Patent Publication Number: US-10330179-B2

Title: Planetary gear train of automatic transmission for vehicles

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims priority to and the benefit of Korean Patent Application No. 10-2017-0117413 filed in the Korean Intellectual Property Office on Sep. 13, 2017, the entire contents of which are incorporated herein by reference. 
     BACKGROUND 
     (a) Field 
     The present disclosure relates to an automatic transmission for a vehicle. 
     (b) Description of the Related Art 
     Generally, in automatic transmission field, achieving more shift stages is a technology for maximizing fuel consumption and driving efficiency and has been researched, and recent increases in oil prices are triggering hard competition in enhancing fuel consumption of a vehicle. 
     In this sense, research on an engine has been undertaken to achieve weight reduction and to enhance fuel consumption by so-called downsizing, and research on an automatic transmission has been performed to simultaneously provide better drivability and fuel consumption by achieving more shift stages. 
     In order to achieve more shift stages for an automatic transmission, the number of parts, particularly the number of planetary gear sets is typically increased and installability, production cost, weight, and power flow efficiency according to total length of transmission is increased. 
     Therefore, in order to maximally enhance fuel consumption of an automatic transmission having more shift stages, it is important for better efficiency to be derived by a smaller number of parts. 
     In this respect, an eight-speed automatic transmission has been recently introduced, and a planetary gear train for an automatic transmission enabling more shift stages is continuously required. 
     However, the majority of general automatic transmissions having more than eight speeds include three to four planetary gear sets and five to seven control elements (friction element), in this case, total length is increased, which has drawbacks of deteriorating installability. 
     As a result, plural rows structure which planetary gear sets are on planetary gear sets has been adopted, or a dog clutch is applied in place of wet control elements. However, in this case, applicable structure is restricted and shift feel is deteriorated by applying the dog clutch. 
     The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention. Applicant notes that this section may contain information available before this application. However, by providing this section, Applicant does not admit that any information contained in this section constitutes prior art. 
     SUMMARY 
     The present disclosure relates to a planetary gear train of an automatic transmission for a vehicle having advantages of, by minimal complexity, realizing ten forward speeds, thereby improving power delivery performance and fuel consumption due to multi-stages, and improving driving stability of a vehicle by utilizing a low rotation speed of an engine 
     The present disclosure has been made in an effort to provide a planetary gear train of an automatic transmission for a vehicle having advantages of obtaining shift-stages of the forward ten speeds by minimal number of parts, improving power delivery performance and fuel consumption by multi-stages of an automatic transmission, and improving driving stability of a vehicle by utilizing a low rotation speed of an engine. 
     A planetary gear train according to an embodiment of the present invention includes an input shaft for receiving an engine torque; an output shaft for outputting a torque; a first planetary gear set having first, second, and third rotational elements; a second planetary gear set having fourth, fifth, and sixth rotational elements; a third planetary gear set having seventh, eighth, and ninth rotational elements; a fourth planetary gear set having tenth, eleventh, and twelfth rotational elements; a first shaft fixedly connected with the third rotational element and selectively connected with the input shaft; a second shaft fixedly connected with the fourth rotational element and selectively connected with the input shaft; a third shaft fixedly connected with the twelfth rotational element and fixedly connected with the output shaft; a fourth shaft fixedly connected with the first rotational element, the sixth rotational element, and the eighth rotational element, a fifth shaft fixedly connected with the ninth rotational element and the tenth rotational element; and a plurality of additional shafts, each of which is selectively connected to the transmission housing and fixedly connected to a rotation element of the first, second, third, and fourth planetary gear sets that is not fixedly connected with any of the first to fifth shafts. 
     Here, the plurality of additional shafts comprise a sixth shaft fixedly connected with the second rotational element, the fifth rotational element, and the eleventh rotational element, and selectively connected with the transmission housing; and a seventh shaft fixedly connected with the seventh rotational element, and selectively connected with the transmission housing, wherein the input shaft is selectively connected with the first shaft, the input shaft is selectively connected with the second shaft, the fourth shaft is selectively connected with the seventh shaft, and the third shaft is selectively connected with the fourth shaft. 
     Further, the planetary gear train further includes four clutches including the input shaft and selectively connecting two shafts among the first to the seventh shaft; and two brakes selectively connecting the sixth shaft and the seventh shaft to the transmission housing, respectively. 
     At this time, the four clutches include a first clutch disposed between the input shaft and the first shaft; a second clutch disposed between the input shaft and the second shaft; a third clutch disposed between the fourth shaft and the seventh shaft; and a fourth clutch disposed between the third shaft and the fourth shaft, the two brake include a first brake disposed between the transmission housing and the sixth shaft; and a second brake disposed between the seventh shaft and the transmission housing. 
     Further, the first planetary gear set is a single pinion planetary gear set, and the first, second, and third rotational elements are respectively a first sun gear, a first planetary carrier, and a first ring gear, the second planetary gear set is a single pinion planetary gear set, and the fourth, fifth, and sixth rotational elements are respectively a second sun gear, a second planetary carrier, and a second ring gear, the third planetary gear set is a single pinion planetary gear set, and the seventh, eighth, and ninth rotational elements are respectively a third sun gear, a third planetary carrier, and a third ring gear, and the fourth planetary gear set is a single pinion planetary gear set, and the tenth, eleventh, and twelfth rotational elements are respectively a fourth sun gear, a fourth planetary carrier, and a fourth ring gear. 
     A planetary gear train of an automatic transmission for a vehicle according to an embodiment of the present invention, shift-stages of forward ten speeds and one reverse speed may be realized by combination of four planetary gear sets of simple planetary gear sets and six control elements. 
     Further, a planetary gear train according to an embodiment of the present invention may realize shift stages appropriate for rotation speed of an engine due to multi-stages of an automatic transmission and improve driving stability of a vehicle by utilizing a low rotation speed of an engine. 
     Further, a planetary gear train according to an embodiment of the present invention maximize engine driving efficiency by multi-stages of an automatic transmission, and may improve power delivery performance and fuel consumption. 
     Further, effects that can be obtained or expected from embodiments of the present invention are directly or suggestively described in the following detailed description. That is, various effects expected from embodiments of the present invention will be described in the following detailed description. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic diagram of a planetary gear train according to an embodiment of the present invention. 
         FIG. 2  is an operational chart for respective control elements at respective shift stages in a planetary gear train according to an embodiment of the present invention. 
     
    
    
     DESCRIPTION OF SYMBOLS 
     
         
         
           
             B 1 ,B 2  . . . first, and second brakes 
             C 1 ,C 2 ,C 3 ,C 4  . . . first, second, third, and fourth clutches 
             PG 1 ,PG 2 ,PG 3 ,PG 4  . . . first, second, third, and fourth planetary gear sets 
             S 1 ,S 2 ,S 3 ,S 4  . . . first, second, third, and fourth sun gears 
             PC 1 ,PC 2 ,PC 3 ,PC 4  . . . first, second, third, and fourth planetary carriers 
             R 1 ,R 2 ,R 3 ,R 4  . . . first, second, third, and fourth ring gears 
             IS . . . input shaft 
             OS . . . output shaft 
             TM 1 ,TM 2 ,TM 3 ,TM 4 ,TM 5 ,TM 6 ,TM 7  . . . first, second, third, fourth, fifth, sixth, and seventh shafts 
           
         
       
    
     DETAILED DESCRIPTION 
     Hereinafter, an embodiment of the present invention will be described in detail with reference to drawings. 
     The drawings and description are to be regarded as illustrative in nature and not restrictive, and like reference numerals designate like elements throughout the specification. 
     In the following description, dividing names of components into first, second, and the like is to divide the names because the names of the components are the same as each other and an order thereof is not particularly limited. 
       FIG. 1  is a schematic diagram of a planetary gear train according to an embodiment of the present invention. 
     Referring to  FIG. 1 , a planetary gear train according to an embodiment of the present invention includes first, second, third, and fourth planetary gear sets PG 1 , PG 2 , PG 3 , and PG 4  arranged on a same axis, an input shaft IS, an output shaft OS, seven shafts TM 1  to TM 7  connected with rotational elements of the first, second, third, and fourth planetary gear sets PG 1 , PG 2 , PG 3 , and PG 4 , four clutches C 1  to C 4  and two brakes B 1  and B 2  as control elements, and a transmission housing H. 
     Torque input from the input shaft IS is shifted by cooperative operation of the first, second, third, and fourth planetary gear sets PG 1 , PG 2 , PG 3 , and PG 4 , and then output through the output shaft OS. 
     In an embodiment of the present invention, the planetary gear sets are arranged in the order of first, second, third and fourth planetary gear sets PG 1 , PG 2 , PG 3  and PG 4 , from an engine side. 
     The input shaft IS is an input member and the torque from a crankshaft of an engine, after being torque-converted through a torque converter, is input into the input shaft IS. 
     The output shaft OS is an output member, and being arranged on a same axis with the input shaft IS, delivers a shifted torque to a drive shaft through a differential apparatus which is not illustrated. 
     The first planetary gear set PG 1  is a single pinion planetary gear set, and includes a first sun gear S 1 , a first planet carrier PC 1  that supports a plurality of first pinion gear P 1  externally engaged with the first sun gear S 1  so that the first pinion gear P 1  may rotate and revolute, and a first ring gear R 1  internally engaged and torque-connected with a plurality of the first pinion gear P 1 . The first sun gear S 1  acts as a first rotational element N 1 , the first planet carrier PC 1  acts as a second rotational element N 2 , and the first ring gear R 1  acts as a third rotational element N 3 . 
     The second planetary gear set PG 2  is a single pinion planetary gear set, and includes a second sun gear S 2 , a second planet carrier PC 2  that supports a plurality of second pinion gear P 2  externally engaged with the second sun gear S 2  so that the second pinion gear P 2  may rotate and revolute, and a second ring gear R 2  internally engaged and torque-connected with a plurality of the second pinion P 2 . The second sun gear S 2  acts as a fourth rotational element N 4 , the second planet carrier PC 2  acts as a fifth rotational element N 5 , and the second ring gear R 2  acts as a sixth rotational element N 6 . 
     The third planetary gear set PG 3  is a single pinion planetary gear set, and includes a third sun gear S 3 , a third planet carrier PC 3  that supports a plurality of a third pinion gear P 3  externally engaged with the third sun gear S 3  so that the third pinion gear P 3  may rotate and revolute, and a third ring gear R 3  internally engaged and torque-connected with a plurality of the third pinion P 3 . The third sun gear S 3  acts as a seventh rotational element N 7 , the third planet carrier PC 3  acts as a eighth rotational element N 8 , and the third ring gear R 3  acts as a ninth rotational element N 9 . 
     The fourth planetary gear set PG 4  is a single pinion planetary gear set, and includes a fourth sun gear S 4 , a fourth planet carrier PC 4  that supports a fourth pinion P 4  externally engaged with the fourth sun gear S 4 , and a fourth ring gear R 4  internally engaged with the fourth pinion P 4 . The fourth sun gear S 4  acts as a tenth rotational element N 10 , the fourth planet carrier PC 4  acts as an eleventh rotational element N 11 , and the fourth ring gear R 4  acts as a twelfth rotational element N 12 . 
     In the arrangement of the first, second, third, and fourth planetary gear sets PG 1 , PG 2 , PG 3 , and PG 4 , the first rotational element N 1  is fixedly connected with the sixth rotational element N 6  and the eighth rotational element N 8 , the second rotational element N 2  is fixedly connected with the fifth rotational element N 5  and the eleventh rotational element N 11 , and the ninth rotational element N 9  is fixedly connected with the tenth rotational element N 10  by seven shafts TM 1  to TM 7 . 
     The seven shafts TM 1  to TM 7  are arranged as follows. 
     The first shaft TM 1  is fixedly connected with the third rotational element N 3  (the first ring gear R 1 ) and selectively connected with the input shaft IS, thereby acting as a selective input element. 
     The second shaft TM 2  is fixedly connected with the fourth rotational element N 4  (the second sun gear S 2 ) and selectively connected with the input shaft IS, thereby acting as a selective input element. 
     The third shaft TM 3  is fixedly connected with the twelfth rotational element N 12  (the fourth ring gear R 4 ) and fixedly connected with the output shaft OS, thereby always acting as an output element. 
     The fourth shaft TM 4  is fixedly connected with the first rotational element N 1  (the first sun gear S 1 ), the sixth rotational element N 6  (the second ring gear R 2 ), and the eighth rotational element N 8  (the third planetary carrier PC 3 ). 
     The fifth shaft TM 5  is fixedly connected with the ninth rotational element N 9  (the third ring gear R 3 ) and the tenth rotational element N 10  (the fourth sun gear S 4 ). 
     The sixth shaft TM 6  is fixedly connected with the second rotational element N 2  (the first planetary carrier PC 1 ), the fifth rotational element N 5  (the second planetary carrier PC 2 ), and the eleventh rotational element N 11  (the fourth planetary carrier PC 4 ). 
     The seventh shaft TM 7  is fixedly connected with the seventh rotational element N 7  (the third sun gear S 3 ). 
     Each of the seven shafts TM 1  to TM 7  may be a rotational member that delivers torque and rotates with rotational element which fixedly or selectively interconnects a plurality of the rotational elements of the rotational elements of the planetary gear sets PG 1 , PG 2 , PG 3 , and PG 4 , and the seven shafts TM 1  to TM 7  may be a rotational member selectively connecting the rotational element with the transmission housing H, or be a fixed member directly connecting and fixing the rotational element with the transmission housing H. 
     In embodiments, the term “fixedly connected” or similar term means that a plurality of rotational elements including the input and output shafts, which are connected through the corresponding shafts, and the corresponding shaft are connected so as to rotate without any difference in the number of revolutions. That is, a plurality of fixedly connected rotational elements and corresponding shafts rotate in the same rotation direction and number of revolutions. 
     In embodiments, when two members (elements) are fixedly connected with a shaft, the two members move together and rotate about a rotational axis at the same angular speed. In embodiments, when a member is fixedly connected to a transmission housing, the member is fixed to the transmission housing and does not rotate about a rotational axis of the transmission. In embodiments, when two members are fixedly connected each other and when one of the two members is fixedly connected to a transmission housing, the two fixedly connected members are fixed to the transmission housing and do not rotate about a rotational axis of the transmission. In embodiments, the term “fixedly connected” is interchangeable with the term “fixed to”. 
     In embodiments, the term “selectively connected” or similar terms means that a plurality of shafts, including an input and output shafts, (1) are connected to each other so as to be rotatable in the same rotation direction and number of revolutions through engagement elements, or (2) the corresponding shaft is fixedly connected to (fixed to) the transmission housing via the engagement element. That is, when the engagement element operates to connect a plurality of the shafts, the plurality of the shafts rotate in the same rotation direction and number of revolutions. Conversely, when the engagement element is released, the connection of the plurality of the shafts is released. 
     Further, when the engagement element operates to connect the corresponding shaft and the transmission housing, the corresponding shaft is fixedly connected to the transmission housing. Conversely, when the engagement element is released, the corresponding shaft is in a rotatable state. 
     In embodiments, when two members are “selectively connected”, the two members are configured (1) to engage (fixedly connected) each other to move/rotate together for a operation of the transmission or (2) not to engage each other and to move independently for another operation of the transmission. In embodiment, the term “selectively connected” is interchangeable with the term “connected or disconnected for different operations”. In embodiment, when a member engages with a transmission housing, the member is fixed to the transmission housing and does not rotate about a rotational axis of a transmission. 
     In embodiments, when a clutch operates, the clutch engages two rotatable members corresponding to the clutch such that the members rotate together at the same angular speed. 
     In embodiments, when a brake fully operates between a rotational member and a fixed housing, the brake holds the rotational member such that the rotational member does not move or rotate relative to the fixed housing. 
     Here, the first shaft TM 1  and the second shaft TM 2  are selectively connected with the input shaft IS, and the fourth shaft TM 4  is selectively connected with the third shaft TM 3  and the seventh shaft TM 7 . 
     Further, the sixth shaft TM 6  and the seventh shaft TM 7  are selectively connected with the transmission housing H to act as a selective fixed element. 
     The seven shafts TM 1  to TM 7 , the input shaft IS, and the output shaft OS may be selectively interconnected with one another by control elements of four clutches C 1  to C 4 . 
     The seven shafts TM 1  to TM 7  may be selectively connected with the transmission housing H, by control elements of two brakes B 1  and B 2 . 
     The four clutches C 1  to C 4  and the two brakes B 1  and B 2  are arranged as follows. 
     The first clutch C 1  is arranged between the input shaft IS and the first shaft TM 1 , and selectively connects (connect or disconnect for operations of the transmission) the input shaft IS and the first shaft TM 1 , thereby controlling power delivery therebetween. 
     The second clutch C 2  is arranged between input shaft IS and the second shaft TM 2 , and selectively connects (connect or disconnect) the input shaft IS and the second shaft TM 2 , thereby controlling power delivery therebetween. 
     The third clutch C 3  is arranged between the fourth shaft TM 4  and the seventh shaft TM 7 , and selectively connects (connect or disconnect) the fourth shaft TM 4  and the seventh shaft TM 7 , thereby controlling power delivery therebetween. 
     The fourth clutch C 4  is arranged between the third shaft TM 3  and the fourth shaft TM 4 , and selectively connects (connect or disconnect) the third shaft TM 3  and the fourth shaft TM 4 , thereby controlling power delivery therebetween. 
     The first brake B 1  is arranged between the sixth shaft TM 6  and the transmission housing H, and selectively connects the sixth shaft TM 6  to the transmission housing H. 
     The second brake B 2  is arranged between the seventh shaft TM 7  and the transmission housing H, and selectively connects the seventh shaft TM 7  to the transmission housing H. 
     The engagement elements of the first, second, third, and fourth clutches C 1 , C 2 , C 3 , and C 4  and the first and second brakes B 1  and B 2  may be realized as multi-plate hydraulic pressure friction devices that are frictionally engaged by hydraulic pressure, however, it should not be understood to be limited thereto, since various other configurations that are electrically controllable may be available. 
       FIG. 2  is an operational chart for respective control elements at respective shift stages in a planetary gear train according to an embodiment of the present invention. 
     Referring to  FIG. 2 , a planetary gear train according to an embodiment of the present invention realizes ten forward speeds and at least one reverse speed by operating three engagements among the first, second, and third clutches C 1 , C 2 , C 3  and C 4  and first and second brake B 1  and B 2 . 
     In the forward first speed shift-stage D 1 , the second and third clutches C 2  and C 3  and the first brake B 1  are simultaneously operated. 
     As a result, the second shaft TM 2  is fixedly connected with the input shaft IS by the operation of the second clutch C 2 , and the fourth shaft TM 4  is fixedly connected with the seventh shaft TM 7  by the operation of the third clutch C 3 . In this state, torque of the Input shaft IS is input to the second shaft TM 2 . 
     In addition, the sixth shaft TM 6  acts as a fixed element by the operation of the first brake B 1 , thereby realizing the forward first speed and outputting a shifted torque to the output shaft OS connected with the third shaft TM 3 . 
     In the forward second speed shift-stage D 2 , the second clutch C 2  and the first and second brakes B 1  and B 2  are simultaneously operated. 
     As a result, the second shaft TM 2  is fixedly connected with the input shaft IS by the operation of the second clutch C 2 . In this state, torque of the Input shaft IS is input to the second shaft TM 2 . 
     In addition, the sixth shaft TM 6  and the seventh shaft TM 7  act as fixed elements by the operation of the first and second brakes B 1  and B 2 , thereby realizing the forward second speed and outputting a shifted torque to the output shaft OS connected with the third shaft TM 3 . 
     In the forward third speed shift-stage D 3 , the second and third clutches C 2  and C 3  and the second brake B 2  are simultaneously operated. 
     As a result, the second shaft TM 2  is fixedly connected with the input shaft IS by the operation of the second clutch C 2 , and the fourth shaft TM 4  is fixedly connected with the seventh shaft TM 7  by the operation of the third clutch C 3 . In this state, torque of the Input shaft IS is input to the second shaft TM 2 . 
     In addition, the seventh shaft TM 7  acts as a fixed element by the operation of the second brake B 2 , thereby realizing the forward third speed and outputting a shifted torque to the output shaft OS connected with the third shaft TM 3 . 
     In the forward fourth speed shift-stage D 4 , the second and fourth clutches C 2  and C 4  and the second brake B 2  are simultaneously operated. 
     As a result, the second shaft TM 2  is fixedly connected with the input shaft IS by the operation of the second clutch C 2 , and the third shaft TM 3  is fixedly connected with the fourth shaft TM 4  by the operation of the fourth clutch C 4 . In this state, torque of the Input shaft IS is input to the second shaft TM 2 . 
     In addition, the seventh shaft TM 7  acts as a fixed element by the operation of the second brake B 2 , thereby realizing the forward fourth speed and outputting a shifted torque to the output shaft OS connected with the third shaft TM 3 . 
     In the forward fifth speed shift-stage D 5 , the first and second clutches C 1  and C 2  and the second brake B 2  are simultaneously operated. 
     As a result, the first shaft TM 1  is fixedly connected with the input shaft IS by the operation of the first clutch C 1 , and the second shaft TM 2  is fixedly connected with the input shaft IS by the operation of the second clutch C 2 . In this state, torque of the Input shaft IS is input to the first and second shafts TM 1  and TM 2 . 
     In addition, the seventh shaft TM 7  acts as a fixed element by the operation of the second brake B 2 , thereby realizing the forward fifth speed and outputting a shifted torque to the output shaft OS connected with the third shaft TM 3 . 
     In the forward sixth speed shift-stage D 6 , the first and fourth clutches C 1  and C 4  and the second brake B 2  are simultaneously operated. 
     As a result, the first shaft TM 1  is fixedly connected with the input shaft IS by the operation of the first clutch C 1 , and the third shaft TM 3  is fixedly connected with the fourth shaft TM 4  by the operation of the fourth clutch C 4 . In this state, torque of the Input shaft IS is input to the first shaft TM 1 . 
     In addition, the seventh shaft TM 7  acts as a fixed element by the operation of the second brake B 2 , thereby realizing the forward sixth speed and outputting a shifted torque to the output shaft OS connected with the third shaft TM 3 . 
     In the forward seventh speed shift-stage D 7 , the first, third, and fourth clutches C 1 , C 3 , and C 4  are simultaneously operated. 
     As a result, the first shaft TM 1  is fixedly connected with the input shaft IS by the operation of the first clutch C 1 , and the fourth shaft TM 4  is fixedly connected with the seventh shaft TM 7  by the operation of the third clutch C 3 , and the third shaft TM 3  is fixedly connected with the fourth shaft TM 4  by the operation of the fourth clutch C 4 . 
     Then, the first, second, third, and fourth planetary gear sets PG 1 , PG 2 , PG 3 , and PG 4  integrally rotate, and the torque received at the first shaft TM 1  is outputted as inputted, thereby realizing the forward seventh speed and outputting a shifted torque through the output shaft OS connected with the third shaft TM 3 . 
     In the forward first speed shift-stage D 8 , the first and third clutches C 1  and C 3  and the second brake B 2  are simultaneously operated. 
     As a result, the first shaft TM 1  is fixedly connected with the input shaft IS by the operation of the first clutch C 1 , and the fourth shaft TM 4  is fixedly connected with the seventh shaft TM 7  by the operation of the third clutch C 3 . In this state, torque of the Input shaft IS is input to the first shaft TM 1 . 
     In addition, the seventh shaft TM 7  acts as a fixed element by the operation of the second brake B 2 , thereby realizing the forward eighth speed and outputting a shifted torque to the output shaft OS connected with the third shaft TM 3 . 
     In the forward ninth speed shift-stage D 9 , the first and third clutches C 1  and C 3  and the first brake B 1  are simultaneously operated. 
     As a result, the first shaft TM 1  is fixedly connected with the input shaft IS by the operation of the first clutch C 1 , and the fourth shaft TM 4  is fixedly connected with the seventh shaft TM 7  by the operation of the third clutch C 3 . In this state, torque of the Input shaft IS is input to the first shaft TM 1 . 
     In addition, the sixth shaft TM 6  acts as a fixed element by the operation of the first brake B 1 , thereby realizing the forward ninth speed and outputting a shifted torque to the output shaft OS connected with the third shaft TM 3 . 
     In the forward tenth speed shift-stage D 10 , the first and second clutches C 1  and C 2  and the first brake B 1  are simultaneously operated. 
     As a result, the first shaft TM 1  is fixedly connected with the input shaft IS by the operation of the first clutch C 1 , and the second shaft TM 2  is fixedly connected with the input shaft IS by the operation of the second clutch C 2 . In this state, torque of the Input shaft IS is input to the first and second shafts TM 1  and TM 2 . 
     In addition, the sixth shaft TM 6  acts as a fixed element by the operation of the first brake B 1 , thereby realizing the forward tenth speed and outputting a shifted torque to the output shaft OS connected with the third shaft TM 3 . 
     In the reverse speed REV, the second and fourth clutches C 2  and C 4 , and the first brake B 1  are simultaneously operated. 
     As a result, the second shaft TM 2  is fixedly connected with the input shaft IS by the operation of the second clutch C 2 , and the third shaft TM 3  is fixedly connected with the fourth shaft TM 4  by the operation of the fourth clutch C 4 . In this state, torque of the Input shaft IS is input to the second shaft TM 2 . 
     In addition, the sixth shaft TM 6  acts as a fixed element by the operation of the first brake B 1 , thereby realizing the reverse speed and outputting a shifted torque to the output shaft OS connected with the third shaft TM 3 . 
     As described above, a planetary gear train according to an embodiment of the present invention may realize forward ten speeds and a reverse one speed formed by operating four planetary gear sets PG 1 , PG 2 , PG 3 , and PG 4  by controlling the four clutches C 1 , C 2 , C 3 , and C 4  and the two brakes B 1  and B 2 . 
     In addition, a planetary gear train according to an embodiment of the present invention may realize shift stages appropriate for rotation speed of an engine due to multi-stages of an automatic transmission and improve driving stability of a vehicle by utilizing a low rotation speed of an engine. 
     In addition, a planetary gear train according to an embodiment of the present invention may maximize engine driving efficiency by multi-stages of an automatic transmission, and may improve power delivery performance and fuel consumption. 
     While this invention has been described in connection with what is presently considered to be practical embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.