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WO2019228261A1 - 同向分动双控百向传动器 - Google Patents

同向分动双控百向传动器 Download PDF

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Publication number
WO2019228261A1
WO2019228261A1 PCT/CN2019/088336 CN2019088336W WO2019228261A1 WO 2019228261 A1 WO2019228261 A1 WO 2019228261A1 CN 2019088336 W CN2019088336 W CN 2019088336W WO 2019228261 A1 WO2019228261 A1 WO 2019228261A1
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Prior art keywords
output
dual
input
shaft
same
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PCT/CN2019/088336
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English (en)
French (fr)
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罗灿
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Individual
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Priority to CN201980006282.7A priority Critical patent/CN111566387B/zh
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/04—Combinations of toothed gearings only
    • F16H37/042—Combinations of toothed gearings only change gear transmissions in group arrangement
    • F16H37/046—Combinations of toothed gearings only change gear transmissions in group arrangement with an additional planetary gear train, e.g. creep gear, overdrive
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
    • F16H37/0806—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts
    • F16H37/0813—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts with only one input shaft

Definitions

  • the invention relates to a planetary gear structure transmission machine.
  • the invention is composed of a co-directional transfer case, a sleeve shaft commutator, a dual controller and a joint; during the transmission of power speed, the output shaft is controlled to surround the joint.
  • Shaft turnover, forward and reverse rotation control torque balance, is a turn control device, dual control control device with simple structure of the universal transmission.
  • the planetary platoon consists of two central wheels and three parts of the planet carrier with planetary wheels. The arrangement and meshing relationship of the three components determines the equation of motion of the planetary platoon and determines the type of planetary platoon.
  • the existing planetary rows are divided into cylindrical gear planetary rows and bevel gear planetary rows.
  • the spur gear planetary row includes a sun gear, an inner ring gear and a planet carrier with a planet gear, wherein the sun gear, the inner ring gear and the planet gear are all spur gears.
  • Cylindrical gear planetary rows are divided into single-layer star planetary rows or double-layer star planetary rows according to the number of layers of the planetary gears; in a single-layer star planetary row, the sun gear and the planet gear mesh, and the planet gear and the ring gear Engagement; in the double star planetary row, the sun gear meshes with the inner planet gear, the inner planet gear meshes with the outer planet gear, and the outer planet gear meshes with the inner ring gear.
  • the bevel gear planetary row includes two center wheels and a planet carrier with a planetary wheel. Generally, it is a single-layer star planetary row. The planetary wheel is one layer. The two center wheels and the planetary wheels are bevel gears.
  • the wheels mesh, and the planet gear meshes with the right center wheel.
  • the sun gear and the ring gear both belong to the center wheel.
  • the sun gear is the left center wheel, which is the center wheel with a small pitch circle diameter
  • the inner ring gear, the right center wheel which is the center wheel with a large pitch circle diameter.
  • the invention proposes that all transmission machinery consisting of two center wheels and a planet carrier with planet wheels are planetary rows.
  • One center wheel meshes with the planet wheels, the multi-layer planet wheels mesh with each other or are directly connected, and the planet wheels are connected with the other center.
  • the wheels mesh with each other.
  • the planet carrier rotates around the axis of the center wheel with the planet wheel, and the planet wheel is both orbiting and rotating.
  • the number of layers of the planet wheel can be one, two, and three.
  • the double sun planetary planetary row is a double star planetary row, which includes two center wheels (sun wheels) and a planet carrier with planet wheels.
  • the two center wheels and planet wheels are cylindrical gears; each planet wheel These are two coaxial gears, called the left planetary gear and the right planetary gear; the left planetary gear meshes with the left center gear, the left planetary gear is directly connected to the right planetary gear, and the right planetary gear is connected to the right
  • the center wheel meshes; the pitch circle diameter of the left center wheel is not equal to the pitch circle diameter of the right center wheel, and the left center wheel gear module must not be equal to the right center wheel gear module.
  • the double ring gear planetary row is a double star planetary row, which includes two central wheels (internal ring gears) and a planet carrier with a planetary wheel.
  • the two central wheels and the planetary wheels are cylindrical gears;
  • Planetary gears are two coaxial gears, called the left planetary gear and the right planetary gear;
  • the left planetary gear meshes with the left center gear, the left planetary gear is directly connected with the right planetary gear, and the right planetary gear Engage with the right center wheel;
  • the pitch circle diameter of the left center wheel is not equal to the pitch circle diameter of the right center wheel, and the left center wheel gear module must not be equal to the right center wheel gear module.
  • a dual sun gear, dual planet wheel and axle planetary row is a single-layer star planetary row, and includes two center wheels (sun wheels) and a planet carrier with two planet wheels and two layers of planet wheels.
  • the two center wheels and planet wheels Both are cylindrical gears;
  • the planet carrier has an inner planet gear shaft and an outer planet gear shaft.
  • the inner planet gear shaft is provided with an inner planet gear.
  • Each planet gear on the outer planet gear shaft is two coaxial gears, called the left outer planet gear, Right outer planet gear; left center gear meshes with inner planet gear, inner planet gear meshes with left outer planet gear, left outer planet gear and right outer planet gear are directly connected coaxially, right outer planet gear with right
  • the side sun gear meshes; the left sun gear gear module does not have to be equal to the right sun gear gear module.
  • the planetary rows that obey this equation of motion characteristics are all single-layer star planetary rows.
  • the coefficient The maximum absolute term is Nj
  • the component corresponding to this term is the planet carrier.
  • the planetary rows that obey this equation of motion characteristics are all double-star planetary rows; when a ⁇ 1.0, The maximum term of the absolute value of the coefficient in the kinematics equation is Nz.
  • the component corresponding to this term is the side wheel labeled z.
  • the maximum term of the absolute value of the coefficient in this kinematics equation is Ny, which corresponds to this term.
  • the component is the side wheel labeled y.
  • the transmission with an included angle between the input shaft and the output shaft is called a fold drive, and the included angle is called a fold angle.
  • a drive that keeps the fold angle unchanged while the output shaft rotates is called a turnable fold drive.
  • the traditional turnable turn actuator is mainly a bevel gear turn actuator.
  • the bevel gear pair is used to realize the turn direction transmission.
  • the turn angle is fixed. After the output shaft is controlled to rotate around the input shaft, it can be used as a turn turn direction drive.
  • a large one-way support torque is formed on the output shaft.
  • the one-way support torque is related to the power torque of the drive. The greater the power torque, the greater the one-way support torque; the one-way support torque and the folding direction.
  • the size of the angle is related.
  • the traditional turn-around steering actuator is completely unbalanced in the turn control torque required for forward rotation and reverse rotation when controlling the output shaft rotation; a device with a large torque such as a hydraulic device is required to control The output shaft turnover, or the need for an additional balancing device such as a reverse spring device to provide a reverse torque to offset the unidirectional support torque to control the output shaft turnover, the structure of the turnover control device is very complicated.
  • the present invention provides a structure of a unidirectional transmission of the same-direction transfer dual-control bidirectional transmission, which controls the output shaft to rotate around the joint shaft by inputting one of the turnover speed and the dual-control rotation speed; it is a new type of turnover To the transmission, during the transmission process of the power speed, the output shaft is controlled to rotate around the joint shaft.
  • the turnover control device and dual control control device have simple structures and are called dual-control hundred-direction transmission. Device.
  • the same-direction transfer dual-control hundred-direction transmission is composed of a same-direction transfer case, a sleeve shaft commutator, a double-controller and a joint.
  • a non-reciprocating transfer case has a non-reciprocating transfer case input end, a non-reciprocating transfer case inner output end, and a non-reciprocating transfer case outer output end.
  • the two rotation speeds of the output terminal and the outer output terminal are the same.
  • the same-direction transfer case uses a planetary row.
  • the number of wheels of the planetary gear is from one to six.
  • One of the three parts of the planetary row is set as the input of the same-direction transfer case, and the other two parts are used as the same-direction splitter.
  • the output end of the internal transfer unit and the external output end of the same-way transfer unit are set under the condition that when the rotational speed of the input end of the same-way transfer unit is inputted, the internal output end of the same-way transfer unit and the external output end of the same-way transfer unit are output.
  • the directions of rotation of the two speeds are the same. It can also be expressed as: a non-reciprocating transfer planetary row, setting the component corresponding to the largest absolute value of the coefficient in the kinematics characteristic equation as the input of the non-reversing transfer, and the other two components respectively output as the same transfer End, external output end of the same transfer case.
  • the same-direction transfer planetary row uses one of the five planetary rows.
  • the component corresponding to the largest absolute value of the coefficient in the equation of motion characteristics is the planet carrier.
  • the left center wheel and the right center wheel are used as the inner output of the same transfer and the output of the same transfer respectively.
  • the planetary carrier of the bevel gear single-layer star planetary row is used as the input terminal (1) of the co-directional transfer case
  • the left center wheel is used as the inner output terminal (2) of the co-directional transfer unit
  • the right center The wheel is used as the external output end (3) of the same-way transfer case.
  • the component corresponding to the largest absolute value of the coefficient in the kinematics characteristic equation is the planet carrier.
  • the planet carrier is used as the input of the same transfer case.
  • the left center wheel and right center wheel As the inner output end of the same-way transfer case and the outer output end of the same-way transfer case respectively.
  • the planetary carrier of the double sun gear, double planetary wheel shaft and planetary row is used as the input end (1) of the non-inverting transfer case, and the left center wheel (4) is used as the inner output end (2) of the same transfer case.
  • the right center wheel (5) serves as the outer output end (3) of the co-directional transfer case.
  • (6) is the inner planetary gear
  • (7) is the left outer planetary gear
  • (8) is the right outer planetary. wheel.
  • the component corresponding to the largest absolute value of the coefficient in the kinematics characteristic equation is the center wheel (internal gear) with a large pitch circle diameter
  • the center wheel (internal gear) with a large pitch circle diameter As the input end of the same-direction transfer case, the planet carrier and the center wheel (sun gear) with a small pitch circle diameter are used as the inner output end of the same-direction transfer case and the outer output end of the same-direction transfer case, respectively. Referring to FIG.
  • the inner ring gear of the double star planetary row of the cylindrical gear is used as the input end (1) of the co-directional transfer case
  • the planet carrier is used as the inner output end (2) of the co-directional transfer case
  • the sun gear is used as the same Output to the transfer case (3).
  • the component corresponding to the largest absolute value of the coefficient in the equation of motion characteristics is the one with the larger pitch circle diameter of the two center wheels (sun gear).
  • the wheel is used as the input terminal of the same-direction transfer case
  • the planet carrier and the other center wheel (sun gear) are respectively used as the inner output terminal of the same-direction transfer case and the outer output end of the same-direction transfer case. Referring to FIG. 6, in FIG.
  • a center wheel with a larger pitch circle diameter of the double sun gear planetary row is used as the input terminal (1) of the non-reciprocating transfer case, and the planet carrier is used as the internal output terminal (2) of the non-reciprocating transfer case.
  • a center wheel is used as the outer output end (3) of the same-way transfer case.
  • the component corresponding to the largest absolute value of the coefficient in the kinematics characteristic equation is the one with the smaller pitch circle diameter of the two center wheels (internal gear ring), and the center wheel with the smaller pitch circle diameter. (Inner ring gear) is used as the input end of the same-direction transfer case.
  • the planet carrier and the other sun gear are used as the inner output end of the same-way transfer case and the outer output end of the same-way transfer case.
  • a center wheel with a smaller pitch circle diameter of a double ring gear planetary row is used as the input end (1) of the non-inverting transfer case, and the planet carrier is used as the inner output end (2) of the same transfer case.
  • the other center wheel is used as the external output end (3) of the same transfer case.
  • the sleeve shaft commutator includes an inner shaft and an outer shaft of the sleeve shaft.
  • the inner shaft has an inner input end and an inner output end
  • the outer shaft has an outer input end and an outer output end.
  • the sleeve shaft commutator converts the two rotation speeds with the same rotation direction on its inner input end and its outer input end into its two rotation speeds with opposite rotation directions on its inner output end and its outer output end; it also makes its inner output end, its The two rotation speeds with the same rotation direction of the outer output end are converted into two rotation speeds with the opposite rotation directions of the inner input end and the outer input end.
  • the invention uses one or two sleeve shaft commutators.
  • a left sleeve shaft commutator and a right sleeve shaft commutator When two sleeve shaft commutators are used, it is called a left sleeve shaft commutator and a right sleeve shaft commutator, and the left sleeve shaft commutator.
  • the commutator and the right sleeve shaft commutator need not be the same.
  • the inner shaft of the sleeve shaft is provided with an inner input end (1) and an inner output end (2), and the left center wheel of the single-layer star planetary row of the bevel gear on the outer shaft of the sleeve shaft is used as the outer input end of the commutator (2 ),
  • the right center wheel is used as the outer output end of the commutator (4),
  • the bevel gear planet wheel (5) meshes with the left center wheel and meshes with the right center wheel to fix the planet carrier, the planetary bevel gear planet wheel (5)
  • the number of wheels may be one to six.
  • the direction of rotation of the input terminal (2) outside the commutator is opposite to that of the output terminal (4) of the commutator.
  • the second type is a dual sun gear dual planetary planetary planetary commutator, and the outer shaft uses a dual sun gear dual planetary planetary planetary row, see FIG. 9.
  • the inner shaft of the sleeve shaft is provided with an inner input end (1) and an inner output end (3), and the left center wheel of the double sun gear, double planetary shaft planetary row on the outer shaft of the sleeve shaft is used as the outer input end of the commutator ( 2), the right center wheel is used as the outer output end (4) of the commutator to fix the planet carrier, the planetary planetary wheel (5), the left outer planetary wheel (6), and the right outer planetary wheel (7)
  • the number of wheel sets can be from one to six.
  • the direction of rotation of the input terminal (1) outside the commutator is opposite to that of the output terminal (3) of the commutator.
  • the third type is a retaining two-way commutator.
  • the inner and outer shafts are driven by bevel gear pairs, see Figure 10.
  • the inner input end and the outer input end of the retaining two-way commutator form an input sleeve shaft
  • the inner output end and the outer output end form an output sleeve shaft.
  • the input sleeve shaft bearing and the output sleeve shaft bearing are respectively fixed.
  • the input sleeve shaft and the output sleeve shaft are at an angle of 90 degrees; an internal driving bevel gear is provided on the internal input end (1), an external driving bevel gear is provided on the external input end (2), and an internal output end (3) is provided.
  • An internal passive bevel gear (5) is provided, and an external passive bevel gear (6) is provided on the external output end (4), so that the internal active bevel gear and the internal passive bevel gear (5) mesh, and the external active bevel gear and the external passive bevel gear ( 6)
  • the gear module of the internal driving bevel gear does not have to be equal to the module of the external driving bevel gear.
  • the fourth type is a double-position commutator.
  • the inner and outer shafts are driven by bevel gear pairs. See Figure 11.
  • the inner and outer input ends of the double-position commutator form an input sleeve.
  • the internal gear ratio of the bevel gear planetary commutator and the double sun gear double planetary shaft planetary gear commutator is set to 1.0
  • the external shaft gear ratio is set to -1.0
  • the retention ratio of the two-way commutator from the internal input to the internal output is set to -1.0, and the transmission ratio from the external input to the external output is set to 1.0.
  • the gear ratio of the double-way commutator from the internal input to the external output is set to -1.0, and the gear ratio from the external input to the internal output is set to 1.0.
  • the dual controller has a dual controller input, a left inner output and a right inner output, a left outer output, and a right outer output.
  • the dual controller converts a speed input from its input to its left inner
  • the two rotation speeds in the same rotation direction of the output end and its left outer output end are also converted into two rotation speeds in the same rotation direction of its right inner output end and its right outer output end.
  • the dual-controller uses a double star planetary row.
  • the number of wheel sets of the planetary wheel is from one to six.
  • the left center wheel is used as the dual-controller input, and the other center wheel is used as the left inner output and the right inner output.
  • the planet carrier serves as the left outer output and the right outer output, and the left center wheel is also the component corresponding to the maximum term of the absolute value of the coefficient in the dual-controller planetary row motion characteristic equation.
  • the dual controller uses one of the three double star planetary rows. The first uses a cylindrical gear double star planetary row. The component corresponding to the largest absolute value of the coefficient in the kinematics equation is the center wheel with a large pitch circle diameter (internal gear). (Circle), see Figure 12. In Figure 12, the center wheel (inner ring gear) with a large pitch diameter is used as the dual controller input (1), and the other center wheel (sun gear) is used as the left inner output and the right inner output.
  • the terminal (2) serves as the left outer output terminal (3) and the right outer output terminal (4).
  • the external connection of the input of the dual-controller is, for example, setting the dual-control gear (5) directly connected to the ring gear, setting a side-shaft gear (6) meshing with the dual-control gear, through the side-shaft gear (6), the dual-control gear (5 ) Input dual-control speed to dual-controller input (1).
  • the second type uses a double sun gear planetary row.
  • the component corresponding to the largest absolute value of the coefficient in the kinematics characteristic equation is the one with the larger diameter of the pitch circle in the two center wheels (sun gear). See FIG. 13.
  • the center wheel with a larger diameter is used as the dual controller input (1), the other center wheel is used as the left inner output and the right inner output (2), and the planet carrier is used as the left outer output (3) and as the right outer output (4).
  • the external connection of the input of the dual controller is for example: a worm gear (5) is directly connected to the sun gear, a matching worm (6) is set, and a dual control speed is input to the dual controller input (1) through the worm gear device.
  • the third type adopts a double ring gear planetary row.
  • the component corresponding to the largest absolute value of the coefficient in the equation of kinematics corresponds to the smaller diameter of the pitch circle in the two center wheels (ring gears). See FIG. 14 and FIG.
  • the center wheel with a smaller pitch diameter serves as the dual controller input (1)
  • the other center wheel serves as the left inner output and the right inner output (2)
  • the planet carrier serves as the left outer output (3) and as the right outer Output (4).
  • the external connection of the dual-controller input is for example: a worm gear (5) is directly connected to the ring gear, a matching worm (6) is set, and a dual-control speed is input to the dual-controller input (1) through the worm gear.
  • a clutch is a transmission that converts the two rotational directions of the inner input end and the outer input end of the planetary gear to the same rotational speed, and converts the two input directions of the inner input end and the outer input end to the same rotational speed. Its planetary carrier speed.
  • a single-layer star planetary row is used. The number of planetary wheel sets is from one to six.
  • the planetary row shaft is the clutch shaft. The left center wheel is used as the outer input end of the clutch, and the right center wheel is used as the clutch. The input end of the actuator, the planet carrier as the turnover control end, and one to six planetary gears as the output end.
  • the output shafts are these planetary gear shafts.
  • the output shaft and the joint shaft form a folding angle; the output end of the joint is also the same direction.
  • the clutch adopts one of two types of single planetary planetary rows.
  • the first type uses a bevel gear single planetary planetary row. Refer to Figure 15.
  • the left center wheel is used as the external input end of the coupler (2).
  • the side center wheel is used as the input end (1) of the clutch
  • the planet carrier is used as the turn control end (3)
  • one or more bevel gear planetary wheels are used as the output end (4).
  • the output shafts are these bevel geared planetary shafts and output shafts. At a 90-degree angle to the actuator shaft.
  • the second type adopts a double sun gear and a double planetary planetary planetary row. See FIG.
  • the left center wheel is used as the external input end of the coupler (2), and the right center wheel is used as the internal input end of the coupler (1).
  • the planet carrier serves as the turnover control end, and one to six planetary gears serve as the output end (5).
  • the output shafts are these planetary gear shafts, and the output shaft is parallel to the shaft of the joint at a 0-degree folding angle.
  • the external connection of the turnover control end is, for example, a worm gear (3) is provided on the planetary control of the turnover control end, and a worm (4) meshing with the worm gear is provided. Through the worm gear device, the turnover speed can be input to the turnover control end so that the planetary carrier rotates around the joint shaft, and the output shaft also rotates around the joint shaft.
  • the setting method of the components of the same-direction transfer case, double-controller, and clutch in the same-direction transfer double-control hundred-way transmission is: when the same-direction transfer case uses a single-layer star planetary row, its characteristic parameter is equal to 1.0. When using a double-layer star planetary row to the transfer case, its characteristic parameter is equal to 2.0; a double-controller double-layer planetary row has a characteristic parameter equal to 2.0; and a single-layer star planetary row of the actuator has a characteristic parameter equal to 1.0.
  • the above-mentioned setting methods have adopted the digital planetary row characteristic parameter expression, and the planetary row characteristic parameter is essentially an expression of the tooth number and structure setting of each component of the same-direction transfer dual-control universal transmission.
  • the present invention has two connection methods.
  • the first connection method of the present invention is to directly connect the inner output end of the same-way transfer case with the inner input end of the sleeve shaft commutator, and the outer output end of the same-way transfer case and the sleeve.
  • the external input of the shaft commutator is directly connected
  • the internal output of the sleeve shaft commutator is directly connected to the left inner output of the dual controller
  • the external output of the sleeve shaft commutator is directly connected to the left outer output of the dual controller.
  • the right inner output of the dual controller is directly connected to the internal input of the coupler, and the right outer output of the dual controller is directly connected to the external input of the coupler; the input of the non-inverting transfer case is connected to the power source and the dual controller input
  • the dual-control gear is indirectly connected through the dual-control gear and the side gear, the turnover control end is connected to the turnover control device, and the output end of the clutch is connected to the power usage device.
  • the input turnover speed or dual control speed does not exclude that the speed is zero.
  • the second connection method of the present invention is: the inner output end of the same-direction transfer case is directly connected to the left input end of the sleeve shaft commutator, and the outer output end of the same direction transfer part is directly connected Left sleeve shaft commutator external input end, left sleeve shaft commutator internal output end is directly connected to the dual controller left inner output end, left sleeve shaft commutator external output end is directly connected to the dual controller left Outer output, the right inner output of the dual controller is directly connected to the inner input of the right sleeve shaft commutator, and the right outer output of the dual controller is directly connected to the outer input of the right sleeve shaft commutator, the right sleeve
  • the output end of the shaft commutator is directly connected to the input end of the coupler, and the output end of the right sleeve shaft commutator is directly connected to the external input end of the couple
  • the power source is connected, the dual-control control device is connected to the input of the non-inverting transfer case, the turnover control device is connected to the turnover control device, and the output of the closer is connected to the power usage device.
  • the input turnover speed or dual control speed does not exclude that the speed is zero, that is, it does not exclude the setting of a brake.
  • the power speed input from the power source is converted into the speed of the output of the clutch through the transmission of the invention.
  • the input and output of the power speed do not interfere with the turnover speed and do not interfere with the dual-control speed.
  • One of the two speeds is controlled to control the rotation of the output shaft around the clutch shaft. Since the input and output of the power speed do not interfere with the rotation speed and the dual control speed, the forward and reverse torque balance of the output shaft rotation is controlled, and the output shaft has no unidirectional support torque.
  • the turnover control device and dual control control device are not required. The torque of the unidirectional support is overcome, so the structure of the turnover control device and the dual control control device is simple.
  • the turnover control device and the dual control control device are linked. When the dual control control device inputs a non-zero dual control speed, the turnover control device will passively rotate. When the turnover control device enters a non-zero turnover speed, the dual control device will passively rotate. .
  • connection in the present invention is divided into a direct connection and an indirect connection.
  • the direct connection makes the speeds of the components participating in the connection the same, and the indirect connection makes a fixed speed proportional relationship between the components participating in the connection.
  • the connection in the present invention means direct connection or indirect connection.
  • the inner output end and the outer output end refer to that these two components form a sleeve shaft, the inner output end serves as the inner shaft of the sleeve shaft, and the outer output end serves as the outer shaft of the sleeve shaft; the inner input end and the outer input end It means that these two parts form a sleeve shaft, with the inner input end as the inner shaft of the sleeve shaft and the outer input end as the outer shaft of the sleeve shaft; if there is an exception, it will be specifically pointed out.
  • the power source is an engine such as a fuel engine, an electric engine, or a transmission reduction gear transmission behind the engine; the power source is directly connected to the input of the non-inverting transfer case, and a power rotation speed can be input to the input of the same-inversion transfer case; The power source is indirectly connected to the input of the dual controller through the dual-control gear and the side gear, and the power speed can be input to the dual-controller input.
  • the turnover control device is an electric control device, a hydraulic control device, etc .; the turnover control device is connected to the turnover control terminal, and the turnover speed can be input to the turnover control terminal.
  • the dual-control control device is an electric control device, a hydraulic control device, and the like; the dual-control control device is directly connected to the input of the non-inverting transfer case, and the dual-control speed can be input to the input of the non-inverting transfer;
  • the dual-control gear, the side gear or the worm gear is indirectly connected to the dual-controller input terminal, and the dual-control speed can be input to the dual-controller input terminal.
  • the power using device is a rear-end device connected to the output end of the clutch, such as a rotor, a double rotor, a propeller, a double propeller, a wind wheel, a driving wheel, a driving shaft, and the like.
  • the invention can be used for 100-direction transmission of tiltable rotors of aircraft, variable-direction rotors of helicopters, and variable-direction propellers of ships. It is used for cross-moving joints of robots. It is used for wind turbine to adjust the direction of the wind turbine shaft. It is used to drive the driving wheels of motor vehicles.
  • the co-directional transfer dual-control hundred-direction transmission of the present invention is beneficial in that the present invention is composed of a co-directional transfer case, a sleeve shaft commutator, a dual-controller, and a coupler, and the arrangement of each component is proposed.
  • the method and the two connection methods of the present invention are proposed.
  • the output shaft is controlled to rotate around the joint shaft by inputting one of the turnover speed and the dual-control speed, so as to realize the output shaft to rotate around the joint shaft.
  • Forward and reverse rotation control torque balance, turnover control device, dual control control device simple structure purpose.
  • the invention controls the output shaft to rotate around the joint shaft by inputting one of the turnover speed and the dual-control speed.
  • the former is convenient for controlling the rotation of the output shaft nearby, and the latter is convenient for remotely controlling the rotation of the output shaft.
  • FIG. 1 is a schematic diagram of a co-directional transfer dual-control hundred-way transmission using a sleeve shaft commutator according to the present invention, and also a schematic view of Embodiment 1 of the present invention.
  • 1 is the input of the same-direction transfer case
  • 2 is the output of the same-direction transfer case
  • 3 is the output of the same-direction transfer case
  • 4 is the bevel gear planetary commutator
  • 5 is the input of the dual controller.
  • 6 is the left inner output and right inner output of the dual controller
  • 7 is the left outer output of the dual controller
  • 8 is the right outer output of the dual controller
  • 9 is the inside input of the coupler
  • 10 is outside the coupler
  • the input end, 11 is the turnover control end
  • 12 is the clutch output end
  • 13 is the dual-control gear
  • 14 is the side gear.
  • the same-direction transfer case uses a double sun gear planetary row
  • the dual controller uses a double sun gear planetary row
  • the closer uses a bevel gear single-layer star planetary row; each planetary row in the figure is a half-sized diagram, and the side gear is The whole sketch.
  • FIG. 2 is a schematic diagram of the same-direction transfer dual-control hundred-direction transmission of the present invention using two sleeve shaft commutators, and is also a schematic view of Embodiment 2 of the present invention.
  • 1 is the input of the same-direction transfer case
  • 2 is the output of the same-direction transfer case
  • 3 is the output of the same-direction transfer case
  • 4 is the left sleeve shaft commutator
  • 5 is the input of the dual controller
  • 6 is the left inner output and right inner output of the dual controller
  • 7 is the left outer output of the dual controller
  • 8 is the right outer output of the dual controller
  • 9 is the internal input of the coupler
  • 10 is the coupler
  • the external input end 11 is the turnover control end
  • 12 is the clutch output end
  • 13 is the dual control gear
  • 14 is the side gear
  • 15 is the right sleeve shaft commutator.
  • the same-direction transfer case uses a double sun gear planetary row
  • the left and right commutators use a bevel gear planetary row commutator
  • the dual controller uses a double sun gear planetary row
  • the joint uses a cone.
  • Gear single planetary planetary row; each planetary row in the figure is a half diagram, and the range gear is the whole diagram.
  • FIG. 3 is a schematic diagram of a co-directional transfer case using a bevel gear single-layer star planetary row, which is a half diagram. 1 is the input, 2 is the internal output, and 3 is the external output.
  • FIG. 4 is a schematic diagram of a co-directional transfer case using a double sun gear and a double planetary shaft planetary row, which is a half diagram. 1 is input, 2 is inner output, 3 is outer output, 4 is left center wheel, 5 is right center wheel, 6 is inner planet wheel, 7 is left outer planet wheel, 8 is right outer Planet wheel.
  • FIG. 5 is a schematic diagram of a co-directional transfer case using a double-layer planetary planetary gear of a cylindrical gear, which is a half diagram. 1 is the input, 2 is the internal output, and 3 is the external output.
  • Figure 6 is a schematic diagram of a co-directional transfer case using a double sun gear planetary row, which is a half diagram. 1 is the input, 2 is the internal output, and 3 is the external output.
  • FIG. 7 is a schematic diagram of a co-directional transfer case using a planetary row with double ring gears, which is a half diagram. 1 is the input, 2 is the internal output, and 3 is the external output.
  • FIG. 8 is a schematic diagram of a bevel gear planetary commutator, which is a half diagram. 1 is an internal input, 2 is an external input, 3 is an internal output, 4 is an external output, and 5 is a bevel planetary gear.
  • FIG. 9 is a schematic diagram of a planetary commutator with dual sun gears, dual planetary shafts, and a half diagram.
  • 1 is the inner input
  • 2 is the outer input
  • 3 is the inner output
  • 4 is the outer output
  • 5 is the inner planetary gear
  • 6 is the left outer planetary gear
  • 7 is the right outer planetary gear.
  • FIG. 10 is a schematic diagram of a retaining two-way commutator, which is a whole diagram. 1 is an internal input, 2 is an external input, 3 is an internal output, 4 is an external output, 5 is an internal passive bevel gear, and 6 is an external passive bevel gear.
  • FIG. 11 is a schematic diagram of a double-position commutator, which is a whole diagram. 1 is an internal input, 2 is an external input, 3 is an internal output, 4 is an external output, 5 is an internal passive bevel gear, and 6 is an external passive bevel gear.
  • FIG. 12 is a schematic diagram of a dual-controller using a spur gear double star planetary row. 1 is the input, 2 is the left inner output and right inner output, 3 is the left outer output, 4 is the right outer output, 5 is the dual-control gear, and 6 is the side gear.
  • the range gear in the picture is the whole diagram, and the rest are half diagrams.
  • FIG. 13 is a schematic diagram of a dual controller using a dual sun gear planetary row. 1 is an input, 2 is a left inner output and a right inner output, 3 is a left outer output, 4 is a right outer output, 5 is a worm gear, and 6 is a worm.
  • the worm in the picture is the whole sketch, and the rest are half sketches.
  • FIG. 14 is a schematic diagram of a dual controller using a planetary row with double ring gears.
  • 1 is an input
  • 2 is a left inner output and a right inner output
  • 3 is a left outer output
  • 4 is a right outer output
  • 5 is a worm gear
  • 6 is a worm.
  • the worm in the picture is the whole diagram, and the rest are half diagrams.
  • FIG. 15 is a schematic diagram of a clutch using a bevel gear single-layer star planetary row, which is a half diagram. 1 is the input terminal of the clutch, 2 is the input terminal of the clutch, 3 is the turnover control terminal, and 4 is the output terminal.
  • FIG. 16 is a schematic diagram of a coupler using a double sun gear and a double planetary shaft planetary row.
  • 1 is the input end of the coupler
  • 2 is the input end of the coupler
  • 3 is the worm gear provided on the turnover control end
  • 4 is the worm
  • 5 is the output end.
  • the worm in the picture is the whole diagram, and the rest are half diagrams.
  • Each planetary row in each figure is shown as half a diagram as possible according to industry practice.
  • the components in each figure only show the structural relationship and do not reflect the true size.
  • Embodiment 1 The same-direction transfer dual-control universal transmission using the sleeve shaft commutator of the present invention is composed of the same-direction transfer case, the sleeve shaft commutator, the double-controller and the joint.
  • the transfer case adopts a double sun gear planetary row, a bevel gear planetary row commutator, a dual controller using a double sun gear planetary row, and a closer using a bevel gear single-layer planetary planetary row, see FIG. 1.
  • a non-reciprocating transfer case has a non-reciprocating transfer case input end, a non-reciprocating transfer case inner output end, and a non-reciprocating transfer case outer output end.
  • the two rotation speeds of the output terminal and the outer output terminal are the same.
  • Non-reciprocating transfer planetary row Set the component corresponding to the largest absolute value of the coefficient in the kinematics characteristic equation as the input of the non-reciprocating transfer.
  • the other two components are the output of the non-reciprocating transfer.
  • the same-direction transfer case uses a double sun gear planetary row.
  • the component corresponding to the maximum absolute value of the coefficient in the motion characteristic equation is the center wheel with a larger pitch circle diameter.
  • the center wheel with a larger pitch circle diameter is used as the same.
  • the planetary carrier is used as the inner output end (2) of the same transfer case, and the other center wheel is used as the outer output end (3) of the same transfer case.
  • the sleeve shaft commutator includes an inner shaft and an outer shaft of the sleeve shaft.
  • the inner shaft has an inner input end and an inner output end.
  • the outer shaft has an outer input end and an outer output end.
  • the sleeve shaft commutator has its inner input end. 2.
  • the two rotation speeds with the same rotation direction of the outer input end are converted into two rotation speeds with the opposite rotation direction of the inner output end and the outer output end; and the two rotation speeds with the same rotation direction of the inner output end and the outer output end are also converted. Its two input speeds are the opposite rotation direction of its inner input and its outer input.
  • This embodiment uses a bevel gear planetary commutator (4).
  • the inner shaft of the sleeve shaft is provided with an internal input end and an inner output end.
  • the left side center wheel of the bevel gear planetary row on the outer shaft of the sleeve shaft is used as the external input of the commutator.
  • the right center wheel is used as the external output end of the commutator, the bevel gear planet wheel meshes with the left center wheel and meshes with the right center wheel to fix the planet carrier.
  • the number of planetary bevel gear planetary wheels is two. .
  • the direction of rotation of the input end of the commutator and the output end of the commutator are opposite.
  • the dual-controller has a dual-controller input, a left inner output and a right inner output, a left outer output, and a right outer output.
  • the dual controller converts a speed input from its input to the left.
  • the two output speeds with the same rotation direction of the inner output end and its left outer output end are also converted into two speeds with the same output direction of the right inner output end and its right outer output end.
  • the dual-controller uses a double star planetary row.
  • the number of wheel sets of the planetary wheel is from one to six.
  • the left center wheel is used as the dual-controller input, and the other center wheel is used as the left inner output and as the right inner output.
  • the planet carrier serves as the left outer output and the right outer output
  • the left center wheel is also the component corresponding to the largest absolute term of the coefficient in the dual star planetary row motion characteristic equation.
  • the dual controller uses a dual sun gear planetary row, and the number of planetary wheel sets is two.
  • the component corresponding to the maximum absolute value of the coefficient in the motion characteristic equation is a center wheel with a large pitch circle diameter.
  • the center wheel with a larger diameter is used as the dual-controller input (5), the other center wheel is used as the dual-controller left inner output and right inner output (6), and the planet carrier is used as the left outer output (7) and as the right External output (8).
  • a clutch is a transmission that converts the two rotational directions of the inner input end and the outer input end of the planetary gear to the same rotational speed, and converts the two input directions of the inner input end and the outer input end to the same rotational speed. Its planetary carrier speed.
  • a single-layer star planetary row is used. The number of planetary wheel sets is from one to six.
  • the planetary row shaft is the clutch shaft. The left center wheel is used as the outer input end of the clutch, and the right center wheel is used as the clutch.
  • the input end of the actuator, the planet carrier as the turnover control end, one to six planetary wheels as the output end, the output shaft is these planetary wheel shafts, the output shaft forms a folding angle with the joint shaft; the output end is also the same direction transfer double Controls the output of the directional drive.
  • This embodiment adopts a single-layer planetary planetary gear with bevel gears, with the left center wheel as the outer input end (10), the right center wheel as the inner input end (9), and the planet carrier as the turnover.
  • the control end (11), a bevel gear planetary gear as the output end (12), the output shaft is the bevel gear planetary shaft, the output shaft and the joint shaft are at a 90-degree angle of inclination;
  • the number of groups is two.
  • the method for setting each component of the same-direction transfer case, dual-controller, and coupler is as follows: the same-direction transfer case uses a double sun gear planetary row to make its characteristic parameter equal to 2.0, so that the double-controller double sun gear planetary row The characteristic parameter is equal to 2.0, so that the single-layer star planetary row of the clutch bevel gear has a characteristic parameter equal to 1.0.
  • a sleeve shaft commutator is used, and the connection method 1 is adopted:
  • the inner output end (2) of the same-direction transfer case is directly connected to the inner input end of the sleeve shaft commutator, and the outer output end of the same direction transfer case is used.
  • the internal output end of the sleeve shaft commutator is directly connected to the left inner output end of the dual controller (6), and the external output end of the sleeve shaft commutator is connected to the double
  • the left outer output (7) of the controller is directly connected
  • the right inner output (6) of the dual controller is directly connected to the input (9) of the coupler
  • the right outer output (8) of the dual controller is connected to the outside of the coupler
  • the input terminal (10) is directly connected; the input terminal (1) of the same direction transfer device is connected to the power source, and the dual-controller input terminal (5) is indirectly connected to the dual-control control device through the dual-control gear (13) and the side gear (14).
  • the turnover control terminal (11) is connected to the turnover control device, and the clutch output terminal (12) is connected to the power usage device.
  • the speed of the power input from the power source is converted into the speed of the output of the clutch through the transmission of this embodiment.
  • the input and output of the power speed do not interfere with the turnover speed.
  • the input and output of the power speed and the dual-control speed do not interfere with each other.
  • one of the turnover speed and the dual-control speed is input to control the output shaft to rotate around the clutch shaft. Since the input and output of the power speed do not interfere with the rotation speed and the dual control speed, the forward and reverse torque balance of the output shaft rotation is controlled, and the output shaft has no unidirectional support torque.
  • the turnover control device and dual control control device are not required. The torque of the unidirectional support is overcome, so the structure of the turnover control device and the dual control control device is simple.
  • the turnover control device and the dual control control device are linked.
  • the turnover control device When the dual control control device inputs a non-zero dual control speed, the turnover control device will passively rotate.
  • the turnover control device When the turnover control device enters a non-zero turnover speed, the dual control device will passively rotate. .
  • Embodiment 2 The same-direction transfer dual-control universal transmission using the two sleeve shaft commutators of the present invention is composed of the same-direction transfer case, the left sleeve shaft commutator, the dual controller, and the right sleeve.
  • the barrel shaft commutator is composed of a coupler.
  • the co-directional transfer case uses a double sun gear planetary row.
  • the left sleeve shaft commutator and the right sleeve shaft commutator both use a bevel gear planetary row commutator.
  • the dual controller uses a double sun gear planetary row, and the actuator uses a bevel gear single-layer star planetary row, see Figure 2.
  • a non-reciprocating transfer case has a non-reciprocating transfer case input end, a non-reciprocating transfer case inner output end, and a non-reciprocating transfer case outer output end.
  • the two rotation speeds of the output terminal and the outer output terminal are the same.
  • Non-reciprocating transfer planetary row Set the component corresponding to the largest absolute value of the coefficient in the kinematics characteristic equation as the input of the non-reciprocating transfer.
  • the other two components are the output of the non-reciprocating transfer.
  • the same-direction transfer case of the second embodiment adopts a double sun gear planetary row.
  • the component corresponding to the largest absolute value of the coefficient in the kinematics characteristic equation is a center wheel with a larger pitch circle diameter, and a center wheel with a larger pitch circle diameter is used as the component.
  • the input terminal (1) of the non-reciprocating transfer case, the planet carrier serves as the inner output (2) of the non-reciprocating transfer case, and the other central wheel serves as the outer output (3) of the non-reversing transfer case.
  • the sleeve shaft commutator includes an inner shaft and an outer shaft of the sleeve shaft.
  • the inner shaft has an inner input end and an inner output end.
  • the outer shaft has an outer input end and an outer output end.
  • the sleeve shaft commutator has its inner input end. 2.
  • the two rotation speeds with the same rotation direction of the outer input end are converted into two rotation speeds with the opposite rotation direction of the inner output end and the outer output end; and the two rotation speeds with the same rotation direction of the inner output end and the outer output end are also converted. Its two input speeds are the opposite rotation direction of its inner input and its outer input.
  • the inner shaft of the sleeve shaft is provided with an internal input end and an internal output. End, the left center wheel of the bevel gear planetary row on the outer shaft of the sleeve shaft is used as the outer input end of the commutator, and the right center wheel is used as the outer output end of the commutator.
  • the bevel gear planetary gear meshes with the left center wheel and with the right
  • the side sun wheels mesh to fix the planet carrier.
  • the number of wheel sets of the bevel gear planetary wheels in the two planetary rows is two.
  • the dual-controller has a dual-controller input, a left inner output and a right inner output, a left outer output, and a right outer output.
  • the dual controller converts a speed input from its input to the left.
  • the two output speeds with the same rotation direction of the inner output end and its left outer output end are also converted into two speeds with the same output direction of the right inner output end and its right outer output end.
  • the dual-controller uses a double star planetary row.
  • the number of wheel sets of the planetary wheel is from one to six.
  • the left center wheel is used as the dual-controller input, and the other center wheel is used as the left inner output and as the right inner output.
  • the planet carrier serves as the left outer output and the right outer output
  • the left center wheel is also the component corresponding to the largest absolute term of the coefficient in the dual star planetary row motion characteristic equation.
  • the dual controller uses a dual sun gear planetary row.
  • the component corresponding to the largest absolute value of the coefficient in the motion characteristic equation is the center wheel (sun gear) with a larger pitch circle diameter, and the number of planetary wheel sets is two. Group, the center wheel with a larger pitch circle diameter is used as the dual controller input terminal (5), the other center wheel is used as the dual controller left inner output terminal and right inner output terminal (6), and the planet carrier is used as the left outer output terminal ( 7) And as the right outer output terminal (8).
  • a clutch is a transmission that converts the two rotational directions of the inner input end and the outer input end of the planetary gear to the same rotational speed, and converts the two input directions of the inner input end and the outer input end to the same rotational speed. Its planetary carrier speed.
  • a single-layer star planetary row is used. The number of planetary wheel sets is from one to six.
  • the planetary row shaft is the clutch shaft. The left center wheel is used as the outer input end of the clutch, and the right center wheel is used as the clutch.
  • the input end of the actuator, the planet carrier as the turnover control end, one to six planetary wheels as the output end, the output shaft is these planetary wheel shafts, the output shaft and the joint shaft form a folding angle; the output end is also the same direction transfer double Controls the output of the directional drive.
  • the second embodiment of the present embodiment adopts a bevel gear single planetary planetary row, with the left center wheel as the outer input end (10) of the actuator, the right center wheel as the inner input end (9) of the actuator, and the planet carrier as Turnover control end (11), a bevel gear planetary gear is used as the output end (12), the output shaft is the bevel gear planetary shaft, the output shaft and the joint shaft form a 90-degree folding angle;
  • the number of wheel sets is two.
  • the method for setting the components of the same-direction transfer case, dual-controller, and coupler is as follows: the same-direction transfer case uses a double sun gear planetary row to make its characteristic parameter equal to 2.0, so that the double-controller double sun gear The planetary row characteristic parameter is equal to 2.0, so that the single-layer star planetary row characteristic parameter of the clutch bevel gear is equal to 1.0.
  • connection method two is adopted: the inner output end (2) of the same-direction transfer case is directly connected to the inner input end of the left sleeve shaft commutator and outside the same-direction transfer case.
  • the output end is directly connected to the external input end of the left sleeve shaft commutator, the internal output end of the left sleeve shaft commutator is directly connected to the left inner output end (6) of the dual controller, and the left sleeve shaft commutator is externally output.
  • the external input terminal (10) of the controller; the dual controller input terminal (5) is indirectly connected to the power source through the dual control gear (13) and the side gear (14), and the non-reverse transfer input terminal (1) is connected to the dual control control device.
  • the turnover control terminal (11) is connected to the turnover control device, and the clutch output terminal (12) is connected to the power usage device.
  • the speed of the power input from the power source is converted into the speed of the output of the clutch through the transmission of this embodiment.
  • the input and output of the speed of the power do not interfere with the turnover speed, and the input and output of the speed of the power and the dual-control speed are mutually exclusive.
  • the second embodiment controls the output shaft to rotate around the clutch shaft by inputting one of the turnover speed and the dual-control speed. Since the input and output of the power speed do not interfere with the rotation speed and the dual control speed, the forward and reverse torque balance of the output shaft rotation is controlled, and the output shaft has no unidirectional support torque.
  • the turnover control device and dual control control device are not required.
  • the torque of the unidirectional support is overcome, so the structure of the turnover control device and the dual control control device is simple.
  • the turnover control device and the dual control control device are linked.
  • the turnover control device When the dual control control device inputs a non-zero dual control speed, the turnover control device will passively rotate.
  • the turnover control device enters a non-zero turnover speed the dual control device will passively rotate. .

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Abstract

本发明同向分动双控百向传动器，由同向分动器、套筒轴换向器、双控器与合动器组成。同向分动器采用五种行星排之一，其运动特性方程中系数绝对值最大项所对应部件作输入端、其他两部件分别作内输出端、外输出端。采用一个、两个套筒轴换向器，四类套筒轴换向器各有设置方法。双控器采用三种双层星行星排之一。合动器采用两种单层星行星排之一。本发明有同向分动器、双控器、合动器各部件设置方法、有两种连接方法。通过输入周转转速、双控转速之一来控制输出轴围绕合动器轴周转，正转、反转力矩平衡，输出轴无单向支座力矩，周转控制装置、双控控制装置结构简单。

Description

同向分动双控百向传动器 技术领域
本发明涉及一种行星排结构传动机械，本发明由同向分动器、套筒轴换向器、双控器和合动器组成；在动力转速的传动过程中，控制输出轴围绕合动器轴周转，正转反转的周转控制力矩平衡，是周转控制装置、双控控制装置结构简单的百向传动器。
背景技术
行星排背景知识：行星排由两个中心轮与带行星轮的行星架三个部件组成，三个部件的排列啮合结构关系决定行星排运动特性方程，决定行星排种类。现有行星排分为圆柱齿轮行星排、锥齿轮行星排。圆柱齿轮行星排包括一个太阳轮、一个内齿圈与带行星轮的行星架，其中太阳轮、内齿圈、行星轮都是圆柱齿轮。圆柱齿轮行星排按行星轮的层数是一层或双层而分为单层星行星排或双层星行星排；单层星行星排中太阳轮与行星轮啮合，行星轮与内齿圈啮合；双层星行星排中太阳轮与内层行星轮啮合，内层行星轮与外层行星轮啮合，外层行星轮与内齿圈啮合。锥齿轮行星排包括两个中心轮与带行星轮的行星架，一般是单层星行星排，行星轮是一层，其两个中心轮与行星轮都是锥齿轮；左侧中心轮与行星轮啮合，行星轮与右侧中心轮啮合。太阳轮与内齿圈都属于中心轮，太阳轮是左侧中心轮是节圆直径小的中心轮，内齿圈是右侧中心轮是节圆直径大的中心轮。本发明提出，所有由两个中心轮与带行星轮的行星架组成的传动机械都是行星排，一个中心轮与行星轮啮合，多层行星轮相互啮合或直接连接，行星轮与另一个中心轮啮合，行星架带着行星轮围绕中心轮轴线转动，行星轮既公转又自转；行星轮的层数可以是一层、二层、三层。例如双太阳轮行星排是一种双层星行星排，包括两个中心轮(太阳轮)与带行星轮的行星架，其两个中心轮与行星轮都是圆柱 齿轮；其每个行星轮是共轴的两个齿轮，称为左侧行星轮、右侧行星轮；左侧行星轮与左侧中心轮啮合，左侧行星轮与右侧行星轮直接连接，右侧行星轮与右侧中心轮啮合；左侧中心轮的节圆直径不等于右侧中心轮的节圆直径，左侧中心轮齿轮模数不必须等于右侧中心轮齿轮模数。再例如双内齿圈行星排是一种双层星行星排，包括两个中心轮(内齿圈)与带行星轮的行星架，其两个中心轮与行星轮都是圆柱齿轮；其每个行星轮是共轴的两个齿轮，称为左侧行星轮、右侧行星轮；左侧行星轮与左侧中心轮啮合，左侧行星轮与右侧行星轮直接连接，右侧行星轮与右侧中心轮啮合；左侧中心轮的节圆直径不等于右侧中心轮的节圆直径，左侧中心轮齿轮模数不必须等于右侧中心轮齿轮模数。又例如双太阳轮双行星轮轴行星排是一种单层星行星排，包括两个中心轮(太阳轮)与带两个行星轮轴两层行星轮的行星架，其两个中心轮与行星轮都是圆柱齿轮；行星架具有内行星轮轴和外行星轮轴，内行星轮轴上设置内行星轮，外行星轮轴上的每个行星轮是共轴的两个齿轮，称为左侧外行星轮、右侧外行星轮；左侧中心轮与内行星轮啮合，内行星轮与左侧外行星轮啮合，左侧外行星轮与右侧外行星轮直接连接共轴，右侧外行星轮与右侧中心轮啮合；左侧中心轮齿轮模数不必须等于右侧中心轮齿轮模数。设行星排的三个部件中左侧中心轮为z、行星架为j、右侧中心轮为y，左侧行星轮或左侧外行星轮为xz，右侧行星轮或右侧外行星轮为xy，设Zz为左侧中心轮齿数，Zy为右侧中心轮齿数，Zxz为左侧行星轮或左侧外行星轮齿数，Zxy为右侧行星轮或右侧外行星轮齿数，Nz为左侧中心轮转速,Ny为右侧中心轮转速,Nj为行星架转速；圆柱齿轮行星排与锥齿轮行星排的特性参数a＝Zy/Zz，双太阳轮行星排的特性参数、双内齿圈行星排的特性参数、双太阳轮双行星轮轴行星排的特性参数均为a＝(Zy*Zxz)/(Zz*Zxy)。所有单层星行星排的运动特性方程为：Nz+a*Ny＝(1+a)*Nj，服从该运动特性方程的行星排都是单层星行星排；在该运动特性方程中，系数绝对值最大项是Nj，该项对应的部件是行星架。所有双层星行星排的运动特性方程为：Nz-a*Ny＝(1-a)*Nj，服从该运动特性方程的行星排都是双层星 行星排；当a<1.0时，在该运动特性方程中系数绝对值最大项是Nz，该项对应的部件是标注为z的一侧中心轮，当a>1.0时，在该运动特性方程中系数绝对值最大项是Ny，该项对应的部件是标注为y的一侧中心轮。
输入轴与输出轴有夹角的传动称为折向传动，该夹角称为折向角，保持折向角不变而输出轴周转的传动称为可周转折向传动。传统可周转折向传动器主要是锥齿轮折向传动器，利用锥齿轮副实现折向传动，折向角固定，控制其输出轴围绕输入轴周转后就作为可周转折向传动器；折向传动时在输出轴形成很大的单向支座力矩，单向支座力矩与传动的动力转矩相关，动力转矩越大，单向支座力矩越大；单向支座力矩与折向角大小相关，折向角越大，单向支座力矩越大。由于单向支座力矩的存在，传统可周转折向传动器在控制输出轴周转时，正转与反转所需的周转控制力矩完全不平衡；需要具有极大力矩的装置例如液压装置来控制输出轴周转,或者需要设置附加平衡装置例如反向弹簧装置提供反向力矩来抵消单向支座力矩才能控制输出轴周转，周转控制装置结构很复杂。
本发明同向分动双控百向传动器提出百向传动器的一种结构，通过输入周转转速、双控转速之一来控制输出轴围绕合动器轴周转；是新一类可周转折向传动器，在动力转速的传动过程中，控制输出轴围绕合动器轴周转，正转反转的周转控制力矩平衡，周转控制装置、双控控制装置结构简单，称为双控百向传动器。
发明内容
本发明同向分动双控百向传动器由同向分动器、套筒轴换向器、双控器和合动器组成。
同向分动器有一个同向分动器输入端、一个同向分动器内输出端、一个同向分动器外输出端，同向分动器使其输入端的一个转速转化为其内输出端、其外输出端的转动方向相同的两个转速。同向分动器采用一个行星排，行星轮的轮组数目为一组至六组，设置行星排的三 个部件之一作为同向分动器输入端，另两个部件分别作为同向分动器内输出端、同向分动器外输出端，设置的条件是同向分动器输入端输入转速时使同向分动器内输出端、同向分动器外输出端输出的两个转速的转动方向相同。也可以表述为：同向分动器行星排，设置其运动特性方程中系数绝对值最大项所对应的部件作为同向分动器输入端、其他两个部件分别作为同向分动器内输出端、同向分动器外输出端。同向分动器行星排采用五种行星排之一，其中：采用锥齿轮单层星行星排时，其运动特性方程中系数绝对值最大项所对应的部件是行星架，以行星架作为同向分动器输入端，左侧中心轮、右侧中心轮分别作为同向分动器内输出端、同向分动器外输出端。参见图3，图3中以锥齿轮单层星行星排的行星架作为同向分动器输入端(1)，左侧中心轮作为同向分动器内输出端(2)，右侧中心轮作为同向分动器外输出端(3)。采用双太阳轮双行星轮轴行星排时，其运动特性方程中系数绝对值最大项所对应的部件是行星架，以行星架作为同向分动器输入端，左侧中心轮、右侧中心轮分别作为同向分动器内输出端、同向分动器外输出端。参见图4，图4中以双太阳轮双行星轮轴行星排的行星架作为同向分动器输入端(1)，左侧中心轮(4)作为同向分动器内输出端(2)，右侧中心轮(5)作为同向分动器外输出端(3)，图4中(6)是内行星轮、(7)是左侧外行星轮、(8)是右侧外行星轮。采用圆柱齿轮双层星行星排时，其运动特性方程中系数绝对值最大项所对应的部件是节圆直径大的中心轮(内齿圈)，以节圆直径大的中心轮(内齿圈)作为同向分动器输入端，行星架、节圆直径小的中心轮(太阳轮)分别作为同向分动器内输出端、同向分动器外输出端。参见图5，图5中以圆柱齿轮双层星行星排的内齿圈作为同向分动器输入端(1)，行星架作为同向分动器内输出端(2)，太阳轮作为同向分动器外输出端(3)。采用双太阳轮行星排时，其运动特性方程中系数绝对值最大项所对应的部件是两个中心轮(太阳轮)中节圆直径较大者，以节圆直径较大的中心轮(太阳轮)作为同向分动器输入端，行星架、另一中心轮(太阳轮)分别作为同向分动器内输出端、同向分动器外输出端。参见图6，图6 中以双太阳轮行星排的节圆直径较大的中心轮作为同向分动器输入端(1)，行星架作为同向分动器内输出端(2)，另一中心轮作为同向分动器外输出端(3)。采用双内齿圈行星排时，其运动特性方程中系数绝对值最大项所对应的部件是两个中心轮(内齿圈)中节圆直径较小者，以节圆直径较小的中心轮(内齿圈)作为同向分动器输入端，行星架、另一中心轮(内齿圈)分别作为同向分动器内输出端、同向分动器外输出端。参见图7，图7中以双内齿圈行星排的节圆直径较小的中心轮作为同向分动器输入端(1)，行星架作为同向分动器内输出端(2)，另一中心轮作为同向分动器外输出端(3)。
套筒轴换向器包括套筒轴的内轴与外轴，内轴有内输入端、内输出端，外轴有外输入端、外输出端。套筒轴换向器使其内输入端、其外输入端的转动方向相同的两个转速转化为其内输出端、其外输出端的转动方向相反的两个转速；也使其内输出端、其外输出端的转动方向相同的两个转速转化为其内输入端、其外输入端的转动方向相反的两个转速。本发明采用一个、两个套筒轴换向器，采用两个套筒轴换向器时称为左侧套筒轴换向器与右侧套筒轴换向器，左侧套筒轴换向器、右侧套筒轴换向器不必须是同类。套筒轴换向器有四类：第一类为锥齿轮行星排换向器，外轴采用锥齿轮单层星行星排，参见图8。图8中套筒轴内轴设置内输入端(1)、内输出端(2)，套筒轴外轴上锥齿轮单层星行星排的左侧中心轮作为换向器外输入端(2)，右侧中心轮作为换向器外输出端(4)，锥齿轮行星轮(5)与左侧中心轮啮合且与右侧中心轮啮合，使行星架固定，该行星排锥齿轮行星轮(5)的轮组数目可以是一组至六组。换向器外输入端(2)与换向器外输出端(4)的转动方向相反。第二类为双太阳轮双行星轮轴行星排换向器，外轴采用双太阳轮双行星轮轴行星排，参见图9。图9中套筒轴内轴设置内输入端(1)、内输出端(3)，套筒轴外轴上双太阳轮双行星轮轴行星排的左侧中心轮作为换向器外输入端(2)，右侧中心轮作为换向器外输出端(4)，使行星架固定，该行星排内行星轮(5)、左侧外行星轮(6)、右侧外行星轮(7)的轮组数目可以为一组至六组。 换向器外输入端(1)与换向器外输出端(3)的转动方向相反。第三类为保位双路换向器，内轴、外轴分别采用锥齿轮副传动，参见图10。图10中保位双路换向器的内输入端、外输入端形成输入套筒轴，内输出端、外输出端形成输出套筒轴，输入套筒轴轴承与输出套筒轴轴承各自固定，输入套筒轴与输出套筒轴呈90度夹角；在内输入端(1)上设置内主动锥齿轮，外输入端(2)上设置外主动锥齿轮，内输出端(3)上设置内被动锥齿轮(5)，外输出端(4)上设置外被动锥齿轮(6)，使内主动锥齿轮与内被动锥齿轮(5)啮合、外主动锥齿轮与外被动锥齿轮(6)啮合，内主动锥齿轮齿轮模数不必须等于外主动锥齿轮齿轮模数。内输入端、外输入端上输入转动方向相同的两个转速，在内输出端、外输出端上就输出转动方向相反的两个转速。第四类为换位双路换向器，内轴、外轴分别采用锥齿轮副传动，参见图11，图11中换位双路换向器的内输入端、外输入端形成输入套筒轴，内输出端、外输出端形成输出套筒轴，输入套筒轴与输出套筒轴呈90度夹角；在内输入端(1)上设置内主动锥齿轮，外输入端(2)上设置外主动锥齿轮，内输出端(3)上设置内被动锥齿轮(5)，外输出端(4)上设置外被动锥齿轮(6)，使内主动锥齿轮与外被动锥齿轮(6)啮合、外主动锥齿轮与内被动锥齿轮(5)啮合，内主动锥齿轮齿轮模数不必须等于外主动锥齿轮齿轮模数。内输入端、外输入端上输入转动方向相同的两个转速，在外输出端、内输出端上就输出转动方向相反的两个转速。本发明中，锥齿轮行星排换向器和双太阳轮双行星轮轴行星排换向器的内轴传动比设置为1.0，外轴传动比设置为-1.0，设置方法为业内已知方法；例如：使锥齿轮行星排换向器中的左侧中心轮齿数＝右侧中心轮齿数＝锥齿轮行星轮齿数。保位双路换向器从内输入端到内输出端的传动比设置为-1.0、从外输入端到外输出端的传动比设置为1.0，设置方法例如：内主动锥齿轮齿数＝内被动锥齿轮齿数，且，外主动锥齿轮齿数＝外被动锥齿轮齿数。换位双路换向器从内输入端到外输出端的传动比设置为-1.0、从外输入端到内输出端的传动比设置为1.0。
双控器有一个双控器输入端、一个左内输出端兼右内输出端、一个左外输出端、一个右外输出端，双控器使其输入端输入的一个转速转化为其左内输出端、其左外输出端的转动方向相同的两个转速，同时也转化为其右内输出端、其右外输出端的转动方向相同的两个转速。双控器采用一个双层星行星排，行星轮的轮组数目为一组至六组，以左侧中心轮作为双控器输入端，另一中心轮作为左内输出端兼右内输出端，行星架作为左外输出端且作为右外输出端，左侧中心轮也是双控器行星排运动特性方程中系数绝对值最大项所对应的部件。双控器采用三种双层星行星排之一，第一种采用圆柱齿轮双层星行星排，运动特性方程中系数绝对值最大项所对应的部件是节圆直径大的中心轮(内齿圈)，参见图12，图12中以节圆直径大的中心轮(内齿圈)作为双控器输入端(1)，另一中心轮(太阳轮)作为左内输出端兼右内输出端(2)，行星架作为左外输出端(3)且作为右外输出端(4)。双控器输入端的外部连接例如：设置双控齿轮(5)与内齿圈直接连接，设置与双控齿轮啮合的旁轴齿轮(6)，通过旁轴齿轮(6)、双控齿轮(5)向双控器输入端(1)输入双控转速。第二种采用双太阳轮行星排，运动特性方程中系数绝对值最大项所对应的部件是两个中心轮(太阳轮)中节圆直径较大者，参见图13，图13中以节圆直径较大的中心轮作为双控器输入端(1)，另一中心轮作为左内输出端兼右内输出端(2)，行星架作为左外输出端(3)且作为右外输出端(4)。双控器输入端的外部连接例如：设置蜗轮(5)与太阳轮直接连接，设置配套的蜗杆(6)，通过蜗轮蜗杆装置向双控器输入端(1)输入双控转速。第三种采用双内齿圈行星排，运动特性方程中系数绝对值最大项所对应的部件是两个中心轮(内齿圈)中节圆直径较小者，参见图14，图14中以节圆直径较小的中心轮作为双控器输入端(1)，另一中心轮作为左内输出端兼右内输出端(2)，行星架作为左外输出端(3)且作为右外输出端(4)。双控器输入端的外部连接例如：设置蜗轮(5)与内齿圈直接连接，设置配套的蜗杆(6)，通过蜗轮蜗杆装置向双控器输入端(1)输入双控转速。
合动器是使其内输入端、其外输入端的两个转动方向相反的转速合成转化为其行星轮转速的传动装置，使其内输入端、其外输入端的两个转动方向相同的转速转化为其行星架转速。采用一个单层星行星排，行星轮的轮组数目为一组至六组，其行星排轴就是合动器轴，以左侧中心轮作为合动器外输入端，右侧中心轮作为合动器内输入端，行星架作为周转控制端，一个至六个行星轮作为输出端，输出轴就是这些行星轮轴，输出轴与合动器轴形成折向角；合动器输出端也是同向分动双控百向传动器的输出端。合动器采用两种单层星行星排之一，第一种采用锥齿轮单层星行星排，参见图15，图15中以左侧中心轮作为合动器外输入端(2)，右侧中心轮作为合动器内输入端(1)，行星架作为周转控制端(3)，一个或多个锥齿轮行星轮作为输出端(4)，输出轴就是这些锥齿轮行星轮轴，输出轴与合动器轴呈90度折向角。第二种采用双太阳轮双行星轮轴行星排，参见图16，图16中以左侧中心轮作为合动器外输入端(2)，右侧中心轮作为合动器内输入端(1)，行星架作为周转控制端，一个至六个行星轮作为输出端(5)，输出轴就是这些行星轮轴，输出轴与合动器轴平行呈0度折向角。周转控制端的外部连接例如：在周转控制端行星架上设置蜗轮(3)，设置与蜗轮啮合的蜗杆(4)。通过蜗轮蜗杆装置可以向周转控制端输入周转转速使行星架围绕合动器轴周转，使输出轴也围绕合动器轴周转。
同向分动双控百向传动器中同向分动器、双控器、合动器各部件设置方法为：同向分动器采用单层星行星排时使其特性参数等于1.0，同向分动器采用双层星行星排时使其特性参数等于2.0；使双控器双层星行星排特性参数等于2.0；使合动器单层星行星排特性参数等于1.0。上述这些设置方法采用了数字化的行星排特性参数表述，行星排特性参数实质上是对同向分动双控百向传动器各部件齿数和结构设置的表述。例如当同向分动器采用锥齿轮单层星行星排时，“使其特性参数等于1.0”就是设置其左侧中心轮齿数等于右侧中心轮齿数。业内人士均可理解，设置各行星排特性参数，对应着设置各行星排齿数与结构，最终对应着设置同向分 动双控百向传动器结构。
本发明有两种连接方法。采用一个套筒轴换向器时，本发明连接方法一为：使同向分动器内输出端与套筒轴换向器内输入端直接连接，同向分动器外输出端与套筒轴换向器外输入端直接连接，套筒轴换向器内输出端与双控器左内输出端直接连接，套筒轴换向器外输出端与双控器左外输出端直接连接，双控器右内输出端与合动器内输入端直接连接，双控器右外输出端与合动器外输入端直接连接；同向分动器输入端连接动力源，双控器输入端通过双控齿轮、旁轴齿轮间接连接双控控制装置，周转控制端连接周转控制装置，合动器输出端连接动力使用装置。输入的周转转速或双控转速不排除转速为零。采用两个套筒轴换向器时，本发明连接方法二为：同向分动器内输出端直接连接左侧套筒轴换向器内输入端，同向分动器外输出端直接连接左侧套筒轴换向器外输入端，左侧套筒轴换向器内输出端直接连接双控器左内输出端，左侧套筒轴换向器外输出端直接连接双控器左外输出端，双控器右内输出端直接连接右侧套筒轴换向器内输入端，双控器右外输出端直接连接右侧套筒轴换向器外输入端，右侧套筒轴换向器内输出端直接连接合动器内输入端，右侧套筒轴换向器外输出端直接连接合动器外输入端；双控器输入端通过双控齿轮、旁轴齿轮间接连接动力源，同向分动器输入端连接双控控制装置，周转控制端连接周转控制装置，合动器输出端连接动力使用装置。输入的周转转速或双控转速不排除转速为零，即不排除设置制动器制动。
本发明从动力源输入的动力转速经本发明传动转化为合动器输出端的转速，动力转速的输入、输出与周转转速互不干涉，与双控转速互不干涉；本发明通过输入周转转速、双控转速之一来控制输出轴围绕合动器轴周转。由于动力转速的输入、输出与周转转速、双控转速互不干涉，控制输出轴周转的正转、反转力矩平衡，输出轴无单向支座力矩，周转控制装置、双控控制装置不需要克服单向支座力矩，所以周转控制装置、双控控制装置结构简单。控制过程中，周转控制装置与双控控制装置是联动的，双控控制装置输入非零双控转速时周转控 制装置会被动转动，周转控制装置输入非零周转转速时双控控制装置会被动转动。
本发明所述连接分为直接连接与间接连接，直接连接使参与连接的各部件转速相同，间接连接使参与连接的各部件之间形成固定的转速比例关系。本发明所述连接，表示采用直接连接或间接连接。所述内输出端、外输出端指这两个部件形成套筒轴，内输出端作为套筒轴的内轴，外输出端作为套筒轴的外轴；所述内输入端、外输入端指这两个部件形成套筒轴，内输入端作为套筒轴的内轴，外输入端作为套筒轴的外轴；如有例外，会专门指出。所述动力源，是燃油发动机、电力发动机等发动机，或发动机后的变速器减速器传动装置等；动力源与同向分动器输入端直接连接可以向同向分动器输入端输入动力转速；动力源通过双控齿轮、旁轴齿轮与双控器输入端间接连接，可以向双控器输入端输入动力转速。所述周转控制装置，是电动控制装置、液压控制装置等；周转控制装置与周转控制端连接，可以向周转控制端输入周转转速。所述双控控制装置，是电动控制装置、液压控制装置等；双控控制装置与同向分动器输入端直接连接可以向同向分动器输入端输入双控转速；双控控制装置通过双控齿轮、旁轴齿轮或通过蜗轮蜗杆装置与双控器输入端间接连接，可以向双控器输入端输入双控转速。所述动力使用装置是与合动器输出端连接的后端装置，如旋翼、双旋翼、螺旋桨、双螺旋桨、风轮、主动轮、驱动轴等。
本发明可用于飞行器可倾转旋翼、直升机可变向旋翼、船舶可变向螺旋桨等的百向传动。用于机器人的跨活动关节百向传动。用于风力发电机调整风轮轴指向。用于机动车转向主动轮传动。
本发明同向分动双控百向传动器的有益之处在于，提出了由同向分动器、套筒轴换向器、双控器、合动器组成本发明，提出了各部件设置方法、提出了本发明的两种连接方法；在动力转速的传动过程中，通过输入周转转速、双控转速之一来控制输出轴围绕合动器轴周转，实现输出轴围绕合动器轴周转，正转反转的周转控制力矩平衡，周转控制装置、双控控制装 置结构简单的目的。本发明通过输入周转转速、双控转速之一来控制输出轴围绕合动器轴周转，前者方便就近控制输出轴周转，后者方便远程控制输出轴周转。
附图说明
图1为本发明采用一个套筒轴换向器的同向分动双控百向传动器示意图，也是本发明实施例1的示意图。1为同向分动器输入端，2为同向分动器内输出端，3为同向分动器外输出端，4为锥齿轮行星排换向器，5为双控器输入端，6为双控器左内输出端兼右内输出端，7为双控器左外输出端，8为双控器右外输出端，9为合动器内输入端，10为合动器外输入端，11为周转控制端，12为合动器输出端，13为双控齿轮，14为旁轴齿轮。图中同向分动器采用双太阳轮行星排，双控器采用双太阳轮行星排，合动器采用锥齿轮单层星行星排；图中各行星排为半幅简图，旁轴齿轮为整幅简图。
图2为采用两个套筒轴换向器的本发明同向分动双控百向传动器示意图，也是本发明实施例2的示意图。1为同向分动器输入端，2为同向分动器内输出端，3为同向分动器外输出端，4为左侧套筒轴换向器，5为双控器输入端，6为双控器左内输出端兼右内输出端，7为双控器左外输出端，8为双控器右外输出端，9为合动器内输入端，10为合动器外输入端，11为周转控制端，12为合动器输出端，13为双控齿轮，14为旁轴齿轮，15为右侧套筒轴换向器。图中同向分动器采用双太阳轮行星排，左侧换向器、右侧换向器均采用锥齿轮行星排换向器，双控器采用双太阳轮行星排，合动器采用锥齿轮单层星行星排；图中各行星排为半幅简图，旁轴齿轮为整幅简图。
图3为采用锥齿轮单层星行星排的同向分动器示意图，为半幅简图。1为输入端，2为内输出端，3为外输出端。
图4为采用双太阳轮双行星轮轴行星排的同向分动器示意图，为半幅简图。1为输入端， 2为内输出端，3为外输出端，4为左侧中心轮，5为右侧中心轮，6为内行星轮，7为左侧外行星轮，8为右侧外行星轮。
图5为采用圆柱齿轮双层星行星排的同向分动器示意图，为半幅简图。1为输入端，2为内输出端，3为外输出端。
图6为采用双太阳轮行星排的同向分动器示意图，为半幅简图。1为输入端，2为内输出端，3为外输出端。
图7为采用双内齿圈行星排的同向分动器示意图，为半幅简图。1为输入端，2为内输出端，3为外输出端。
图8为锥齿轮行星排换向器的示意图，为半幅简图。1为内输入端，2为外输入端，3为内输出端，4为外输出端，5为锥齿轮行星轮。
图9为双太阳轮双行星轮轴行星排换向器的示意图，为半幅简图。1为内输入端，2为外输入端，3为内输出端，4为外输出端，5为内行星轮，6为左侧外行星轮，7为右侧外行星轮。
图10为保位双路换向器的示意图，为整幅简图。1为内输入端，2为外输入端，3为内输出端，4为外输出端，5为内被动锥齿轮，6为外被动锥齿轮。
图11为换位双路换向器的示意图，为整幅简图。1为内输入端，2为外输入端，3为内输出端，4为外输出端，5为内被动锥齿轮，6为外被动锥齿轮。
图12为采用圆柱齿轮双层星行星排的双控器示意图。1为输入端，2为左内输出端兼右内输出端，3为左外输出端，4为右外输出端，5为双控齿轮，6为旁轴齿轮。图中旁轴齿轮为整幅简图，其余为半幅简图。
图13为采用双太阳轮行星排的双控器示意图。1为输入端，2为左内输出端兼右内输出端，3为左外输出端，4为右外输出端，5为蜗轮，6为蜗杆。图中蜗杆为整幅简图，其余为 半幅简图。
图14为采用双内齿圈行星排的双控器示意图。1为输入端，2为左内输出端兼右内输出端，3为左外输出端，4为右外输出端，5为蜗轮，6为蜗杆。图中蜗杆为整幅简图，其余为半幅简图。
图15为采用锥齿轮单层星行星排的合动器示意图，为半幅简图。1为合动器内输入端，2为合动器外输入端，3为周转控制端，4为输出端。
图16为采用双太阳轮双行星轮轴行星排的合动器示意图。1为合动器内输入端，2为合动器外输入端，3为设置在周转控制端上的蜗轮，4为蜗杆，5为输出端。图中蜗杆为整幅简图，其余为半幅简图。
各图中各行星排按行业惯例尽量以半幅简图示意，各图中各部件只示意结构关系，未反映真实尺寸。
具体实施方式
实施例1：采用一个套筒轴换向器的本发明同向分动双控百向传动器，由同向分动器、套筒轴换向器、双控器与合动器组成，同向分动器采用双太阳轮行星排，采用锥齿轮行星排换向器，双控器采用双太阳轮行星排，合动器采用锥齿轮单层星行星排，参见图1。
同向分动器有一个同向分动器输入端、一个同向分动器内输出端、一个同向分动器外输出端，同向分动器使其输入端的一个转速转化为其内输出端、其外输出端的转动方向相同的两个转速。同向分动器行星排，设置其运动特性方程中系数绝对值最大项所对应的部件作为同向分动器输入端、其他两个部件分别作为同向分动器内输出端、同向分动器外输出端。本实施例同向分动器采用双太阳轮行星排，其运动特性方程中系数绝对值最大项所对应的部件是节圆直径较大的中心轮，以节圆直径较大的中心轮作为同向分动器输入端(1)，行星架作 为同向分动器内输出端(2)，另一中心轮作为同向分动器外输出端(3)。行星排中行星轮的轮组数目为二组。
套筒轴换向器包括套筒轴的内轴与外轴，内轴有内输入端、内输出端，外轴有外输入端、外输出端，套筒轴换向器使其内输入端、其外输入端的转动方向相同的两个转速转化为其内输出端、其外输出端的转动方向相反的两个转速；也使其内输出端、其外输出端的转动方向相同的两个转速转化为其内输入端、其外输入端的转动方向相反的两个转速。本实施例采用锥齿轮行星排换向器(4)，套筒轴内轴设置内输入端、内输出端，套筒轴外轴上锥齿轮行星排的左侧中心轮作为换向器外输入端，右侧中心轮作为换向器外输出端，锥齿轮行星轮与左侧中心轮啮合且与右侧中心轮啮合，使行星架固定，该行星排锥齿轮行星轮的组数目是二组。换向器外输入端与换向器外输出端的转动方向相反。左侧中心轮齿数＝右侧中心轮齿数＝锥齿轮行星轮齿数＝18，左侧中心轮齿轮模数不等于右侧中心轮齿轮模数。
双控器有一个双控器输入端、一个左内输出端兼右内输出端、一个左外输出端、一个右外输出端，双控器使其输入端输入的一个转速转化输出为其左内输出端、其左外输出端的转动方向相同的两个转速，同时也转化输出为其右内输出端、其右外输出端的转动方向相同的两个转速。双控器采用一个双层星行星排，行星轮的轮组数目为一组至六组，以左侧中心轮作为双控器输入端，另一中心轮作为左内输出端且作为右内输出端，行星架作为左外输出端且作为右外输出端，左侧中心轮也是该双层星行星排运动特性方程中系数绝对值最大项所对应的部件。本实施例双控器采用双太阳轮行星排，行星轮的轮组数目为二组，其运动特性方程中系数绝对值最大项所对应的部件是节圆直径较大的中心轮，以节圆直径较大的中心轮作为双控器输入端(5)，另一中心轮作为双控器左内输出端兼右内输出端(6)，行星架作为左外输出端(7)且作为右外输出端(8)。
合动器是使其内输入端、其外输入端的两个转动方向相反的转速合成转化为其行星轮转 速的传动装置，使其内输入端、其外输入端的两个转动方向相同的转速转化为其行星架转速。采用一个单层星行星排，行星轮的轮组数目为一组至六组，其行星排轴就是合动器轴，以左侧中心轮作为合动器外输入端，右侧中心轮作为合动器内输入端，行星架作为周转控制端，一个至六个行星轮作为输出端，输出轴就是这些行星轮轴，输出轴与合动器轴形成折向角；输出端也是同向分动双控百向传动器的输出端。本实施例合动器采用锥齿轮单层星行星排，以左侧中心轮作为合动器外输入端(10)，右侧中心轮作为合动器内输入端(9)，行星架作为周转控制端(11)，一个锥齿轮行星轮作为输出端(12)，输出轴就是该锥齿轮行星轮轴，输出轴与合动器轴呈90度折向角；行星排中锥齿轮行星轮的轮组数目为二组。
本实施例同向分动器、双控器、合动器中各部件设置方法为：同向分动器采用双太阳轮行星排使其特性参数等于2.0，使双控器双太阳轮行星排特性参数等于2.0，使合动器锥齿轮单层星行星排特性参数等于1.0。具体各部件齿数设置为：取同向分动器双太阳轮行星排的左侧太阳轮齿数为36、左侧行星轮齿数为18、右侧行星轮齿数为18、右侧太阳轮齿数为18；双控器双太阳轮行星排的左侧太阳轮齿数为36、左侧行星轮齿数为18、右侧行星轮齿数为18、右侧太阳轮齿数为18；合动器锥齿轮单层星行星排的左侧中心轮齿数＝右侧中心轮齿数＝锥齿轮行星轮齿数＝18。
本实施例采用一个套筒轴换向器，采用连接方法一：使同向分动器内输出端(2)与套筒轴换向器内输入端直接连接，同向分动器外输出端(3)与套筒轴换向器外输入端直接连接，套筒轴换向器内输出端与双控器左内输出端(6)直接连接，套筒轴换向器外输出端与双控器左外输出端(7)直接连接，双控器右内输出端(6)与合动器内输入端(9)直接连接，双控器右外输出端(8)与合动器外输入端(10)直接连接；同向分动器输入端(1)连接动力源，双控器输入端(5)通过双控齿轮(13)、旁轴齿轮(14)间接连接双控控制装置，周转控制端(11)连接周转控制装置，合动器输出端(12)连接动力使用装置。
本实施例从动力源输入的动力转速经本实施例传动转化为合动器输出端的转速，动力转速的输入、输出与周转转速互不干涉，动力转速的输入、输出与双控转速互不干涉；本实施例通过输入周转转速、双控转速之一来控制输出轴围绕合动器轴周转。由于动力转速的输入、输出与周转转速、双控转速互不干涉，控制输出轴周转的正转、反转力矩平衡，输出轴无单向支座力矩，周转控制装置、双控控制装置不需要克服单向支座力矩，所以周转控制装置、双控控制装置结构简单。控制过程中，周转控制装置与双控控制装置是联动的，双控控制装置输入非零双控转速时周转控制装置会被动转动，周转控制装置输入非零周转转速时双控控制装置会被动转动。
实施例2：采用两个套筒轴换向器的本发明同向分动双控百向传动器，由同向分动器、左侧套筒轴换向器、双控器、右侧套筒轴换向器与合动器组成，同向分动器采用双太阳轮行星排，左侧套筒轴换向器、右侧套筒轴换向器均采用锥齿轮行星排换向器，双控器采用双太阳轮行星排，合动器采用锥齿轮单层星行星排，参见图2。
同向分动器有一个同向分动器输入端、一个同向分动器内输出端、一个同向分动器外输出端，同向分动器使其输入端的一个转速转化为其内输出端、其外输出端的转动方向相同的两个转速。同向分动器行星排，设置其运动特性方程中系数绝对值最大项所对应的部件作为同向分动器输入端、其他两个部件分别作为同向分动器内输出端、同向分动器外输出端。本实施例2同向分动器采用双太阳轮行星排，其运动特性方程中系数绝对值最大项所对应的部件是节圆直径较大的中心轮，以节圆直径较大的中心轮作为同向分动器输入端(1)，行星架作为同向分动器内输出端(2)，另一中心轮作为同向分动器外输出端(3)。行星排中行星轮的轮组数目为二组。
套筒轴换向器包括套筒轴的内轴与外轴，内轴有内输入端、内输出端，外轴有外输入端、外输出端，套筒轴换向器使其内输入端、其外输入端的转动方向相同的两个转速转化为其内 输出端、其外输出端的转动方向相反的两个转速；也使其内输出端、其外输出端的转动方向相同的两个转速转化为其内输入端、其外输入端的转动方向相反的两个转速。本实施例2的左侧套筒轴换向器(4)、右侧套筒轴换向器(15)均采用锥齿轮行星排换向器，套筒轴内轴设置内输入端、内输出端，套筒轴外轴上锥齿轮行星排的左侧中心轮作为换向器外输入端，右侧中心轮作为换向器外输出端，锥齿轮行星轮与左侧中心轮啮合且与右侧中心轮啮合，使行星架固定，这两个行星排中锥齿轮行星轮的轮组数目是二组。换向器外输入端与换向器外输出端的转动方向相反。这两个套筒轴换向器中，设置左侧中心轮齿数＝右侧中心轮齿数＝锥齿轮行星轮齿数＝18，左侧中心轮齿轮模数不等于右侧中心轮齿轮模数。
双控器有一个双控器输入端、一个左内输出端兼右内输出端、一个左外输出端、一个右外输出端，双控器使其输入端输入的一个转速转化输出为其左内输出端、其左外输出端的转动方向相同的两个转速，同时也转化输出为其右内输出端、其右外输出端的转动方向相同的两个转速。双控器采用一个双层星行星排，行星轮的轮组数目为一组至六组，以左侧中心轮作为双控器输入端，另一中心轮作为左内输出端且作为右内输出端，行星架作为左外输出端且作为右外输出端，左侧中心轮也是该双层星行星排运动特性方程中系数绝对值最大项所对应的部件。本实施例2双控器采用双太阳轮行星排，其运动特性方程中系数绝对值最大项所对应的部件是节圆直径较大的中心轮(太阳轮)，行星轮的轮组数目为二组，以节圆直径较大的中心轮作为双控器输入端(5)，另一中心轮作为双控器左内输出端兼右内输出端(6)，行星架作为左外输出端(7)且作为右外输出端(8)。
合动器是使其内输入端、其外输入端的两个转动方向相反的转速合成转化为其行星轮转速的传动装置，使其内输入端、其外输入端的两个转动方向相同的转速转化为其行星架转速。采用一个单层星行星排，行星轮的轮组数目为一组至六组，其行星排轴就是合动器轴，以左侧中心轮作为合动器外输入端，右侧中心轮作为合动器内输入端，行星架作为周转控制端， 一个至六个行星轮作为输出端，输出轴就是这些行星轮轴，输出轴与合动器轴形成折向角；输出端也是同向分动双控百向传动器的输出端。本实施例2合动器采用锥齿轮单层星行星排，以左侧中心轮作为合动器外输入端(10)，右侧中心轮作为合动器内输入端(9)，行星架作为周转控制端(11)，一个锥齿轮行星轮作为输出端(12)，输出轴就是该锥齿轮行星轮轴，输出轴与合动器轴形成90度折向角；行星排中锥齿轮行星轮的轮组数目为二组。
本实施例2中同向分动器、双控器、合动器中各部件设置方法为：同向分动器采用双太阳轮行星排使其特性参数等于2.0，使双控器双太阳轮行星排特性参数等于2.0，使合动器锥齿轮单层星行星排特性参数等于1.0。具体各部件齿数设置为：取同向分动器双太阳轮行星排的左侧太阳轮齿数为36、左侧行星轮齿数为18、右侧行星轮齿数为18、右侧太阳轮齿数为18；双控器双太阳轮行星排的左侧太阳轮齿数为36、左侧行星轮齿数为18、右侧行星轮齿数为18、右侧太阳轮齿数为18；合动器锥齿轮单层星行星排的左侧中心轮齿数＝右侧中心轮齿数＝锥齿轮行星轮齿数＝18。
本实施例2采用两个套筒轴换向器，采用连接方法二：同向分动器内输出端(2)直接连接左侧套筒轴换向器内输入端，同向分动器外输出端直接连接左侧套筒轴换向器外输入端，左侧套筒轴换向器内输出端直接连接双控器左内输出端(6)，左侧套筒轴换向器外输出端直接连接双控器左外输出端(7)，双控器右内输出端(6)直接连接右侧套筒轴换向器内输入端，双控器右外输出端(8)直接连接右侧套筒轴换向器外输入端，右侧套筒轴换向器内输出端直接连接合动器内输入端(9)，右侧套筒轴换向器外输出端直接连接合动器外输入端(10)；双控器输入端(5)通过双控齿轮(13)、旁轴齿轮(14)间接连接动力源，同向分动器输入端(1)连接双控控制装置，周转控制端(11)连接周转控制装置，合动器输出端(12)连接动力使用装置。
本实施例2从动力源输入的动力转速经本实施例传动转化为合动器输出端的转速，动力 转速的输入、输出与周转转速互不干涉，动力转速的输入、输出与双控转速互不干涉；本实施例2通过输入周转转速、双控转速之一来控制输出轴围绕合动器轴周转。由于动力转速的输入、输出与周转转速、双控转速互不干涉，控制输出轴周转的正转、反转力矩平衡，输出轴无单向支座力矩，周转控制装置、双控控制装置不需要克服单向支座力矩，所以周转控制装置、双控控制装置结构简单。控制过程中，周转控制装置与双控控制装置是联动的，双控控制装置输入非零双控转速时周转控制装置会被动转动，周转控制装置输入非零周转转速时双控控制装置会被动转动。
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，在不脱离本发明精神和范围的前提下本发明还会有各种变化与改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求及同等物界定。

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  1. 同向分动双控百向传动器，由同向分动器、套筒轴换向器、双控器和合动器组成；同向分动器有一个同向分动器输入端、一个同向分动器内输出端、一个同向分动器外输出端，同向分动器使其输入端的一个转速转化为其内输出端、其外输出端的转动方向相同的两个转速，同向分动器采用一个行星排，设置其运动特性方程中系数绝对值最大项所对应的部件作为同向分动器输入端、其他两个部件分别作为同向分动器内输出端、同向分动器外输出端，同向分动器行星排采用五种行星排之一；套筒轴换向器包括套筒轴的内轴与外轴，内轴有内输入端、内输出端，外轴有外输入端、外输出端，套筒轴换向器使其内输入端、其外输入端的转动方向相同的两个转速转化为其内输出端、其外输出端的转动方向相反的两个转速，也使其内输出端、其外输出端的转动方向相同的两个转速转化为其内输入端、其外输入端的转动方向相反的两个转速，本发明采用一个、两个套筒轴换向器，套筒轴换向器有四类，本发明中，锥齿轮行星排换向器和双太阳轮双行星轮轴行星排换向器的内轴传动比设置为1.0、外轴传动比设置为-1.0，保位双路换向器从内输入端到内输出端的传动比设置为-1.0、从外输入端到外输出端的传动比设置为1.0，换位双路换向器从内输入端到外输出端的传动比设置为-1.0、从外输入端到内输出端的传动比设置为1.0；双控器有一个双控器输入端、一个左内输出端兼右内输出端、一个左外输出端、一个右外输出端，双控器使其输入端输入的一个转速转化为其左内输出端、其左外输出端的转动方向相同的两个转速，同时也转化为其右内输出端、其右外输出端的转动方向相同的两个转速，双控器采用一个双层星行星排，以左侧中心轮作为双控器输入端，另一中心轮作为左内输出端兼右内输出端，行星架作为左外输出端且作为右外输出端，左侧中心轮也是双控器行星排运动特性方程中系数绝对值最大项所对应的部件，双控器采用三种双层星行星排之一；合 动器是使其内输入端、其外输入端的两个转动方向相反的转速合成转化为其行星轮转速的传动装置，使其内输入端、其外输入端的两个转动方向相同的转速转化为其行星架转速，采用一个单层星行星排，其行星排轴就是合动器轴，以左侧中心轮作为合动器外输入端，右侧中心轮作为合动器内输入端，行星架作为周转控制端，一个至六个行星轮作为输出端，输出轴就是这些行星轮轴，输出轴与合动器轴形成折向角，合动器输出端也是同向分动双控百向传动器的输出端，合动器采用两种单层星行星排之一；同向分动双控百向传动器中同向分动器、双控器、合动器各部件设置方法为：同向分动器采用单层星行星排时设置其特性参数等于1.0，同向分动器采用双层星行星排时设置其特性参数等于2.0，设置双控器双层星行星排特性参数等于2.0，设置合动器单层星行星排特性参数等于1.0；采用一个套筒轴换向器时，本发明连接方法一为：使同向分动器内输出端与套筒轴换向器内输入端直接连接，同向分动器外输出端与套筒轴换向器外输入端直接连接，套筒轴换向器内输出端与双控器左内输出端直接连接，套筒轴换向器外输出端与双控器左外输出端直接连接，双控器右内输出端与合动器内输入端直接连接，双控器右外输出端与合动器外输入端直接连接，同向分动器输入端连接动力源，双控器输入端通过双控齿轮、旁轴齿轮间接连接双控控制装置，周转控制端连接周转控制装置，合动器输出端连接动力使用装置，采用两个套筒轴换向器时，本发明连接方法二为：同向分动器内输出端直接连接左侧套筒轴换向器内输入端，同向分动器外输出端直接连接左侧套筒轴换向器外输入端，左侧套筒轴换向器内输出端直接连接双控器左内输出端，左侧套筒轴换向器外输出端直接连接双控器左外输出端，双控器右内输出端直接连接右侧套筒轴换向器内输入端，双控器右外输出端直接连接右侧套筒轴换向器外输入端，右侧套筒轴换向器内输出端直接连接合动器内输入端，右侧套筒轴换向器外输出端直接连接合动器外输入端，双控器输入端通过双控齿轮、旁轴齿轮间接连接动力源，同向分动器输入端连接双控控制装置，周转控制端连接周转控 制装置，合动器输出端连接动力使用装置；本发明从动力源输入的动力转速转化为合动器输出端的转速，动力转速的输入、输出与周转转速互不干涉，与双控转速互不干涉；本发明通过输入周转转速、双控转速之一来控制输出轴围绕合动器轴周转，控制输出轴周转的正转、反转力矩平衡，输出轴无单向支座力矩，周转控制装置、双控控制装置不需要克服单向支座力矩，所以周转控制装置、双控控制装置结构简单。
  2. 如权利要求1所述的同向分动双控百向传动器，同向分动器采用锥齿轮单层星行星排时，以行星架作为同向分动器输入端，左侧中心轮、右侧中心轮分别作为同向分动器内输出端、同向分动器外输出端。
  3. 如权利要求1所述的同向分动双控百向传动器，同向分动器采用双太阳轮双行星轮轴行星排时，以行星架作为同向分动器输入端，左侧中心轮、右侧中心轮分别作为同向分动器内输出端、同向分动器外输出端。
  4. 如权利要求1所述的同向分动双控百向传动器，同向分动器采用圆柱齿轮双层星行星排时，以节圆直径大的中心轮作为同向分动器输入端，行星架、节圆直径小的中心轮分别作为同向分动器内输出端、同向分动器外输出端。
  5. 如权利要求1所述的同向分动双控百向传动器，同向分动器采用双太阳轮行星排时，以节圆直径较大的中心轮作为同向分动器输入端，行星架、另一中心轮分别作为同向分动器内输出端、同向分动器外输出端。
  6. 如权利要求1所述的同向分动双控百向传动器，同向分动器采用双内齿圈行星排时，以节圆直径较小的中心轮作为同向分动器输入端，行星架、另一中心轮分别作为同向分动器内输出端、同向分动器外输出端。
  7. 如权利要求1所述的同向分动双控百向传动器，套筒轴换向器采用锥齿轮行星排换向器，外轴采用锥齿轮单层星行星排，套筒轴内轴设置内输入端、内输出端，套筒轴外轴上锥齿 轮单层星行星排的左侧中心轮作为换向器外输入端，右侧中心轮作为换向器外输出端，锥齿轮行星轮与左侧中心轮啮合且与右侧中心轮啮合，使行星架固定，换向器外输入端与换向器外输出端的转动方向相反。
  8. 如权利要求1所述的同向分动双控百向传动器，套筒轴换向器采用双太阳轮双行星轮轴行星排换向器，外轴采用双太阳轮双行星轮轴行星排，套筒轴内轴设置内输入端、外输出端，套筒轴外轴上双太阳轮双行星轮轴行星排的左侧中心轮作为换向器外输入端，右侧中心轮作为换向器外输出端，使行星架固定，换向器外输入端与换向器外输出端的转动方向相反。
  9. 如权利要求1所述的同向分动双控百向传动器，套筒轴换向器采用保位双路换向器，内轴、外轴分别采用锥齿轮副传动，保位双路换向器的内输入端、外输入端形成输入套筒轴，内输出端、外输出端形成输出套筒轴，输入套筒轴轴承与输出套筒轴轴承各自固定，输入套筒轴与输出套筒轴呈90度夹角，在内输入端上设置内主动锥齿轮，外输入端上设置外主动锥齿轮，内输出端上设置内被动锥齿轮，外输出端上设置外被动锥齿轮，使内主动锥齿轮与内被动锥齿轮啮合、外主动锥齿轮与外被动锥齿轮啮合，内输入端、外输入端上输入转动方向相同的两个转速，在内输出端、外输出端上就输出转动方向相反的两个转速。
  10. 如权利要求1所述的同向分动双控百向传动器，套筒轴换向器采用换位双路换向器，内轴、外轴分别采用锥齿轮副传动，换位双路换向器的内输入端、外输入端形成输入套筒轴，内输出端、外输出端形成输出套筒轴，输入套筒轴与输出套筒轴呈90度夹角，在内输入端上设置内主动锥齿轮，外输入端上设置外主动锥齿轮，内输出端上设置内被动锥齿轮，外输出端上设置外被动锥齿轮，使内主动锥齿轮与外被动锥齿轮啮合、外主动锥齿轮与内被动锥齿轮啮合，内输入端、外输入端上输入转动方向相同的两个转速，在外输出端、内输出端上就输出转动方向相反的两个转速。
  11. 如权利要求1所述的同向分动双控百向传动器，双控器采用圆柱齿轮双层星行星排，以节 圆直径大的中心轮作为双控器输入端，节圆直径小的中心轮作为左内输出端兼右内输出端，行星架作为左外输出端且作为右外输出端。
  12. 如权利要求1所述的同向分动双控百向传动器，双控器采用双太阳轮行星排，以节圆直径较大的中心轮作为双控器输入端，另一中心轮作为左内输出端兼右内输出端，行星架作为左外输出端且作为右外输出端。
  13. 如权利要求1所述的同向分动双控百向传动器，双控器采用双内齿圈行星排，以节圆直径较小的中心轮作为双控器输入端，另一中心轮作为左内输出端兼右内输出端，行星架作为左外输出端且作为右外输出端。
  14. 如权利要求1所述的同向分动双控百向传动器，合动器采用锥齿轮单层星行星排，以左侧中心轮作为合动器外输入端，右侧中心轮作为合动器内输入端，行星架作为周转控制端，一个至六个锥齿轮行星轮作为输出端，输出轴就是这些锥齿轮行星轮轴，输出轴与合动器轴呈90度折向角。
  15. 如权利要求1所述的同向分动双控百向传动器，合动器采用双太阳轮双行星轮轴行星排，以左侧中心轮作为合动器外输入端，右侧中心轮作为合动器内输入端，行星架作为周转控制端，一个至六个行星轮作为输出端，输出轴就是这些行星轮轴，输出轴与合动器轴平行呈0度折向角。
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