary gear set includes a right planetary carrier fixedly connected to the actuation assembly, a right planetary gear is provided on the right planetary carrier, a right sun gear and a right ring gear are respectively provided on the inner and outer sides of the right planetary gear, a compound small planetary gear is provided on the inner side of the compound small planetary gear, a compound small sun gear is fixedly connected to the right sun gear, and the right ring gear is fixedly connected to the differential sun gear.

[0010] Preferably, the right planetary gear set includes a right planetary carrier fixedly mounted on the actuation assembly. The right planetary carrier is provided with a first planetary gear and a second planetary gear. The first planetary gear and the second planetary gear rotate together at the same angular velocity, and the diameter of the first planetary gear is larger than the diameter of the second planetary gear. A right gear ring is provided on the outer side of the second planetary gear and meshes with it. The right gear ring is fixedly connected to the differential sun gear. A right sun gear is provided on the inner side of the first planetary gear and meshes with it. A compound small planetary gear is provided on the inner side of the compound small planetary gear and meshes with it. The compound small sun gear is fixedly connected to the right sun gear.

[0011] Preferably, the actuation component includes a vector motor, the output shaft of which is connected to the right planetary gear set, and the output shaft of the vector motor is coaxial with the output shaft of the drive motor and the right half-shaft.

[0012] Preferably, a speed reducer is provided on the output shaft of the vector motor.

[0013] Preferably, the vector motor and the drive motor are hydraulically or electrically driven.

[0014] Preferably, both the left and right half-shafts have hubs on their outer sides.

[0015] The beneficial effects of this utility model are mainly reflected in: 1. The device boasts an ingenious design. By directly connecting the vector motor and drive motor to the corresponding planetary gear set, it significantly improves the accuracy and response speed of torque control, thereby enhancing the system's control precision and safety. Furthermore, the system contains no nested or convoluted structures, making structural design easier, lower in cost, and more widely applicable.

[0016] 2. The combination of composite large planetary gears and composite small planetary gears can increase torque, making the characteristic value k of each planetary gear set more reasonable. Moreover, the speed ratio of the entire system can be larger, resulting in a shorter drive motor, lower cost, and effective solution to the problem of insufficient differential torque, thus having a wide range of applicability.

[0017] 3. The differential planetary gear set is mounted on the composite planetary gear set, that is, the differential planetary gear set and the composite planetary gear set are arranged in a stacked manner, which can significantly reduce the axial dimension, making the layout more compact and more reasonable. At the same time, this design can use larger-specification vector motors and drive motors inside the same gearbox housing, so that the left and right half shafts can obtain greater differential torque capacity, effectively solving the problem of insufficient differential torque.

[0018] 4. The space inside the compound planetary gear is used to arrange the splined internal and external gear hubs of the half-shaft, so that it will not occupy additional axial space outside the drive system. This allows the half-shaft to be made longer and its included angle to 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.

[0019] 5. The combination of compound planetary gear sets and differential planetary gear sets enables a total speed ratio of 8 or higher. This allows for the use of smaller drive motors, increasing system power without requiring larger motors or higher current, effectively improving the system's economy. Simultaneously, this compact layout reduces space requirements, making the system smaller and facilitating efficient layout design. Furthermore, the high integration of compound and differential planetary gear sets reduces the number of parts, further reducing the overall weight of the system and enhancing heat dissipation, achieving overall weight reduction and cost reduction.

[0020] 6. The right planetary gear set is split into a composite planetary gear set (composite large planetary gear set and composite small planetary gear set). This will increase the axial space occupied, making the characteristic value of the right planetary gear set k3 = -4.55 or -4.48. This makes the structure easier to implement, and by reducing the size of the planetary gear set, the system density is increased, achieving a high degree of integration.

[0021] 7. The reducer can reduce speed and increase torque, which can solve the problem of insufficient differential torque capacity of the vector motor. Attached Figure Description

[0022] 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. Detailed Implementation

[0023] 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.

[0024] 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 based on the orientation or positional relationships shown in the accompanying drawings, 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.

[0025] 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.

[0026] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] like Figures 1 to 4 As shown, this utility model discloses a planetary differential torque vector control system, including a left half-shaft 1 and a right half-shaft 2 arranged coaxially, and a hub is provided on the outer side of both the left half-shaft 1 and the right half-shaft 2.

[0028] In this application, a composite planetary gear set 4 and a right planetary gear set 3 are coaxially arranged between the left half-shaft 1 and the right half-shaft 2. The composite planetary gear set 4 includes a composite planet carrier 41 fixedly mounted on the right half-shaft 2. The composite planet carrier 41 has synchronously rotating composite large planetary gears 42 and composite small planetary gears 43. A differential planetary gear set 5 is fitted onto the composite small planetary gears 43. The differential planetary gear set 5 is fixedly connected to the left half-shaft 1. In this configuration, the differential planetary gear set 5 is fitted onto the composite planetary gear set 4, meaning the differential planetary gear set and the composite planetary gear set 4 are arranged in a stacked configuration. This significantly reduces the axial dimensions, resulting in a more rational and compact layout. Furthermore, within the same specification transmission housing, the internal gear ratio can be larger, allowing the left and right half-shafts to achieve greater differential torque. Additionally, the composite large planetary gears 42 and composite small planetary gears 43 work together to increase torque, effectively solving the problem of insufficient differential torque. Moreover, this ingenious layout occupies little space and has wide applicability.

[0029] The inner side of the composite planetary gear 42 is provided with a composite sun gear 44 that meshes with it. The composite sun gear 44 is fixedly connected to the output shaft of the drive motor 6, and the output shaft of the drive motor 6 is coaxial with the right half-shaft 2. The right planetary gear set 3 is located at the end close to the composite planetary gear 43, and it is used to transmit the torque output by the actuation component to the composite planetary gear set 4 and / or the differential planetary gear set 5. The differential planetary gear set 5 includes a differential planetary carrier 51 fixed on the torque transfer mechanism housing. The differential planetary carrier 51 is provided with differential planetary gears 52. The inner and outer sides of the differential planetary gears 52 are respectively provided with differential sun gears 53 and differential ring gears 54 that mesh with them. The differential ring gear 54 is fixedly mounted on the left half-shaft 1. The outer side of the composite planetary gear 43 is provided with a composite ring gear 46, and the composite ring gear 46 is fixedly connected to the differential sun gear 53. The space inside the composite planetary gear is used to arrange the splined inner and outer gear hubs of the half-shaft, so that it will not occupy additional axial space outside the drive system. This allows the half-shaft to be made longer and its included angle to 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.

[0030] In the above, the compound planetary gear set and the differential planetary gear set are differential mechanisms that integrate deceleration and differential functions. To meet the basic differential function of differential speed without torque difference, the two planetary gear sets must satisfy 1 + |k1| = |k1| * |k2| (|| is the absolute value). The formula for calculating the characteristic value k of the compound planetary gear set is: k = zr * zp1 / (zp2 * zs), where zp1 is the number of teeth of the compound planetary gear meshing with the compound sun gear, zp2 is the number of teeth of the compound small planetary gear meshing with the compound ring gear, zr is the number of teeth of the compound ring gear, and zs is the number of teeth of the compound sun gear. Because zp1 / zp2 is greater than 1, the outer diameter of the compound small planetary gear zp2 is smaller than that of the compound large planetary gear zp1. Therefore, the radial dimension of the compound gear ring meshing with it also decreases. Consequently, the overall radial dimension of the right planetary gear set decreases. This means that, compared to a single-row ordinary planetary gear set, the compound planetary gear set, through the arrangement of the compound planetary gears, can achieve a larger characteristic value k within a smaller radial space. Taking its characteristic value k1 = -3, the characteristic value of the differential planetary gear set k2 = 1.33. Therefore, the overall speed ratio is 1 + |k1|*|k2| + |k1| = 8 (|| is the absolute value). In the above, the combination of the compound planetary gear set and the differential planetary gear set can achieve an overall speed ratio of 8 or higher. This allows for the use of smaller drive motors, increasing the system's power without needing to increase the size of the drive motor or the current, effectively improving the system's economy. Simultaneously, this layout is reasonable and compact, reducing the space occupied and making the system smaller, which is beneficial for a rational layout. In addition, the high degree of integration between composite planetary gear sets and differential planetary gear sets reduces the number of parts, further reduces the overall weight of the system and enhances heat dissipation, achieving overall lightweighting and cost reduction.

[0031] In this design, the actuation component includes a vector motor 7. The output shaft of the vector motor 7 is connected to the right planetary gear set 3, and the output shaft of the vector motor 7 is coaxial with the output shaft of the drive motor 6. A reducer 8 is also provided on the output shaft of the vector motor 7. The reducer 8 can reduce speed and increase torque, thus solving the problem of insufficient differential torque capacity of the vector motor. Furthermore, the drive motor 6 and the vector motor 7 are hydraulically or electrically driven; of course, other driving methods can also be used, all of which fall within the protection scope of this utility model.

[0032] like Figure 1 As shown in the first embodiment of this utility model, the right planetary gear set 3 includes a right planetary carrier 31 fixedly mounted on the composite planetary carrier 41. A right planetary gear 32 is provided on the right planetary carrier 31. A right sun gear 33 and a right ring gear 34 meshing with the right planetary gear 32 are respectively provided on the inner and outer sides of the right planetary gear 32. The right ring gear 34 is fixedly connected to the actuation assembly. A composite small sun gear 45 meshing with the composite small planetary gear 43 is provided on the inner side of the composite small planetary gear 43. The composite small sun gear 45 is fixedly connected to the right sun gear 33.

[0033] In the first embodiment, the right planetary gear set 3 is configured with a reasonable speed ratio so that when the left and right half shafts rotate at the same speed, the right sun gear 33 and the right planet carrier 31 act as dual inputs simultaneously on the right planetary gear set 3. After calculation, the speed ratio of the right sun gear 33 to the right planet carrier 31 is 4.55. In this example, when the characteristic value k3 of the right planetary gear set is -4.55, the speed of the right ring gear 34 is exactly 0 RPM, that is, the vector motor remains stationary.

[0034] Calculations show that the characteristic value of the composite planetary array is k1=-3, the characteristic value of the differential planetary array is k2=-1.33, and the characteristic value of the right planetary array is k3=-4.55. Except for k2, which requires special design, the k values ​​of the other planetary arrays are all within the ideal range that can be achieved by conventional structural design and manufacturing, which can significantly reduce development risks and costs.

[0035] The working process of the first embodiment is briefly described below: When the vehicle is traveling in a straight line normally, the vector motor 7 is not working, while the drive motor 6 is working. Power is transmitted to the composite planetary carrier 41 and the composite planetary gear 43 via the composite sun gear 44 and its meshing composite planetary gear 42. The composite planetary carrier 41 then transmits power to the right half-shaft 2. Simultaneously, the composite planetary gear 43 transmits power to the left half-shaft 1 via the composite ring gear 46, differential sun gear 53, differential planetary gear 52, and differential ring gear 54.

[0036] When the vehicle corners, a speed difference occurs in the right differential half-shaft. At this time, the vector motor 7 operates, and its output shaft transmits power to the right planetary carrier 31 and the right sun gear 33 via the right ring gear 34 and the right planetary gear 32, respectively. The right planetary carrier 31 transmits power to the compound planetary carrier 41, which in turn transmits power to the right half-shaft 2. The right sun gear 33 transmits power to the compound planetary gear 43 via the compound small sun gear 45. The compound planetary gear 43 transmits power to the compound small ring gear 46, which then transmits power to the differential ring gear 54 via the differential planetary gear 52, and finally to the left half-shaft. The torque transmitted to the right differential half-shaft, after being processed by the planetary gear ratio, forms a differential positive right-negative torque, or a differential negative right-positive torque that is equal in magnitude but opposite in direction, ultimately creating a "differential torque" effect between the two half-shafts.

[0037] like Figure 2As shown in the second embodiment of this utility model, the right planetary gear set 3 includes a right planetary carrier 31 fixedly mounted on the composite planetary carrier 41. The right planetary carrier 31 is provided with a first planetary gear 321 and a second planetary gear 322. The first planetary gear 321 and the second planetary gear 322 rotate together at the same angular velocity, and the diameter of the first planetary gear 321 is larger than the diameter of the second planetary gear 322. A right sun gear 33 is provided on the inner side of the first planetary gear 321. A composite sun gear 45 meshes with the inner side of the composite small planetary gear 43. The composite sun gear 45 is fixedly connected to the right sun gear 33. A right gear ring 34 meshes with the outer side of the second planetary gear 322. The right gear ring 34 is fixedly connected to the actuation assembly.

[0038] In the second embodiment, the right planetary gear set 3 is configured with a reasonable speed ratio so that when the left and right half shafts rotate at the same speed, the first planetary gear 321 and the right planetary carrier 31 act as dual inputs simultaneously on the right planetary gear set 3. It is calculated that the speed ratio of the first planetary gear 321 to the right planetary carrier 31 is 4.4. In this example, when the characteristic value k3 of the right planetary gear set is -4.48, the speed of the right ring gear 34 is exactly 0 RPM, that is, the vector motor remains stationary.

[0039] Calculations show that the characteristic value of the composite planetary array is k1=-3, the characteristic value of the differential planetary array is k2=-1.33, and the characteristic value of the right planetary array is k3=-4.48. Except for k2, which requires special design, the k values ​​of the other planetary arrays are all within the ideal range that can be achieved by conventional structural design and manufacturing, which can significantly reduce development risks and costs.

[0040] The working process of the second embodiment is briefly described below: When the vehicle is traveling in a straight line normally, the vector motor 7 is not working, while the drive motor 6 is working. Power is transmitted to the composite planetary carrier 41 and the composite planetary gear 43 via the composite sun gear 44 and its meshing composite planetary gear 42. The composite planetary carrier 41 then transmits power to the right half-shaft 2. Simultaneously, the composite planetary gear 43 transmits power to the left half-shaft 1 via the composite ring gear 46, differential sun gear 53, differential planetary gear 52, and differential ring gear 54.

[0041] When the vehicle corners, a speed difference occurs in the differential right half-shaft. At this time, the vector motor 7 operates, and its output shaft transmits power to the first planetary gear 321 and the right planetary carrier 31 via the right ring gear 34 and the second planetary gear 322, respectively. The right planetary carrier 31 transmits power to the compound planetary carrier 41, and the compound planetary carrier 41 transmits power to the right half-shaft 2. The first planetary gear 321 transmits power to the compound planetary gear 43 via the right sun gear 33 and the compound small sun gear 45. The compound planetary gear 43 transmits power to the compound small ring gear 46. The compound small ring gear 46 transmits power to the differential ring gear 54 via the differential planetary gear 52, and then to the left half-shaft. The torque transmitted to the differential right half-shaft is divided into differential positive right negative or differential negative right positive torques of equal magnitude but opposite direction after the planetary gear ratio, ultimately creating a "differential torque" effect between the two half-shafts.

[0042] like Figure 3 As shown in the third embodiment of this utility model, the right planetary gear set 3 includes a right planetary carrier 31 fixedly connected to the actuation assembly. A right planetary gear 32 is provided on the right planetary carrier 31. A right sun gear 33 and a right ring gear 34 meshing with the right planetary gear 32 are respectively provided on the inner and outer sides of the right planetary gear 32. A composite small planetary gear 43 has a composite small sun gear 45 meshing with the composite small sun gear 43. The composite small sun gear 45 is fixedly connected to the right sun gear 33. The right ring gear 34 is fixedly connected to the differential sun gear 53.

[0043] In the third embodiment, the right planetary gear set 3, through a reasonable speed ratio configuration, can ensure that when the left and right half-shafts rotate at the same speed, the right sun gear 33 and the right ring gear 34 act as dual inputs simultaneously on the right planetary gear set 3. After calculation, it is found that the speed ratio of the right sun gear 33 to the right ring gear 34 is 4.55. Therefore, in this example, when the characteristic value k3 of the right planetary gear set is -4.55, the speed of the right ring gear 34 is exactly 0 RPM, that is, the vector motor remains stationary.

[0044] Calculations show that the characteristic value of the composite planetary array is k1=-3, the characteristic value of the differential planetary array is k2=-1.33, and the characteristic value of the right planetary array is k3=-4.55. Except for k2, which requires special design, the k values ​​of the other planetary arrays are all within the ideal range that can be achieved by conventional structural design and manufacturing, which can significantly reduce development risks and costs.

[0045] The working process of the third embodiment is briefly described below: When the vehicle is traveling in a straight line normally, the vector motor 7 is not working, while the drive motor 6 is working. Power is transmitted to the composite planetary carrier 41 and the composite planetary gear 43 via the composite sun gear 44 and its meshing composite planetary gear 42. The composite planetary carrier 41 then transmits power to the right half-shaft 2. Simultaneously, the composite planetary gear 43 transmits power to the left half-shaft 1 via the composite ring gear 46, differential sun gear 53, differential planetary gear 52, and differential ring gear 54.

[0046] When the vehicle is cornering, a speed difference occurs in the right differential half-shaft. At this time, the vector motor 7 operates, and its output shaft transmits power to the right sun gear 33 and the right ring gear 34 through the right planetary carrier 31 and the right planetary gear 32, respectively. The right sun gear 33 transmits power to the compound planetary gear 43 and the compound planetary carrier 41 through the compound small sun gear 45, and the compound planetary carrier 41 transmits power to the right half-shaft 2. The compound planetary gear 43 transmits power to the left half-shaft through the compound small ring gear 46, the differential sun gear 53, the differential planetary gear 52, and the differential ring gear 54. At the same time, the right ring gear 34 transmits part of the power to the differential sun gear 53 and the compound planetary gear through the compound small ring gear 46, and the differential sun gear 53 transmits power to the left half-shaft through the differential planetary gear 52 and the differential ring gear 54; the compound planetary gear transmits power to the right half-shaft 2 through the compound planetary carrier 41. The torque transmitted to the right half-shaft of the differential is converted into differential positive right negative or differential negative right positive torque after passing through the planetary gear ratio, resulting in a "differential torque" effect between the two half-shafts.

[0047] like Figure 4 As shown in the fourth embodiment of this utility model, the right planetary gear set 3 includes a right planetary carrier 31 fixedly mounted on the actuation assembly. The right planetary carrier 31 is provided with a first planetary gear 321 and a second planetary gear 322. The first planetary gear 321 and the second planetary gear 322 always rotate together at the same angular velocity, and the diameter of the first planetary gear 321 is larger than the diameter of the second planetary gear 322. A right gear ring 34 is provided on the outer side of the second planetary gear 322 and meshes with it. The right gear ring 34 is fixedly connected to the differential sun gear 53. A right sun gear 33 is provided on the inner side of the first planetary gear 321 and meshes with it. A composite small sun gear 45 is provided on the inner side of the composite small planetary gear 43 and meshes with it. The composite small sun gear 45 is fixedly connected to the right sun gear 33.

[0048] In the fourth embodiment, the right planetary gear set 3, through a reasonable speed ratio configuration, can ensure that when the left and right half-shafts rotate at the same speed, the right ring gear 34 and the right sun gear 33 act simultaneously as dual inputs on the right planetary gear set 3. After calculation, the speed ratio of the right ring gear 34 to the right sun gear 33 is 4.4. Therefore, in this example, when the characteristic value k3 of the right planetary gear set is -4.48, the speed of the right ring gear 34 is exactly 0 RPM, that is, the vector motor remains stationary.

[0049] Calculations show that the characteristic value of the composite planetary array is k1=-3, the characteristic value of the differential planetary array is k2=-1.33, and the characteristic value of the right planetary array is k3=-4.48. Except for k2, which requires special design, the k values ​​of the other planetary arrays are all within the ideal range that can be achieved by conventional structural design and manufacturing, which can significantly reduce development risks and costs.

[0050] The working process of the fourth embodiment is briefly described below: When the vehicle is traveling in a straight line normally, the vector motor 7 is not working, while the drive motor 6 is working. Power is transmitted to the composite planetary carrier 41 and the composite planetary gear 43 via the composite sun gear 44 and its meshing composite planetary gear 42. The composite planetary carrier 41 then transmits power to the right half-shaft 2. Simultaneously, the composite planetary gear 43 transmits power to the left half-shaft 1 via the composite ring gear 46, differential sun gear 53, differential planetary gear 52, and differential ring gear 54.

[0051] When the vehicle is cornering, a speed difference occurs in the differential right half-shaft. At this time, the vector motor 7 operates, and its output shaft transmits power to the second planetary gear 322 and the right sun gear 33 through the right planetary carrier 31 and the first planetary gear 321, respectively. The right sun gear 33 transmits power to the compound planetary gear 43 and the compound planetary carrier 41 through the compound small sun gear 45, respectively. The compound planetary carrier 41 transmits power to the right half-shaft 2. The second planetary gear 322 transmits power to the right ring gear 34, and the right ring gear 34 transmits power to the differential sun gear 53 and the compound planetary gear through the compound small ring gear 46, respectively. The differential sun gear 53 transmits power to the left half-shaft through the differential planetary gear 52 and the differential ring gear 54; the compound planetary gear transmits power to the right half-shaft 2 through the compound planetary carrier 41. The torque transmitted to the right half-shaft of the differential is converted into differential positive right negative or differential negative right positive torque after passing through the planetary gear ratio, resulting in a "differential torque" effect between the two half-shafts.

[0052] In the second and fourth embodiments, the right planetary gear set is split into a composite planetary gear set (composite large planetary gear 42 and composite small planetary gear 43). This increases the axial space occupied, resulting in a right planetary gear set characteristic value k3 = -4.55. This makes the structure easier to implement, and by reducing the size of the planetary gears, the system density is increased, achieving a high degree of integration. Furthermore, the composite small sun gear 45 and the right sun gear 33 are directly connected, without any nested or convoluted structures, making the structural design easier and the cost lower. While maintaining axial dimensions, a smaller radial dimension is ensured, resulting in a more rational and compact layout.

[0053] Where the connection of the various components is possible, a negative planetary gear set can be converted into a positive planetary gear set by adding a planetary gear between the planetary gears and the ring gear. In this case, the connection relationship between the ring gear and the planet carrier must be interchanged, and the static gear ratio must be increased by one, relative to the embodiment of the negative planetary gear set. Conversely, if the connection of the transmission components allows, a positive planetary gear set can also be replaced by a negative planetary gear set. In this case, with respect to the positive planetary gear set, the connection relationship between the ring gear and the planet carrier must also be interchanged, and the static gear ratio must be decreased by one and its sign must be changed. Those skilled in the art will understand that the same technical effect can be achieved in this way, with only differences in arrangement and connection method; such variations are also within the scope of this patent.

[0054] 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.

[0055] 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 control system, comprising a left half-shaft (1) and a right half-shaft (2) coaxially arranged, characterized in that: Between the left half-shaft (1) and the right half-shaft (2), there is a composite planetary gear set (4) and a right planetary gear set (3) with their central axes coaxially arranged. The composite planetary gear set (4) includes a composite planet carrier (41) fixedly mounted on the right half-shaft (2). The composite planet carrier (41) is provided with a composite large planetary gear (42) and a composite small planetary gear (43) that rotate synchronously. The inner side of the composite large planetary gear (42) is provided with a composite large sun gear (44) that meshes with it. The composite large sun gear (44) is fixedly connected to the output shaft of the drive motor (6). The output shaft of the drive motor (6) is coaxial with the right half-shaft (2). A differential planetary gear set (5) is sleeved on the composite small planetary gear set (43). The differential planetary gear set (5) is fixedly connected to the left half-shaft (1). The right planetary gear set (3) is located at the end close to the composite small planetary gear set (43) and is used to transmit the torque output by the actuation component to the composite planetary gear set (4) and / or the differential planetary gear set (5).

2. The planetary differential torque vector control system according to claim 1, characterized in that: The differential planetary gear set (5) includes a differential planetary carrier (51) fixed on the housing of the torque transfer mechanism. A differential planetary gear (52) is provided on the differential planetary carrier (51). A differential sun gear (53) and a differential gear ring (54) meshing with the differential planetary gear (52) are respectively provided on the inner and outer sides of the differential planetary gear (52). The differential gear ring (54) is fixedly provided on the left half shaft (1). A composite gear ring (46) is provided on the outer side of the composite small planetary gear (43). The composite gear ring (46) is fixedly connected to the differential sun gear (53).

3. The planetary differential torque vector control system according to claim 2, characterized in that: The right planetary gear set (3) includes a right planetary carrier (31) fixedly mounted on the composite planetary carrier (41), a right planetary gear (32) is provided on the right planetary carrier (31), and a right sun gear (33) and a right gear ring (34) meshing with the inner and outer sides of the right planetary gear (32), respectively. The right gear ring (34) is fixedly connected to the actuation assembly; a composite small sun gear (45) meshing with the inner side of the composite small planetary gear (43) is provided, and the composite small sun gear (45) is fixedly connected to the right sun gear (33).

4. The planetary differential torque vector control system according to claim 2, characterized in that: The right planetary gear set (3) includes a right planetary carrier (31) fixedly mounted on the composite planetary carrier (41). The right planetary carrier (31) is provided with a first planetary gear (321) and a second planetary gear (322). The first planetary gear (321) and the second planetary gear (322) rotate together at the same angular velocity. The diameter of the first planetary gear (321) is larger than the diameter of the second planetary gear (322). A right sun gear (33) is provided on the inner side of the first planetary gear (321). A composite sun gear (45) meshes with the inner side of the composite small planetary gear (43). The composite small sun gear (45) is fixedly connected to the right sun gear (33). A right gear ring (34) meshes with the outer side of the second planetary gear (322). The right gear ring (34) is fixedly connected to the actuation assembly.

5. The planetary differential torque vector control system according to claim 2, characterized in that: The right planetary gear set (3) includes a right planetary carrier (31) fixedly connected to the actuation assembly. A right planetary gear (32) is provided on the right planetary carrier (31). A right sun gear (33) and a right ring gear (34) meshing with the right planetary gear (32) are respectively provided on the inner and outer sides of the right planetary gear (32). A compound small planetary gear (43) meshing with the compound small sun gear (45) is provided on the inner side of the compound small sun gear (43). The compound small sun gear (45) is fixedly connected to the right sun gear (33). The right ring gear (34) is fixedly connected to the differential sun gear (53).

6. The planetary differential torque vector control system according to claim 2, characterized in that: The right planetary gear set (3) includes a right planetary carrier (31) fixedly mounted on the actuation assembly. The right planetary carrier (31) is provided with a first planetary gear (321) and a second planetary gear (322). The first planetary gear (321) and the second planetary gear (322) rotate together at the same angular velocity. The diameter of the first planetary gear (321) is larger than the diameter of the second planetary gear (322). The outer side of the second planetary gear (322) is provided with a right gear ring (34) meshing with it. The right gear ring (34) is fixedly connected to the differential sun gear (53). The inner side of the first planetary gear (321) is provided with a right sun gear (33) meshing with it. The inner side of the compound small planetary gear (43) is provided with a compound small sun gear (45) meshing with it. The compound small sun gear (45) is fixedly connected to the right sun gear (33).

7. The planetary differential torque vector control system according to claim 1, characterized in that: The actuation assembly includes a vector motor (7), the output shaft of which is connected to the right planetary gear set (3), and the output shaft of the vector motor (7) is coaxial with the output shaft of the drive motor (6) and the right half shaft.

8. The planetary differential torque vector control system according to claim 7, characterized in that: A speed reducer (8) is provided on the output shaft of the vector motor (7).

9. The planetary differential torque vector control system according to claim 7, characterized in that: The vector motor (7) and drive motor (6) are hydraulically or electrically driven.

10. The planetary differential torque vector control system according to claim 7, characterized in that: Both the left half-shaft (1) and the right half-shaft (2) are equipped with wheel hubs on their outer sides.

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