CN118066262A - Multi-input coaxial controllable output transmission mechanism and transmission method thereof - Google Patents

Abstract

The invention discloses a multi-input coaxial controllable output transmission mechanism and a transmission method thereof. The transmission mechanism adopts n groups of planetary gear trains to share one planet carrier, wherein a set of planetary gear rings or sun gears are fixed, the sun gears or the ring gears corresponding to the same planetary gear system are used as motion input ends, and the other planetary gear systems or the ring gears are used as motion output ends.

Description

Multi-input coaxial controllable output transmission mechanism and transmission method thereof

Technical Field

The invention relates to the field of transmission mechanisms, in particular to a multi-input coaxial controllable output transmission mechanism and a transmission method thereof.

Background

In life, a certain object is often required to rotate, an object capable of moving relative to the rotating object is required to be arranged on the rotating object, in order to realize the technical problem that controllable relative motion is generated between the object on the rotating object and the rotating object, the technical problem that multi-input coaxial controllable output is required to be realized is always plagued for many years, for example, in the fields of automatic equipment and machine tool equipment, a hydraulic or pneumatic mode is often adopted to realize, a hydraulic mode is composed of a hydraulic chuck, a rotary hydraulic cylinder and a hydraulic station, hydraulic oil is output by the hydraulic station and passes through the rotary hydraulic cylinder to realize telescopic action, and then the relative movement of clamping jaws of the hydraulic chuck is realized.

Therefore, the inventor has studied intensively and put forward a technical scheme of a multi-input coaxial controllable output transmission mechanism and a transmission method thereof, and put forward a feasible technology for solving the technical problem of controllable relative motion between objects on a rotating object and the rotating object, namely that the speed and the position between the coaxial outputs or between the main input and the outputs can be independently controlled, so as to realize the relative motion on the rotating object.

Disclosure of Invention

In order to solve the problems in the prior art, the invention discloses a multi-input coaxial output-controllable transmission mechanism, which comprises n groups of planetary gear trains, wherein each group of planetary gear trains comprises a sun gear, m planetary gears, a planet carrier and a gear ring, the planet carriers of the n groups of planetary gear trains are mutually and fixedly connected to form a rotatable planet carrier which is integrally shared, when one group of the gear rings in the n groups of planetary gear trains are in a fixed state, the sun gear of the same planetary gear train is used as a main input end, the rest n-1 gear rings are used as auxiliary motion input ends, the rest n-1 sun gears are respectively used as auxiliary output ends, or when the sun gear of one group in the n groups of planetary gear trains is in a fixed state, the rest n-1 sun gears are used as auxiliary motion input ends, the rest n-1 gear rings are respectively used as auxiliary output ends, and n and m are integers which are larger than or equal to 2.

The utility model provides a multi-input coaxial controllable output's drive mechanism, includes n group's planetary gear trains, every group planetary gear train all includes sun gear, m planetary gear, planet carrier, ring gear, and n group the planetary gear train's planetary gear is equal and coaxial setting, and n group the ring gear of planetary gear train is mutual fixed connection forms a rotatable ring gear of whole sharing, and when n group the planet carrier of certain group in planetary gear train is fixed state, and the sun gear of same planetary gear train is the main input, and remaining n-1 planet carrier all is as from the motion input, and remaining n-1 sun gear respectively is as from the output, perhaps when the sun gear of certain group in n group the planetary gear train is fixed state, and the planet carrier of same planetary gear train is as main input, and remaining n-1 sun gear all is as from the motion input, and remaining n-1 planet carrier are from the output respectively.

The utility model provides a multi-input coaxial controllable output's drive mechanism, includes n group's planetary gear trains, every group planetary gear train all includes sun gear, m planetary gear, planet carrier, ring gear, and n group's the sun gear of planetary gear train is mutual fixed connection forms a rotatable sun gear of whole sharing, when n group the planet carrier of one group is fixed state in planetary gear train, and the ring gear of same planetary gear train is as the main input, and remaining n-1 planet carrier all is as from the motion input, and remaining n-1 ring gear respectively is as from the output, perhaps when the ring gear of one group in n group the planetary gear train is fixed state, and the planet carrier of same planetary gear train is as main input, and remaining n-1 ring gear all is as from the motion input, and remaining n-1 planet carrier is as from the output respectively.

The transmission mechanism comprises n groups of planetary gear trains, wherein each group of planetary gear trains comprises a sun gear, m planetary gears, a planet carrier and a gear ring, when the n groups of planetary gear trains share the sun gear, the shared sun gear is used as a main input end, the gear ring of one planetary system is in a fixed state, the planet carrier of the same planetary system is used as an output end, the rest gear rings are used as slave motion input ends, the rest planet carriers are used as slave output ends, or the planet carrier of one planetary system is used as a fixed state, the gear ring of the same planetary system is used as an output end, the rest planet carriers are used as slave motion input ends, and the rest gear rings are used as slave output ends;

When n groups of gear rings shared by the planetary gear trains, the shared gear ring is taken as a main input end, sun gears of a certain planetary system are in a fixed state, planetary carriers of the same planetary system are taken as output ends, other sun gears are taken as auxiliary motion input ends, other planetary carriers are taken as auxiliary output ends, or planetary carriers of a certain planetary system are in a fixed state, sun gears of the same planetary system are taken as output ends, other planetary carriers are taken as auxiliary motion input ends, and other sun gears are taken as auxiliary output ends;

When n groups of planetary gear trains share the common planetary carrier, the common planetary carrier is used as a main input end, the sun gear of a certain planetary system is in a fixed state, the gear rings of the same planetary system are used as output ends, the rest sun gears are used as slave motion input ends, the rest gear rings are used as slave output ends, or the gear rings of a certain planetary system are in a fixed state, the sun gear of the same planetary system is used as the output end, the rest gear rings are used as the slave motion input ends, and the rest sun gears are used as the slave output ends.

When the planetary gear trains are straight tooth planetary gear trains or helical tooth planetary gear trains, the number of teeth of the sun gears of the n groups of planetary gear trains is equal to the number of teeth of the ring gears of the n groups of planetary gear trains, and the number of teeth of the planet gears of the n groups of planetary gear trains is equal to the number of teeth of the ring gears of the planetary gear trains.

The first group of straight tooth/helical tooth planetary gear trains comprise a first gear ring, m first planetary gears, a first planet carrier and a first sun gear, the ith group of straight tooth/helical tooth planetary gear trains comprise an ith gear ring, m ith planetary gears and an ith sun gear, m first bosses are arranged on the first planet carrier and can also protrude from the other surface of the first planet carrier, the first gear ring is in a fixed state, and the first planet carrier is hollow;

The ith gear ring is arranged above the ith-1 gear ring, m ith planetary gears are arranged above m ith-1 planetary gears, the ith sun gear is arranged above the ith-1 sun gear, and straight tooth/helical tooth planetary gear trains are arranged in layers up and down;

The m first planet gears are respectively rotatably arranged on m first bosses of the first planet carrier, the m first planet gears are respectively in meshed transmission with the first sun gear, the first sun gear is used as a main input end, m ith planet gears of an ith group of straight tooth/helical tooth planetary gear trains are respectively rotatably arranged on the m first bosses of the first planet carrier, the ith planet gears are in meshed transmission with the ith sun gear, the ith planet gears are in meshed transmission with the ith ring gear, power is input from the ith ring gear and is output from the ith sun gear correspondingly, the number of teeth of the first ring gear is equal to that of the ith ring gear, the number of teeth of the m first planet gears is equal to that of the m ith planet gears, the number of teeth of the first sun gear is equal to that of the ith sun gear, and i is an integer greater than or equal to n.

The planetary gear train is a bevel planetary gear train, the first group of bevel planetary gear trains comprises a first bevel gear ring, m first bevel planetary gears, a first bevel planetary carrier, m bevel planetary gear mounting shafts and a first bevel sun gear, the j group of bevel planetary gear trains comprises a j group of bevel gear ring, m j group of bevel planetary gears and a j group of bevel sun gear, the first bevel gear ring is in a fixed state, the first bevel planetary carrier is hollow, m bevel planetary gear mounting shafts and n groups of bevel planetary gears are fixed on the first bevel planetary carrier, and each group of bevel planetary gears is provided with m bevel planetary gears;

The inner side of the j-1 th bevel gear ring is provided with the j-1 th bevel gear ring, the inner side of the m j-1 th bevel gear planetary gears is provided with the m j-1 th bevel gear planetary gears, the inner side of the j-1 th bevel gear sun is provided with the j-1 th bevel gear sun, the m j-1 th bevel gear planetary gears are arranged between the j-1 th bevel gear sun and the j-1 th bevel gear ring, the m j-th bevel gear planetary gears are arranged between the j-th bevel gear sun and the j-th bevel gear ring, and the bevel gear planetary gears are arranged in a manner of expanding from outside to inside or from inside to outside;

The m first bevel gear planetary gears are in meshed transmission with the first bevel gear ring, the m first bevel gear planetary gears are respectively and rotatably arranged on the m bevel gear planetary gear mounting shafts, the m first bevel gear planetary gears are respectively and rotatably transmitted with the first bevel gear sun gear, the first bevel gear sun gear is used as a main input end, m j bevel gear planetary gears of a j th group of bevel gear planetary gears are respectively and rotatably arranged on the m bevel gear planetary gear mounting shafts, m j bevel gear planetary gears are in meshed transmission with the j th bevel gear sun gear, m j bevel gear planetary gears are in meshed transmission with the j th bevel gear ring gear, power is input from the j th bevel gear ring gear, power is correspondingly output from the j th bevel gear sun gear, and j is an integer which is more than 1 and less than or equal to n.

The planetary gear train is a bevel gear planetary gear train, the first group of bevel gear planetary gear train comprises a first bevel gear ring, m first bevel gear planetary gears, a first bevel gear planetary carrier, m first bevel gear planetary gear mounting shafts and a first bevel gear sun gear, the kth group of bevel gear planetary gear train comprises a kth bevel gear ring, m kth bevel gear planetary gears, m kth bevel gear planetary gear mounting shafts and a kth bevel gear sun gear, the first bevel gear ring is in a fixed state, the first bevel gear planetary carrier is hollow, n groups of bevel gear planetary gear mounting shafts and n groups of bevel gear planetary gears are fixed on the first bevel gear planetary gear carrier, each group of bevel gear planetary gears is provided with m bevel gear planetary gear mounting shafts and m bevel gear planetary gears, and each group of m bevel gear planetary gears can be rotatably arranged on the m bevel gear planetary gear mounting shafts respectively;

An m-th k-1 bevel gear planetary gear is arranged above the k-1 bevel gear ring, a k-1 bevel gear sun gear is arranged above the m-th k-1 bevel gear planetary gear, a k bevel gear ring is arranged above the k-1 bevel gear sun gear, an m-th k bevel gear planetary gear is arranged above the k bevel gear ring, a k bevel gear sun gear is arranged above the m-th bevel gear planetary gear, an n group of bevel gear planetary gear trains are arranged up and down, and bevel gear rings and bevel gear sun gears of two adjacent bevel gear planetary gear trains are arranged between two adjacent bevel gear planetary gear train groups;

the m first bevel gear planetary gears are meshed with the first bevel gear ring for transmission, the m first bevel gear planetary gears are respectively and rotatably arranged on the m first bevel gear planetary gear mounting shafts, the m first bevel gear planetary gears are meshed with the first bevel gear sun for transmission, the first bevel gear sun is used as a main input end, a bevel gear ring of a next bevel gear planetary gear train is arranged above the first bevel gear sun, the m kth bevel gear planetary gear installation shafts of the kth group of bevel gear planetary gear trains are respectively and rotatably provided with m kth bevel gear planetary gears of the kth group of bevel gear planetary gear trains, the kth bevel gear planetary gears are in meshed transmission with the kth bevel gear sun gears, the m kth bevel gear planetary gears are in meshed transmission with the kth bevel gear ring gears, power is input from the kth bevel gear ring gears, the power is correspondingly output from the kth bevel gear sun gears, and k is an integer greater than 1 and less than or equal to n.

Wherein n groups of bevel gear planetary gear installation shafts and n groups of bevel gear planetary gears are fixed on the inner side of the first bevel gear planetary frame.

Wherein n groups of bevel gear planetary gear installation shafts and n groups of bevel gear planetary gears are fixed on the outer side of the first bevel gear planetary frame.

Wherein, each group of the gear ring, the sun gear and the planet carrier of the planetary gear train are hollow.

According to a second aspect of the present invention, there is also provided a transmission method suitable for use in a multi-input coaxial controllable output transmission mechanism as described above, the transmission method comprising:

The gear ring of one group of planetary gear trains is in a fixed state,

The sun wheel corresponding to the sun gear is connected with the main input motion,

The other n-1 gear rings are connected into the secondary input motion, the sun gear corresponding to the secondary input motion is used as the secondary output end, when the input speed of the n-1 gear rings of the non-fixed gear rings is zero, the n-1 sun gears corresponding to the non-fixed gear rings and the sun gear serving as the main input end are stationary,

When a certain slave output end sun gear needs to generate relative motion with the master input sun gear, the gear ring of the planetary gear train corresponding to the slave output end sun gear does not need to output motion.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, n groups of planetary gear trains share one planet carrier, one group of planetary gear trains is fixed, the other gear trains are used as motion input ends, and the corresponding sun wheel is used as a motion output end.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a cross-sectional view of example 1;

FIG. 2 is an exploded view of example 1;

FIG. 3 is a cross-sectional view of example 2;

FIG. 4 is an exploded view of example 2;

FIG. 5 is a cross-sectional view of embodiment 3 with planet gears inside the planet carrier;

FIG. 6 is an exploded view of embodiment 3 in which the planetary gear is located inside the carrier;

Fig. 7 is a cross-sectional view of embodiment 3 in which the planetary gear is located outside the carrier;

Fig. 8 is an exploded view of embodiment 3 in which the planetary gear is located outside the carrier.

Detailed Description

The following detailed description of the embodiments of the invention is provided to enable those skilled in the art to more readily understand the advantages and features of the invention and to make a clear and concise description of the scope of the invention, which is a part of the disclosure of the invention and is intended to be illustrative of the embodiments and to explain the principles of the embodiments in connection with the description. With reference to these matters, one of ordinary skill in the art will understand other possible embodiments and advantages of the present invention.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

1-8, A multi-input coaxial controllable output transmission mechanism comprises n groups of planetary gear trains, wherein each group of planetary gear trains comprises a sun gear, m planetary gears, a planet carrier and a gear ring, the planetary gear trains can be straight tooth or helical tooth planetary gear trains or loose tooth or bevel tooth planetary gear trains, and the planetary gear trains can realize multi-input coaxial controllable output by adopting different fixing and input and output modes under the following various different sharing states;

The first mode adopts: the planetary carriers of the n groups of planetary gear trains are fixedly connected with each other to form a rotatable planetary carrier which is integrally shared, when one group of gear rings in the n groups of planetary gear trains are in a fixed state, sun gears of the same planetary gear train are used as main input ends, the rest n-1 gear rings are used as auxiliary motion input ends, the rest n-1 sun gears are respectively used as auxiliary output ends, or when one group of sun gears in the n groups of planetary gear trains are in a fixed state, the gear rings of the same planetary gear train are used as main input ends, the rest n-1 sun gears are used as auxiliary motion input ends, the rest n-1 gear rings are respectively used as auxiliary output ends, and n and m are integers larger than or equal to 2;

The mode can realize that when the output speed of each slave motion input end is zero, the rotation speed of each slave output end is equal to that of the master input end, and the position and the speed of each corresponding slave output end relative to the master input end can be controlled by controlling the rotation speed of each slave motion input end.

The second mode adopts: the planetary gear trains of the n groups comprise sun gears, m planetary gears, planetary carriers and gear rings, the planetary gears of the n groups of planetary gear trains are equal in size and coaxially arranged, the gear rings of the n groups of planetary gear trains are fixedly connected with each other to form a rotatable gear ring which is integrally shared, when the planetary carrier of one group of planetary gear trains of the n groups of planetary gear trains is in a fixed state and the sun gears of the same planetary gear train are used as a main input end, the rest n-1 planetary carriers are used as auxiliary motion input ends, the rest n-1 sun gears are used as auxiliary output ends respectively, or when the sun gears of one group of planetary gear trains of the n groups of planetary gear trains are in a fixed state and the planetary carriers of the same planetary gear train are used as main input ends, the rest n-1 sun gears are used as auxiliary motion input ends, and the rest n-1 planetary carriers are used as auxiliary output ends respectively;

The mode can realize that when the output speed of each slave motion input end is zero, the rotation speed of each slave output end is equal to that of the master input end, and the position and the speed of each corresponding slave output end relative to the master input end can be controlled by controlling the rotation speed of each slave motion input end.

The third mode adopts: the planetary gear trains of the n groups comprise sun gears, m planetary gears, planetary carriers and gear rings, the sun gears of the n groups of planetary gear trains are fixedly connected with each other to form a rotatable sun gear which is integrally shared, when the planetary carrier of one group in the n groups of planetary gear trains is in a fixed state and the gear ring of the same planetary gear train is used as a main input end, the rest n-1 planetary carriers are used as auxiliary motion input ends, the rest n-1 gear rings are respectively used as auxiliary output ends, or when the gear ring of one group in the n groups of planetary gear trains is in a fixed state and the planetary carrier of the same planetary gear train is used as a main input end, the rest n-1 gear rings are respectively used as auxiliary motion input ends and the rest n-1 planetary carriers are respectively used as auxiliary output ends;

The mode can realize that when the output speed of each slave motion input end is zero, the rotation speed of each slave output end is equal to that of the master input end, and the position and the speed of each corresponding slave output end relative to the master input end can be controlled by controlling the rotation speed of each slave motion input end.

The fourth mode is as follows: when the n groups of planetary gear trains share the sun gear, the shared sun gear is used as a main input end, the ring gear of one planetary system is in a fixed state, the planetary carrier of the same planetary system is used as an output end, the rest ring gears are used as auxiliary motion input ends, the rest planetary carriers are used as auxiliary output ends, or the planetary carrier of one planetary system is in a fixed state, the ring gear of the same planetary system is used as an output end, the rest planetary carriers are used as auxiliary motion input ends, and the rest ring gears are used as auxiliary output ends;

When n groups of planetary gear trains share the gear rings, the shared gear rings are used as main input ends, sun gears of a certain planetary system are in a fixed state, planetary carriers of the same planetary system are used as output ends, other sun gears are used as slave motion input ends, other planetary carriers are used as slave output ends, or planetary carriers of a certain planetary system are used for enabling the planetary carriers of the same planetary system to be in a fixed state, sun gears of the same planetary system are used as output ends, other planetary carriers are used as slave motion input ends, and other sun gears are used as slave output ends;

When n groups of planetary gear trains share a common planetary carrier, the common planetary carrier is taken as a main input end, the sun gear of a certain planetary system is in a fixed state, the gear rings of the same planetary system are taken as output ends, the rest sun gears are taken as auxiliary motion input ends, the rest gear rings are taken as auxiliary output ends, or the gear rings of the certain planetary system are in a fixed state, the sun gear of the same planetary system is taken as an output end, the rest gear rings are taken as auxiliary motion input ends, and the rest sun gears are taken as auxiliary output ends;

The common planet carrier or sun gear or the gear ring is used as a main input, the output end and the main input form a fixed transmission ratio, when the input speed of each slave motion input end is zero, the rotation speed of each slave output end is equal to that of the output end, namely, the slave output end is in a static state relative to the output end, and the position and the speed of each corresponding slave output end relative to the input end can be controlled by controlling the rotation speed of each slave motion input end.

When the planetary gear trains are straight tooth planetary gear trains or helical tooth planetary gear trains, the number of teeth of the sun gears of the n groups of planetary gear trains are equal in modulus, the number of teeth of the ring gears of the n groups of planetary gear trains are equal in modulus, and the number of teeth of the planetary gears of the n groups of planetary gear trains are equal in modulus.

With reference to fig. 1 to 8, the following embodiments 1,2, and 3 will be described by taking n equal to 3 and taking a case where the carrier is shared and the ring gear is in a fixed state as an example.

Example 1

Referring to fig. 1-2, the planetary gear trains are straight-tooth or helical-tooth planetary gear trains, a first group of straight-tooth/helical-tooth planetary gear trains X11 comprises a first gear ring 101, m first planetary gears 102, a first planet carrier 103 and a first sun gear 104, a second group of straight-tooth/helical-tooth planetary gear trains X12 comprises a second gear ring 105, m second planetary gears 106 and a second sun gear 107, a third group of straight-tooth/helical-tooth planetary gear trains X13 comprises a third gear ring 108, m third planetary gears 109 and a third sun gear 110, m first bosses T1 are arranged on the first planet carrier 103, the first gear ring 101 is in a fixed state, and the first planet carrier 103 is hollow;

a second gear ring 105 is arranged above the first gear ring 101, a third gear ring 108 is arranged above the second gear ring 105, m second planetary gears 106 are arranged above m first planetary gears 102, m third planetary gears 109 are arranged above m second planetary gears 106, a second sun gear 107 is arranged above the first sun gear 104, a third sun gear 110 is arranged above the second sun gear 107, and straight-tooth/helical-tooth planetary gear trains X11, X12 and X13 are arranged in sequence;

The m first planet gears 102 are meshed with the first gear ring 101 for transmission, the m first planet gears 102 are respectively and rotatably arranged on m first bosses T1 of the first planet carrier 103, the m first planet gears 102 are respectively meshed with the first sun gear 104 for transmission, the first sun gear 104 is used as a main input end, m second planet gears 106 and m third planet gears 109 of the second group of straight-tooth/helical-tooth planetary gear trains X12 are respectively and rotatably arranged on the m first bosses T1 of the first planet carrier 103, the second planet gears 106 are meshed with the second sun gear 107 for transmission, the second planet gears 106 are meshed with the second gear ring 105 for transmission, power is input from the second gear ring 105 and correspondingly output from the second sun gear 107, the third planetary gear 109 is positioned above the second planetary gear 106, the third planetary gear 109 is meshed with the third sun gear 110 for transmission, the third planetary gear 103 is meshed with the third gear ring 108 for transmission, power is input from the third gear ring 108 and correspondingly output from the third sun gear 110, the outer sides of the second gear ring 105 and the third gear ring 108 are provided with transmission teeth, the first boss T1 is also protruded on the back surface of the first planet carrier, m first planetary gears 102 can be arranged at the position, the tooth numbers of the first gear ring 101, the second gear ring 105 and the third gear ring 108 are equal, the tooth numbers of the m first planetary gears 102, the m second planetary gears 106 and the m third planetary gears 109 are equal, and the tooth numbers of the first sun gear 104, the second sun gear 107 and the third sun gear 110 are equal;

Setting: the first sun gear 104, the second sun gear 107 and the third sun gear 110 have the same number of teeth and the same modulus, and are straight teeth or helical gears with the number of teeth of 86 module 2, the first planet gears 102, the second planet gears 106 and the third planet gears 109 have the same number of teeth and the same modulus, and are straight teeth or helical gears with the number of teeth of 20 module 2, and the first gear ring 101, the second gear ring 105 and the third gear ring 108 are straight teeth or helical gears with the number of teeth of 126 module 2;

Assuming that the input speed of the first sun gear 104 is +1000rpm (clockwise is positive and anticlockwise is negative), if the input speeds of the second gear ring 105 and the third gear ring 108 are zero, the common planet carrier is used, the speeds of the second sun gear 107 and the third sun gear 110 are +1000rpm, the relative speed with the first sun gear 104 is zero, and when the input speed of the second gear ring 105 is-100 rpm, the second sun gear 107 is synthesized under the input motion of the common first planet carrier 103 and the common second gear ring 105;

the independent output speed of the shared first planet carrier 103 to the second sun 107 is

+1000rpm

When the first planet carrier 103 fixes the second gear ring 105 to input motion, and the second sun gear 107 outputs motion, the transmission ratio is 126/86, the direction is negative, and the independent output speed of the second gear ring 105 to the second sun gear 107 is 100×126/86= +146.512rpm

The second sun gear 107 has a synthetic speed of 1000+ (+ 146.512) = 1146.512rpm under the input motion of the first planet carrier 103 and the second ring gear 105 which are in common, and the relative rotation speed of the first sun gear 104 and the second sun gear 107 is +146.512rpm;

the rotational speeds of the third sun gear 110, the third ring gear 108, and the first sun gear 104 are the same as above.

The embodiment has the advantages that the structure is simple, the cost is low, the straight-tooth/helical-tooth planetary gear trains are arranged in layers up and down, the multi-input coaxial controllable output can be realized, meanwhile, the axial space is small, the second sun gear or the third sun gear serving as the main input is fixed with the corresponding gear ring, the other planetary gear train gear rings serving as the auxiliary input are corresponding sun gears serving as the auxiliary output, and the same technical effects of the embodiment can be obtained.

Example 2

Referring to fig. 3 to 4, the planetary gear trains are bevel planetary gear trains, the first set of bevel planetary gear trains X21 includes a first bevel gear ring 201, m first bevel planetary gears 202, a first bevel planetary carrier 203, m bevel planetary gear mounting shafts 204, a first bevel sun gear 205, the second set of bevel planetary gear trains X22 includes a second bevel gear ring 206, m second bevel planetary gears 207, a second bevel sun gear 208, the third set of bevel planetary gear trains X23 includes a third bevel gear ring 209, m third bevel planetary gears 210, a third bevel sun gear 211, the first bevel gear ring 201 is in a fixed state, the first bevel planetary carrier 203 is hollow, m bevel planetary gear mounting shafts 204 and n sets of bevel planetary gears are fixed on the first bevel planetary carrier 203, and each set of bevel planetary gears has m bevel planetary gears;

The inner side of the first bevel gear ring 201 is provided with a second bevel gear ring 206, the inner side of the second bevel gear ring 206 is provided with a third bevel gear ring 209, the inner side of m first bevel gear planetary gears 202 is provided with m second bevel gear planetary gears 207, the inner side of m second bevel gear planetary gears 207 is provided with m third bevel gear planetary gears 210, the inner side of the first bevel gear ring 205 is provided with a second bevel gear sun 208, the inner side of the second bevel gear ring 208 is provided with a third bevel gear sun 211, m first bevel gear planetary gears 202 are arranged between the first bevel gear ring 205 and the first bevel gear ring 201, m second bevel gear planetary gears 207 are arranged between the second bevel gear ring 208 and the second bevel gear ring 206, m third bevel gear planetary gears 210 are arranged between the third bevel gear ring 209 and the third bevel gear ring 211, and the bevel gear planetary gears are arranged from outside to inside or from inside to outside; the bevel planetary gear trains X21, X22 and X23 are unfolded from outside to inside or from inside to outside;

The m first bevel gears 202 are meshed with the first bevel gear ring 201, the m first bevel gears 202 are respectively rotatably arranged on the m first bevel gear planetary gear mounting shafts 204, the m first bevel gear 202 are respectively meshed with the first bevel gear sun gears 205, the first bevel gear sun gears 205 serve as main input ends, the m first bevel gear planetary gear mounting shafts 204 are also respectively rotatably provided with m second bevel gear planetary gears 207 of the second group of bevel gear planetary gear trains X22 and m third bevel gear planetary gears 210 of the third group of straight bevel gear planetary gear trains X23, the m second bevel gear planetary gears 207 are meshed with the second bevel gear sun gears 208, the m second bevel gear planetary gears 207 are meshed with the second bevel gear rings 206, power is input from the second bevel gear rings 206, the m third bevel gear gears 210 are meshed with the third bevel gear sun gears 211, the m third bevel gear gears 210 are meshed with the third bevel gear rings 209, and the third bevel gear rings 209 are meshed with the third bevel gear rings 209.

Setting: the first bevel gear ring 201 and the first bevel gear sun 205 have equal tooth numbers and are bevel gears with the tooth numbers of 148 modulus of 2, the second bevel gear ring 206 and the second bevel gear sun 208 have equal tooth numbers and are bevel gears with the tooth numbers of 130 modulus of 2, the third bevel gear ring 209 and the third bevel gear sun 211 have equal tooth numbers and are bevel gears with the tooth numbers of 112 modulus of 2, and the first bevel planetary gear 202, the second bevel planetary gear 207 and the third bevel planetary gear 210 have equal tooth numbers and are bevel gears with the tooth numbers of 20 modulus of 2 but unequal indexing cone angles;

Assuming that the output rotation speed of the first bevel gear sun gear 205 is-1000 rpm at this time, since the first bevel gear sun gear 205 and the first bevel gear ring 201, the second bevel gear sun gear 208 and the second bevel gear ring 206, and the third bevel gear sun gear 112 and the third bevel gear ring 209 have the same teeth number, the transmission ratio is 1, and since the planet carrier is shared, when the input speeds of the second bevel gear ring 206 and the third bevel gear ring 209 are zero, the rotation speeds of the second bevel gear sun gear 208 and the third bevel gear ring 211 are +1000rpm, the rotation speed of the second bevel gear ring 206 is-100 rpm, and when the rotation speed of the second bevel gear ring gear 206 is +100rpm, the combination speed of the second bevel gear sun gear 208 under the combined action of the first bevel gear sun gear 205 and the second bevel gear ring gear 206 is +1100rpm, and the rotation speed of the first bevel gear sun gear 205 relative to the second bevel gear ring gear 208 is +100rpm.

The speed of the third cone sun gear 211 is synthesized as above.

The embodiment has the advantages that the structure is simple, the cost is low, the bevel planetary gear train is arranged from outside to inside or from inside to outside, the coaxial controllable output of multiple inputs can be realized, meanwhile, the axial and radial space is small, the second bevel sun gear 208 or the third bevel sun gear 211 serving as the main input is fixed with the corresponding gear ring, the rest bevel planetary gear trains and the gear rings serving as the auxiliary input are corresponding sun gears serving as the auxiliary output, and the same technical effects of the embodiment can be obtained.

Example 3

Referring to fig. 5-8, the planetary gear trains are bevel gear planetary gear trains, the first group of bevel gear planetary gear trains X31 includes a first bevel gear ring 301, m first bevel gear planetary gears 302, a first bevel gear carrier 303, m first bevel gear planetary gear mounting shafts 304, a first bevel gear sun gear 305, the second group of bevel gear planetary gear trains X32 includes a second bevel gear ring 306, m second bevel gear planetary gears 307, m second bevel gear planetary gear mounting shafts 308, a second bevel gear sun gear 309, and the third group of bevel gear planetary gear trains X33 includes a third bevel gear ring 310, m third bevel gear planetary gears 311, m third bevel gear planetary gear mounting shafts 312, a third bevel gear sun gear 313; the first bevel gear ring 301 is in a fixed state, the first bevel gear planet carrier 303 is hollow, n groups of bevel gear planet gear mounting shafts and n groups of bevel gear planet gears are fixed on the first bevel gear planet carrier, each group is provided with m bevel gear planet gear mounting shafts and m bevel gear planet gears, and the m bevel gear planet gears of each group are respectively and rotatably arranged on the m bevel gear planet gear mounting shafts;

The first bevel gear ring 301 top is provided with m first bevel gear planetary gears 302, m first bevel gear planetary gears 302 top is provided with first bevel gear sun gear 305, first bevel gear sun gear 305 top is provided with second bevel gear ring 306, second bevel gear ring 306 top is provided with m second bevel gear planetary gears 307, m second bevel gear planetary gears 307 top is provided with second bevel gear sun gear 309, second bevel gear sun gear 309 top is provided with third bevel gear ring 310, third bevel gear ring 310 top is provided with m third bevel gear planetary gears 311, m third bevel gear planetary gears 311 top is provided with third bevel gear sun gear 313, be the upper and lower setting between the n sets of bevel gear planetary gear sets, be provided with the gear train and the sun gear of two sets of bevel gear planetary gears about adjacent between the upper and lower sets of bevel gear planetary gear sets.

The m first bevel gear planet gears 302 are meshed with the first bevel gear ring 301 for transmission, the m first bevel gear planet gears 302 are respectively and rotatably arranged on the m first bevel gear planet gear mounting shafts 304, the m first bevel gear planet gears 302 are meshed with the first bevel gear sun gears 305 for transmission, the first bevel gear sun gears 305 are used as main input ends, the second bevel gear ring 306 of the second group of bevel gear planet gears X32 is arranged above the first bevel gear sun gears 305, the m second bevel gear ring gears 307 are arranged above the second bevel gear ring 306, the second bevel gear sun gears 309 are arranged above the m second bevel gear planet gears 307, the m second bevel gear planet gear mounting shafts 308 are respectively and rotatably provided with the m second bevel gear planet gears 307, the second bevel gear planet gears 307 are meshed with the second bevel gear sun gears 309 for transmission, the second bevel gear planetary gear 307 is meshed with the second bevel gear ring 306, power is input from the second bevel gear ring 306 and correspondingly output from the second bevel gear sun gear 309, a third bevel gear ring 310 is arranged above the second bevel gear ring 309, m third bevel gear planetary gears 311 are arranged above the third bevel gear ring 310, a third bevel gear sun gear 313 is arranged above the m third bevel gear planetary gears 311, the m third bevel gear planetary gears 311 are respectively rotatably arranged on m third bevel gear planetary gear mounting shafts 312, the m third bevel gear planetary gears 311 are meshed with the third bevel gear ring gear 313 for transmission, the m third bevel gear planetary gears 311 are meshed with the third bevel gear ring gear 310 for transmission, and power is input from the third bevel gear ring 310 and correspondingly output from the third bevel gear ring gear 313;

Setting: the first bevel gear ring 301, the second bevel gear ring 306, the third bevel gear ring 310, the first bevel gear sun gear 305, the second bevel gear sun gear 309 and the third bevel gear sun gear 313 have equal tooth numbers and modules, namely, the bevel gears with the modules 148 and 2, and the first bevel gear planetary gear 302, the second bevel gear planetary gear 307 and the third bevel gear planetary gear 311 have equal tooth numbers and modules 20 and 2;

When the first bevel gear sun gear 305 outputs 1000rpm, the gear ring and the sun gear have the same number, the transmission ratio is 1, and when the input speeds of the second bevel gear 306 and the third bevel gear 310 are zero, the rotation speeds of the second bevel gear 309 and the third bevel gear 313 are 1000rpm due to the common planet carrier;

If the rotational speed of the second bevel gear ring 306 is input to-100 rpm, the rotational speed of the second bevel gear ring 306 corresponding to the independently synthesized second bevel gear sun gear 309 is +100rpm, and the rotational speeds of all the input synthesized second bevel gear sun gears 309 are +1100rpm;

Referring to fig. 5-6, n sets of bevel pinion mounting shafts and n sets of bevel pinion are fixed inside the first bevel pinion carrier 303.

Referring to fig. 7-8, n sets of bevel pinion mounting shafts and n sets of bevel pinion are fixed to the outside of the first bevel pinion carrier 303.

The embodiment has the advantages that the structure is simple, the cost is low, the bevel n groups of bevel gear planetary gear sets are arranged at intervals up and down, the gear rings and the sun gears of two adjacent bevel gear planetary gear trains are arranged between the n groups of bevel gear planetary gear sets, which are adjacent up and down, so that the multi-input coaxial controllable output can be realized, meanwhile, the radial space is smaller, the second bevel gear sun gear 309 or the third bevel gear sun gear 313 serving as the main input is fixed with the corresponding gear ring, the rest of bevel gear planetary gear trains serving as the auxiliary input are corresponding to the sun gears, and the same technical effects of the embodiment can also be obtained.

Referring to fig. 1-8, the gear ring, sun gear and planet carrier of each group of planetary gear trains are hollow.

An apparatus or device includes a multiple input coaxial controllable output transmission mechanism.

According to a second aspect of the present invention, there is also provided a transmission method suitable for the above-mentioned multi-input coaxial controllable output transmission mechanism in a fixed state of a ring gear, and the rest of the above-mentioned multi-input coaxial controllable output transmission mechanisms can refer to the method, the transmission method includes:

The gear ring of one group of planetary gear trains is in a fixed state,

The sun wheel corresponding to the sun gear is connected with the main input motion,

The other n-1 gear rings are connected into the secondary input motion, the sun gear corresponding to the secondary input motion is used as the secondary output end, when the input speed of the n-1 gear rings of the non-fixed gear rings is zero, the n-1 sun gears corresponding to the non-fixed gear rings and the sun gear serving as the main input end are stationary,

When a certain slave output end sun gear needs to generate relative motion with the master input sun gear, the gear ring of the planetary gear train corresponding to the slave output end sun gear does not need to output motion.

Meanwhile, according to the embodiment, a certain planetary system sun gear is taken as a fixed state, a gear ring of the same planetary system is taken as a main input, corresponding other sun gears are taken as auxiliary motion inputs, corresponding other gear rings are taken as auxiliary outputs, a common sun gear or a gear ring can be adopted, one planetary system is selected, a non-common sun gear or a gear ring is taken as a fixed state, another non-common or non-fixed sun gear or a gear ring of the same planetary system is taken as a main input, a sun gear or a gear ring of the corresponding other planetary systems is taken as an auxiliary output, and a sun gear or a gear ring of the corresponding other planetary systems of the fixed state sun gear or the gear ring is taken as the auxiliary motion input;

And meanwhile, a shared planet carrier or a gear ring or a sun gear can be used as a main input, a non-shared gear ring or a sun gear or a planet carrier of a certain planetary system is used as a fixed state, a non-shared non-fixed sun gear or a planet carrier or a gear ring of the same planetary system is used as a main input, the sun gears or the planet carriers or the gear rings of the corresponding other planetary systems are used as slave outputs, and the other gear rings or the sun gears or the planet carriers corresponding to the gear rings or the sun gears or the planet carriers in the fixed state are used as slave motion inputs, so that the speed positions between the coaxial outputs or between the main input and the outputs can be independently and relatively controlled.

Working principle: n groups of planetary gear trains share a planet carrier, one group of planetary gear trains is fixed, the rest gear trains are used as motion input ends, and the corresponding sun gears are used as motion output ends;

The gear ring of the first planetary gear set is fixed, the corresponding sun gear is used as a main input end, the input speed is V0, and then the speed of the planet carrier is n1 x V0 (n 1 is the corresponding transmission ratio);

The gear ring of the second group of planetary gear trains is a motion input end, the speed is V2, at the moment, because of sharing the planet carrier, the speed of the planet carrier is n 1x V0, at the moment, the second group of planetary gear trains is that two sets of power are respectively input from the planet carrier and the gear ring, and are output from the sun gear after being synthesized, namely, the two powers are respectively and independently applied to the speed synthesis of the sun gear, namely, the synthesis of the motion of the sun gear by the planet carrier input speed when the gear ring is fixed and the synthesis of the motion of the sun gear output by the gear ring when the planet carrier is fixed; at this time, the speed of the planet carrier is n 1x V0, namely when the gear ring is fixed, the composite speed of the input speed n 1x V0 of the planet carrier to the sun gear is V0, when the gear ring is fixed, the motion of the gear ring to the sun gear output is n 2x V2 (n 2 is the corresponding transmission ratio), at this time, the final composite sun gear speed is v0+n2 x V2, because the input speed of the first sun gear is V0, that is, the relative speed of the second planet gear sun gear to the first planet gear is n 2x V2, and the composite speed of the third planet gear sun gear to the first planet gear sun gear and the input motion of the third planet gear ring gear are also in a proportional relation, and the output speed can be correspondingly controlled by controlling the input speed; the principle can be deduced to different common states of the sun gear, the planet carrier and the gear ring of the n groups of planetary gear trains, and speed positions between different main inputs and auxiliary inputs and between the coaxial outputs or between the main inputs and the outputs can be independently and relatively controlled under the conditions of motion input and auxiliary output.

In summary, the invention adopts the technical proposal that n groups of planetary gear trains share a rotatable planet carrier, wherein one group of planetary gear trains is fixed, the sun gear of the same planetary gear train is used as a main input end, the other n-1 gear rings are all used as auxiliary motion input ends, and the other n-1 sun gears are respectively used as auxiliary output ends, so that each output of coaxial multiple inputs can be independently controlled by corresponding inputs;

Meanwhile, the technical scheme that one planet carrier is shared, the sun gear of one group in n groups of planetary gear trains is in a fixed state, the gear ring of the same planetary gear train is used as a main input end, the other n-1 sun gears are all used as auxiliary motion input ends, the other n-1 gear rings are respectively used as auxiliary output ends can realize that each output of coaxial multiple inputs is independently controlled by corresponding inputs;

Or a rotatable gear ring shared by n groups of planetary gear trains is adopted, when the planetary gear carriers of one group of the n groups of planetary gear trains are in a fixed state, the sun gear of the same planetary gear train is used as a main input end, the rest n-1 planetary gear carriers are used as auxiliary motion input ends, and the rest n-1 sun gears are respectively used as auxiliary output ends; or the sun gear of one group in the n groups of planetary gear trains is in a fixed state, the planetary carriers of the same planetary gear train are used as main input ends, the other n-1 sun gears are all used as auxiliary motion input ends, and the other n-1 planetary carriers are respectively used as auxiliary output ends, so that the technical scheme can realize that each output of coaxial multiple inputs is independently controlled by corresponding inputs;

Or a common rotatable sun gear is adopted, when the planetary carriers of one group of n groups of planetary gear trains are in a fixed state, the gear rings of the same planetary gear train are used as main input ends, the rest n-1 planetary carriers are used as auxiliary motion input ends, the rest n-1 gear rings are respectively used as auxiliary output ends, or when the gear rings of one group of n groups of planetary gear trains are in a fixed state, the planetary carriers of the same planetary gear train are used as main input ends, the rest n-1 gear rings are used as auxiliary motion input ends, and the rest n-1 planetary carriers are respectively used as auxiliary output ends;

Or adopting different common states of n groups of planetary gear train sun gears, planetary carriers and gear rings, taking the common sun gears or planetary carriers or gear rings as main input, thereby realizing independent control of speed distances between slave outputs and main input and between slave outputs, namely realizing independent control of each output of coaxial multiple inputs by corresponding inputs.

The technical scheme greatly reduces the cost in the coaxial multi-input controllable output occasion, and has the advantages of small volume, simple structure and long service life.

The above embodiments and drawings provide a viable technology for solving the technical problem of controllable relative motion between the object on the rotating object and the rotating object, and the technology can be extended to other technical fields, such as the technical fields of machine tool clamping, ship pulping, aerospace, machine chuck, automation equipment, robots, toys … …, etc., and the above embodiments and drawings are not limited to the product form and style of the present invention, and any suitable changes or modifications made by those skilled in the art should be considered as not departing from the scope of the present invention.

Claims (12)

1. The transmission mechanism is characterized by comprising n groups of planetary gear trains, each group of planetary gear trains comprises a sun gear, m planetary gears, a planet carrier and a gear ring, the planet carriers of the n groups of planetary gear trains are fixedly connected with each other to form a rotatable planet carrier which is integrally shared, when the gear ring of one group of the n groups of planetary gear trains is in a fixed state, the sun gear of the same planetary gear train is used as a main input end, the rest n-1 gear rings are used as auxiliary motion input ends, the rest n-1 sun gears are respectively used as auxiliary output ends, or when the sun gear of one group of the n groups of planetary gear trains is in a fixed state, the gear ring of the same planetary gear train is used as a main input end, the rest n-1 sun gears are respectively used as auxiliary motion input ends, and the rest n and m are integers which are more than or equal to 2.

2. The transmission mechanism is characterized by comprising n groups of planetary gear trains, each group of planetary gear trains comprises a sun gear, m planetary gears, a planet carrier and a gear ring, the gear rings of the n groups of planetary gear trains are fixedly connected with each other to form a rotatable gear ring which is integrally shared, when one group of planetary gear trains in the n groups is in a fixed state, the sun gear of the same planetary gear train is used as a main input end, the rest n-1 planetary carriers are used as auxiliary motion input ends, the rest n-1 sun gears are respectively used as auxiliary output ends, or when the sun gear of one group in the n groups of planetary gear trains is in a fixed state, the planetary carriers of the same planetary gear train are used as main input ends, the rest n-1 sun gears are used as auxiliary motion input ends, and the rest n-1 planetary carriers are respectively used as auxiliary output ends.

3. The multi-input coaxial output-controllable transmission mechanism is characterized by comprising n groups of planetary gear trains, wherein each group of planetary gear trains comprises a sun gear, m planetary gears, a planet carrier and a gear ring, the sun gears of n groups of planetary gear trains are fixedly connected with each other to form a rotatable sun gear which is integrally shared, when the planet carrier of one group of the n groups of planetary gear trains is in a fixed state, the gear ring of the same planetary gear train is used as a main input end, the rest n-1 planetary carriers are used as auxiliary motion input ends, the rest n-1 gear rings are respectively used as auxiliary output ends, or when the gear ring of one group of the n groups of planetary gear trains is in a fixed state, the planet carrier of the same planetary gear train is used as a main input end, the rest n-1 gear rings are used as auxiliary motion input ends, and the rest n-1 planetary carriers are respectively used as auxiliary output ends.

4. The multi-input coaxial output-controllable transmission mechanism is characterized by comprising n groups of planetary gear trains, wherein each group of planetary gear trains comprises a sun gear, m planetary gears, a planet carrier and a gear ring, when the n groups of planetary gear trains share the sun gear, the shared sun gear is used as a main input end, the gear ring of one planetary system is in a fixed state, the planet carrier of the same planetary system is used as an output end, the rest gear rings are used as auxiliary motion input ends, the rest planet carriers are used as auxiliary output ends, or the planet carrier of one planetary system is used as the fixed state, the gear ring of the same planetary system is used as an output end, the rest planet carriers are used as auxiliary motion input ends, and the rest gear rings are used as auxiliary output ends;

When n groups of gear rings shared by the planetary gear trains, the shared gear ring is taken as a main input end, sun gears of a certain planetary system are in a fixed state, planetary carriers of the same planetary system are taken as output ends, other sun gears are taken as auxiliary motion input ends, other planetary carriers are taken as auxiliary output ends, or planetary carriers of a certain planetary system are in a fixed state, sun gears of the same planetary system are taken as output ends, other planetary carriers are taken as auxiliary motion input ends, and other sun gears are taken as auxiliary output ends;

When n groups of planetary gear trains share the common planetary carrier, the common planetary carrier is used as a main input end, the sun gear of a certain planetary system is in a fixed state, the gear rings of the same planetary system are used as output ends, the rest sun gears are used as slave motion input ends, the rest gear rings are used as slave output ends, or the gear rings of a certain planetary system are in a fixed state, the sun gear of the same planetary system is used as the output end, the rest gear rings are used as the slave motion input ends, and the rest sun gears are used as the slave output ends.

5. The multiple-input, coaxial, output-controllable transmission of any one of claims 1-4, wherein when the planetary gear trains are straight or skewed, the sun gear tooth moduli of the n sets of planetary gear trains are all equal, the ring gear tooth moduli of the n sets of planetary gear trains are all equal, and the planetary gear tooth moduli of the n sets of planetary gear trains are all equal.

6. The multi-input coaxial output-controllable transmission mechanism according to claim 1, wherein a first set of straight-tooth/helical-tooth planetary gear trains comprises a first gear ring, m first planetary gears, a first planet carrier and a first sun gear, the ith set of straight-tooth/helical-tooth planetary gear trains comprises an ith gear ring, m ith planetary gears and an ith sun gear, m first bosses are arranged on the first planet carrier, the bosses can also protrude from the other surface of the first planet carrier, the first gear ring is in a fixed state, and the first planet carrier is hollow;

The ith gear ring is arranged above the ith-1 gear ring, m ith planetary gears are arranged above m ith-1 planetary gears, the ith sun gear is arranged above the ith-1 sun gear, and straight tooth/helical tooth planetary gear trains are arranged in layers up and down;

The m first planet gears are respectively rotatably arranged on m first bosses of the first planet carrier, the m first planet gears are respectively in meshed transmission with the first sun gear, the first sun gear is used as a main input end, m ith planet gears of an ith group of straight tooth/helical tooth planetary gear trains are respectively rotatably arranged on the m first bosses of the first planet carrier, the ith planet gears are in meshed transmission with the ith sun gear, the ith planet gears are in meshed transmission with the ith ring gear, power is input from the ith ring gear and is output from the ith sun gear correspondingly, the number of teeth of the first ring gear is equal to that of the ith ring gear, the number of teeth of the m first planet gears is equal to that of the m ith planet gears, the number of teeth of the first sun gear is equal to that of the ith sun gear, and i is an integer greater than or equal to n.

7. The multi-input coaxial output-controllable transmission mechanism according to claim 1, wherein the planetary gear train is a bevel planetary gear train, a first group of bevel planetary gear trains comprises a first bevel gear ring, m first bevel planetary gears, a first bevel planetary carrier, m bevel planetary gear mounting shafts and a first bevel sun gear, a j group of bevel planetary gear trains comprises a j bevel gear ring, m j bevel planetary gears and a j bevel sun gear, the first bevel gear ring is in a fixed state, the first bevel planetary carrier is hollow, m bevel planetary gear mounting shafts and n groups of bevel planetary gears are fixed on the first bevel planetary carrier, and m bevel planetary gears are arranged on each group of bevel planetary gears;

The inner side of the j-1 th bevel gear ring is provided with the j-1 th bevel gear ring, the inner side of the m j-1 th bevel gear planetary gears is provided with the m j-1 th bevel gear planetary gears, the inner side of the j-1 th bevel gear sun is provided with the j-1 th bevel gear sun, the m j-1 th bevel gear planetary gears are arranged between the j-1 th bevel gear sun and the j-1 th bevel gear ring, the m j-th bevel gear planetary gears are arranged between the j-th bevel gear sun and the j-th bevel gear ring, and the bevel gear planetary gears are arranged in a manner of expanding from outside to inside or from inside to outside;

The m first bevel gear planetary gears are in meshed transmission with the first bevel gear ring, the m first bevel gear planetary gears are respectively and rotatably arranged on the m bevel gear planetary gear mounting shafts, the m first bevel gear planetary gears are respectively and rotatably transmitted with the first bevel gear sun gear, the first bevel gear sun gear is used as a main input end, m j bevel gear planetary gears of a j th group of bevel gear planetary gears are respectively and rotatably arranged on the m bevel gear planetary gear mounting shafts, m j bevel gear planetary gears are in meshed transmission with the j th bevel gear sun gear, m j bevel gear planetary gears are in meshed transmission with the j th bevel gear ring gear, power is input from the j th bevel gear ring gear, power is correspondingly output from the j th bevel gear sun gear, and j is an integer which is more than 1 and less than or equal to n.

8. The multi-input coaxial output-controllable transmission mechanism according to claim 1, wherein the planetary gear train is a bevel gear planetary gear train, the first group of bevel gear planetary gear train comprises a first bevel gear ring, m first bevel gear planetary gears, a first bevel gear planetary carrier, m first bevel gear planetary gear mounting shafts, a first bevel gear sun gear, the kth group of bevel gear planetary gear train comprises a kth bevel gear ring, m kth bevel gear planetary gears, m kth bevel gear planetary gear mounting shafts, and kth bevel gear sun gears, the first bevel gear ring is in a fixed state, the first bevel gear planetary carrier is hollow, and n groups of bevel gear planetary gears are fixed on the first bevel gear planetary gear carrier, each group has m bevel gear planetary gear mounting shafts and m bevel gear planetary gears, and each group of m bevel gear planetary gears can be rotatably arranged on the m bevel gear planetary gear mounting shafts respectively;

An m-th k-1 bevel gear planetary gear is arranged above the k-1 bevel gear ring, a k-1 bevel gear sun gear is arranged above the m-th k-1 bevel gear planetary gear, a k bevel gear ring is arranged above the k-1 bevel gear sun gear, an m-th k bevel gear planetary gear is arranged above the k bevel gear ring, a k bevel gear sun gear is arranged above the m-th bevel gear planetary gear, an n group of bevel gear planetary gear trains are arranged up and down, and bevel gear rings and bevel gear sun gears of two adjacent bevel gear planetary gear trains are arranged between two adjacent bevel gear planetary gear train groups;

the m first bevel gear planetary gears are meshed with the first bevel gear ring for transmission, the m first bevel gear planetary gears are respectively and rotatably arranged on the m first bevel gear planetary gear mounting shafts, the m first bevel gear planetary gears are meshed with the first bevel gear sun for transmission, the first bevel gear sun is used as a main input end, a bevel gear ring of a next bevel gear planetary gear train is arranged above the first bevel gear sun, the m kth bevel gear planetary gear installation shafts of the kth group of bevel gear planetary gear trains are respectively and rotatably provided with m kth bevel gear planetary gears of the kth group of bevel gear planetary gear trains, the kth bevel gear planetary gears are in meshed transmission with the kth bevel gear sun gears, the m kth bevel gear planetary gears are in meshed transmission with the kth bevel gear ring gears, power is input from the kth bevel gear ring gears, the power is correspondingly output from the kth bevel gear sun gears, and k is an integer greater than 1 and less than or equal to n.

9. The multiple-input coaxial controllable output transmission of claim 8, wherein n sets of said bevel planet gear mounting shafts and n sets of said bevel planet gears are fixed inside said first bevel planet carrier.

10. The multiple-input coaxial controllable output transmission of claim 8, wherein n sets of said bevel planet gear mounting shafts and n sets of said bevel planet gears are fixed outside of said first bevel planet carrier.

11. A multiple-input coaxial controllable output transmission according to any one of claims 6-10, wherein the ring gear, sun gear and planet carrier of each set of planetary gear trains are hollow.

12. A transmission method suitable for use in a multiple input coaxial controllable output transmission according to any one of claims 5-9, the transmission method comprising:

The gear ring of one group of planetary gear trains is in a fixed state,

The sun wheel corresponding to the sun gear is connected with the main input motion,

The other n-1 gear rings are connected into the secondary input motion, the sun gear corresponding to the secondary input motion is used as the secondary output end, when the input speed of the n-1 gear rings of the non-fixed gear rings is zero, the n-1 sun gears corresponding to the non-fixed gear rings and the sun gear serving as the main input end are stationary,

When a certain slave output end sun gear needs to generate relative motion with the master input sun gear, the gear ring of the planetary gear train corresponding to the slave output end sun gear does not need to output motion.