A full-drive traction chassis

Abstract

The present invention provides an all-wheel drive traction chassis, which includes a gearbox. A gearbox output shaft is respectively arranged on the left and right sides of the gearbox. A clutch braking mechanism is arranged in the gearbox to connect the two gearbox output shafts. The clutch braking mechanism is configured with a steering control mechanism to control the power output of the two gearbox output shafts. The gearbox is provided with a steering control mechanism for interrupting the rotation of one of the gearbox output shafts; a traveling wheel mechanism is installed on the frame, and a traction track is installed on the front side of the frame. The traction track is connected to the traveling wheel mechanism through a belt. The present invention is simultaneously configured with two different traveling drive mechanisms, with a traction track carried on the front side and two traveling wheels configured on the rear side, so that the robot simultaneously has the advantages of fast running speed, good mobility, strong climbing ability, etc., enabling the present invention to work in various harsh road surface environments.

Description

Technical Field

[0001] The present invention relates to the field of machinery, and particularly to an all-wheel drive traction chassis. Background Art

[0002] At present, traction chassis are mainly divided into wheeled chassis or crawler chassis. The greatest advantage of wheeled chassis is low fuel consumption and easy mobility. The characteristics of crawler running devices are large driving force, thus good cross-country performance and stability, large climbing ability and small turning radius, and good flexibility. However, the manufacturing cost of crawler running devices is high, the running speed is low, the power consumption is large during running and steering, and the parts wear quickly. Compared with crawler-type running devices, the advantages of tire-type running devices are fast running speed and good mobility. The tires do not damage the road surface during running, so they are very popular in urban construction. The disadvantages are large ground contact pressure and small climbing ability.

[0003] Here, we hope to have an all-wheel drive traction chassis that is equipped with both crawlers and tires, combining the advantages of wheeled chassis and crawler chassis, so as to play an active role in fields such as agriculture, emergency rescue, and fire patrol. Summary of the Invention

[0004] The present invention provides an all-wheel drive traction chassis. The all-wheel drive traction chassis includes a frame. A gearbox is installed on the frame. A gearbox output shaft is respectively arranged on the left and right sides of the gearbox. A clutch-brake mechanism is arranged in the gearbox to connect the two gearbox output shafts. The clutch-brake mechanism is configured with two shift forks to respectively control the power output of the two gearbox output shafts.

[0005] The gearbox is provided with a steering control mechanism for controlling the two shift forks;

[0006] A walking wheel mechanism is installed on the frame, and a traction crawler is installed on the front side of the frame.

[0007] The walking wheel mechanism includes walking wheels located on both sides of the frame. The walking wheels on both sides are connected to the gearbox output shafts on the left and right sides through a first rotating shaft.

[0008] The traction crawler includes a crawler and a crawler drive mechanism. The crawler drive mechanism includes two second rotating shafts. The two second rotating shafts are connected through a differential. A crawler drive wheel is installed on the differential. The second rotating shaft and the first rotating shaft on the same side of the frame are in transmission connection.

[0009] Further, two horizontal outwardly extending extension plates are fixedly installed on both sides of the frame;

[0010] Rotating sleeves are sleeved on the relatively inner shafts of the walking wheels. The rotating sleeves are provided with hinge seats and are rotatably connected to the extension plates.

[0011] Furthermore, the two traveling wheels are respectively mounted on two first rotating shafts through universal joints, and the two first rotating shafts are respectively connected to the transmission output shafts on the left and right sides;

[0012] A traveling wheel steering mechanism connected to the two traveling wheels is provided on the vehicle frame,

[0013] The traveling wheel steering mechanism is composed of two sets of link mechanisms arranged left and right, and one of the link mechanisms is connected to a steering push rod;

[0014] Each of the link mechanisms is composed of a first link and a second link. One ends of the two first links are horizontally rotatable on the vehicle frame and mesh with each other, and two ends of the second link are hinged between the rotating sleeve and the other end of the first link.

[0015] Furthermore, the two traveling wheels are symmetrically mounted on both sides of the vehicle frame in an outward V-shaped distribution.

[0016] Furthermore, an engine or a motor is mounted on the vehicle frame,

[0017] The transmission is provided with a power input shaft, and the power input shaft is connected to the power output shaft of the engine or the motor through a belt.

[0018] Furthermore, the steering control mechanism includes a lead screw motor, a slide bar, and toggle levers on the left and right sides of the lead screw motor. The toggle levers on both sides are connected to two shift forks of the clutch braking mechanism. The lead screw motor drives the slide bar to slide and drives one of the toggle levers to swing, and the toggle lever drives the shift fork to rotate to interrupt the power output of the transmission output shaft on this side.

[0019] Furthermore, the traction track is equipped with a lifting mechanism for lifting the front end of the traction track.

[0020] Furthermore, the differential includes a differential housing coaxially and fixedly connected to the crawler drive wheel. A first bevel gear, a second bevel gear, and a planetary gear shaft in the middle are provided in the differential housing. Opposite two card slots are provided in the inner ring of the differential housing, and the planetary gear shaft is installed between the two card slots. The first bevel gear and the second bevel gear are respectively fixed to the opposite ends of two second rotating shafts, and third bevel gears meshing with the first bevel gear and the second bevel gear are fixed at both ends of the planetary gear shaft.

[0021] The advantages of the present invention are as follows:

[0022] 1) The frame is equipped with two different walking drive mechanisms at the same time. A traction track is installed on the front side, and two walking wheels are configured on the rear side, enabling the robot to have the advantages of fast running speed, good mobility, and strong climbing ability, so that the present invention can work in various harsh road surface environments;

[0023] 2) Only one power source is required to drive the traction track and the walking wheels. The gearbox drives the walking wheels on both sides to rotate, and the transmission belt / chain at the rotating shafts of the two walking wheels drives the traction track on the front side of the frame to rotate, simplifying the drive mechanism;

[0024] 3) Through the differential between the gearbox between the walking wheels and the track shaft, two in-situ steering methods can be achieved. One method is to change the directions of the walking wheels on both sides through the walking wheel steering mechanism to realize the left and right steering of the robot; the other method is to interrupt the power output of one side of the walking wheels through the steering control mechanism, while the walking wheels on the other side continue to rotate, and the steering is achieved through the speed difference between the walking wheels on both sides. The robot provided by the present invention has the ability of in-situ steering, the movement of the robot is more flexible, and it can turn around in narrow places, with strong mobility. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 FIG. is a perspective view showing only the chassis frame, gearbox, walking wheel mechanism, and traction track of the all-wheel drive traction chassis of the present invention;

[0027] Figure 2 FIG. Figure 1 is a perspective view from another angle;

[0028] Figure 3 FIG. is a perspective view with the gearbox hidden in FIG. Figure 1 after;

[0029] Figure 4 shows a schematic diagram of two rotating shafts of the chassis frame, walking wheels, and traction track;

[0030] Figure 5 FIG. Figure 3 is a side view of FIG.

[0031] Figure 6 is a top view of the walking wheel orientation when the all-wheel drive traction chassis is going straight;

[0032] Figure 7It is a top view of the traveling wheel orientation when the all-wheel drive traction chassis turns.

[0033] Figure 8 It is a front view of the transmission and the steering control mechanism equipped therewith.

[0034] Figure 9 It is for Figure 8 side view of

[0035] Figure 10 It is a three-dimensional view of the steering control mechanism.

[0036] Figure 11 It is a schematic diagram of the track drive wheel and the differential structure inside.

[0037] Figure 12 It is a connection schematic diagram of the gears of the differential between the two second rotating shafts.

[0038] Figure 13 It is a schematic diagram of the first in-situ steering mode of the present invention.

[0039] Figure 14 It is a schematic diagram of the second in-situ steering mode of the present invention. Detailed implementation mode

[0040] In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0041] In order to thoroughly understand the present invention, detailed steps and detailed structures will be presented in the following description to explain the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below. However, in addition to these detailed descriptions, the present invention can also have other implementation manners.

[0042] Referring to Figure 1 as shown, the present invention provides an all-wheel drive traction chassis. The all-wheel drive traction chassis includes a frame 100. A transmission 110 is installed on the frame 100. A transmission output shaft 111 is provided on each of the left and right sides of the transmission 110 (such as Figure 8 ), and a clutch-brake mechanism is provided in the transmission 110 to connect the two transmission output shafts 111. The clutch-brake mechanism is configured with two shift forks 112 to disconnect the power output of the two transmission output shafts 111. It should be noted that the transmission 110 adopted in the present invention is an existing transmission purchased on the market. The transmission 110 is equipped with two shift forks 112 for controlling the power output of the two output shafts. Therefore, the specific structure thereof will not be described in detail in the specification of the present invention.

[0043] A running wheel mechanism 200 is installed on the vehicle frame 100, and a traction crawler 300 is installed on the front side of the vehicle frame 100.

[0044] The running wheel mechanism 200 includes running wheels 201 located on both sides of the vehicle frame 100. The two running wheels 201 are respectively installed on two first rotating shafts 203 through universal joints 202. The two first rotating shafts 203 are respectively connected to the transmission output shafts 111 on the left and right sides. A running wheel steering mechanism 210 connected to the two running wheels is provided on the vehicle frame 100. The running wheel steering mechanism 210 is used to simultaneously drive the two running wheels 201 to perform reverse steering (such as inwards or outwards rotation).

[0045] The traction crawler 300 includes a crawler 301 and a crawler drive mechanism 310. The crawler drive mechanism 310 includes two second rotating shafts 311. The two second rotating shafts 311 are connected by a differential 312. A crawler drive wheel 313 is installed on the differential 312. Between the second rotating shaft 311 and the first rotating shaft 203 on the same side of the vehicle frame 100 are respectively connected by a transmission belt / chain / drive shaft ( Figure 2 shown as the transmission belt 220).

[0046] In an alternative embodiment, as Figure 3 shown, two horizontally outwardly extending extension plates 101 are fixedly installed on both sides of the vehicle frame 100; rotating sleeves 204 are sleeved on the relatively inner rotating shafts of the running wheels 201, and the rotating sleeves 204 are connected to the running wheels 201. The rotating sleeves 204 are provided with hinge seats and are rotatably connected to the extension plates 101. Since the running wheels 201 are connected to the first rotating shafts 203 through universal joints 202, the running wheels 201 can swing and thus realize left and right steering of the running wheels.

[0047] To achieve the steering of the running wheels, the present invention realizes it by means of the following mechanism:

[0048] As Figure 3 and Figure 6 、 Figure 7 shown, the running wheel steering mechanism 210 is composed of two sets of link mechanisms 211 symmetrically arranged left and right on the vehicle frame 100. One of the link mechanisms 211 is connected to a steering push rod 214; each link mechanism 211 is composed of a first link 212 and a second link 213. One ends of the two first links 212 are horizontally rotatable on the vehicle frame 100 and are engaged with each other (as Figure 3As shown, both ends of the second link 213 are hingedly connected between the rotating sleeve 204 and the other end of the first link 212. Taking the figure as an example, the push rod of the steering push rod 214 drives the first link 212 of the right link mechanism 211 to rotate around the link rotation shaft 2120. The first link 212 drives the rotating sleeve 204 to swing left and right through the second link 213, thereby realizing the steering of the right traveling wheel. At the same time, the first link 212 of the right link mechanism 211 will drive the first link 212 of the left link mechanism 211 to swing, so that the left link mechanism 211 will also drive the left traveling wheel to rotate synchronously and in the opposite direction. Figure 7 Fig. Figure 7 shows a top view after the steering wheels on both sides rotate in an embodiment. Through the ingenious combination of two sets of linked links, the present invention realizes that using a single steering push rod 214 can simultaneously reverse-steer the traveling wheels on both sides.

[0049] In an alternative embodiment, the two traveling wheels are symmetrically installed on both sides of the frame 100 in an outward V-shaped distribution (as Figure 4 shown), which can increase the ground contact area during turning, so that the vehicle has strong grip and can significantly improve the vehicle's maneuverability.

[0050] In an alternative embodiment, an internal combustion engine or an electric motor is installed on the frame 100. The transmission 110 is provided with a power input shaft, and the power input shaft is connected to the power output shaft of the engine / motor through a belt, and the internal combustion engine / electric motor provides power for the transmission 110.

[0051] As Figure 11 - 12 shown, the principle of the differential 312 driving the traction track 300 is as follows:

[0052] The differential 312 includes a differential housing 312-4 fixedly connected coaxially with the track driving wheel 313. Inside the differential housing 312-4, there are a first bevel gear 312-1, a second bevel gear 312-2, and a middle planetary gear shaft 312-3. Opposite two card slots 312-4a are provided on the inner ring of the differential housing 312-4, and the planetary gear shaft 312-3 is installed between the two card slots 312-4a. The first bevel gear 312-1 and the second bevel gear 312-2 are respectively fixed at the opposite ends of two second rotating shafts 311. Third bevel gears 312-3a that are simultaneously meshed with the first bevel gear 312-1 and the second bevel gear 312-2 are fixed at both ends of the planetary gear shaft 312-3. When the differential housing 312-4 rotates, it drives the track 301 to rotate. On the contrary, when the differential housing 312-4 is braked, the track 301 is also braked.

[0053] In addition, the traction track 300 is equipped with a lifting mechanism for lifting and lowering the front end of the traction track to improve the ability to cross obstacles and gullies.

[0054] In an alternative embodiment, the present invention is designed with a steering control mechanism 120 to control two shift forks 112. As Figure 8 - 10 shown, the steering control mechanism 120 includes a lead screw motor 121, a slide bar 122, and shift rods 123 located on the left and right sides of the lead screw motor 121. The shift rods 123 on both sides are connected to the two shift forks 112 of the clutch braking mechanism. The lead screw motor 121 drives the slide bar 122 to slide and drives one side of the shift rod 123 to swing, and the shift rod 123 drives the shift fork 112 to rotate to interrupt the power output of the transmission output shaft 111 on that side.

[0055] The working process of the present invention is as follows:

[0056] 1) Robot moving forward / backward:

[0057] Power is provided to the transmission 110 by an engine or a motor. The two transmission output shafts 111 of the transmission 110 rotate forward or backward simultaneously. The transmission output shafts 111 drive the two first rotating shafts 203 to rotate, thereby realizing the rotation of the two traveling wheels 201; at the same time, the two first rotating shafts 203 drive the two second rotating shafts 311 of the traction track 300 to rotate through two transmission belts 220 respectively, and the rotation of the track is realized.

[0058] 2) Robot steering: In the present invention, there are two ways for the robot to steer.

[0059] Method 1: The traveling wheel steering mechanism 210 drives the two traveling wheels to turn left and right. As Figure 6 - 7 shown, the electric push rod of the steering push rod 214 drives the first link 212 on one side to rotate around the link rotating shaft 2120. The first link 212 drives the rotating sleeve 204 to swing left and right through the second link 213. The swing of the rotating sleeve 204 drives the steering of the traveling wheel on that side. At the same time, the first link 212 connected to the steering push rod 214 will also drive the other first link 212 to swing, so that the traveling wheel on the other side will also rotate synchronously and in the opposite direction.

[0060] Method 2: Steering is achieved by using the rotational speed difference between the two walking wheels on both sides. Taking the disconnection of the power output of the right walking wheel as an example, the lead screw motor 121 of the steering control mechanism 120 drives the slide rod 122 to slide to the right and drives the shift lever 123 on one side to swing. The shift lever 123 drives the shift fork to rotate to interrupt the power output of the output shaft 111 of the right transmission, so that the right walking wheel 201 stops rotating, while the left walking wheel 201 will continue to rotate. Thus, the robot steers with the right walking wheel 201 as the rotation center. It should be noted that since the first rotating shaft 203 and the second rotating shaft 311 on the same side of the left and right rotate or stop synchronously, once the right first rotating shaft 203 stops rotating, the right second rotating shaft 311 will also stop rotating. Therefore, we connect the two second rotating shafts 311 of the traction track 300 through a differential 312. So even if the second rotating shaft 311 on the right side of the traction track 300 stops rotating, it will not affect the rotation of the second rotating shaft 311 on the left side. Therefore, the track 301 will continue to rotate and tow the robot.

[0061] In addition, the mechanism provided by the present invention also has two ways of in-situ steering:

[0062] Taking Figure 13 as an example, the method of in-situ steering one is described as follows:

[0063] 1) Through the transmission clutch braking mechanism, the left half shaft is in a state where the power is interrupted but not braked. At this time, the left walking wheel 201 (i.e., Figure 13 the lower wheel) is in a free state of following.

[0064] 2) The differential housing 312-4 of the differential 312 is fixedly connected to the rotating shaft of the track driving wheel. In this state, the differential housing needs to be braked, that is, the track driving wheel 313 is in a braked state.

[0065] 3) Under the above two conditions as Figure 13 shown, when the machine is moving forward, the right half shaft rotates to drive the wheel forward, thereby driving the right sprocket / belt forward. The right half shaft of the differential 312 rotates. At this time, since the differential housing 312-4 is fixed, the left half shaft of the differential 312 rotates in the reverse direction, thereby driving the left sprocket / belt pulley backward and driving the left wheel to rotate in the reverse direction, as Figure 13 shown by the arrow directions of the two walking wheels. The forward directions of the two wheels of the whole machine are as Figure 13 shown. The front track is braked. The final result is that the whole machine will make an in-situ steering movement with the contact point A between the track and the ground as the origin.

[0066] Taking Figure 14 as an example, the method of in-situ steering two is described as follows:

[0067] 1) Different from the first steering mode, the left half shaft is in a braking state through the gearbox clutch brake mechanism (i.e. Figure 14 lower wheel).

[0068] 2) In this state, the crawler driving wheel 313 is in a non-braking state (free state).

[0069] 3) Under the above two conditions, Figure 14 As shown, when the machine is moving forward, the right half shaft rotates to drive the travel wheel forward, thereby driving the right sprocket / belt forward, and the right half shaft of the differential rotates. At this time, the differential case 312-4 is not braked, so the left wheel is in a braking state, and the left sprocket / belt pulley is in a stationary state. Then the left half shaft of the differential is stationary. According to the differential principle, the differential case 312-4 runs at a speed twice that of the right half shaft of the differential, thereby driving the crawler to run at a speed twice that of the right half shaft of the differential.

[0070] The final result is that the entire machine will make an in-situ turning motion with the contact point B between the stationary left wheel and the ground as the origin.

[0071] In summary, the innovation of the present invention lies in:

[0072] 1) The joint crawler with ankle-like function and two parallel driving wheels form a wheel-track composite walking mechanism with a regular triangle distribution, which has flexible follow-up and active ground profiling capabilities and intelligent posture control capabilities. It ensures full ground contact and exerts the best traction ability while improving the passability;

[0073] 2) The unique ground-close walking mode greatly reduces the center of gravity and overall height of the machine, improves the anti-tilting ability and stability of the whole machine, and facilitates walking in greenhouses, orchards, livestock pens, poultry houses and other limited and narrow spaces for planting and breeding operations;

[0074] 3) The on-the-spot steering function makes the machine flexible and maneuverable. The two-way travel can carry a variety of working tools, which can expand a variety of application scenarios. The whole machine adopts a modular design, which can meet the needs of different working scenarios and greatly improve the practicality and utilization rate of the machine;

[0075] 4) It has Beidou / 5G high-precision navigation + artificial intelligence control system, which can provide three operation modes: remote control, remote operation + autonomous and fully autonomous according to application scenarios and user needs;

[0076] 5) The management and control platform based on digital twin technology realizes multi-machine collaborative operation, making operation easier and more efficient.

[0077] Due to the above advantages, the application scenarios of the present invention are very wide. By installing corresponding supporting equipment, it can play a positive role in the following usage scenarios, including but not limited to:

[0078] (1) Agricultural operations, such as farming, management, and harvesting, are particularly suitable for the full-process mechanization operations in orchards, greenhouses, tobacco fields, hilly and mountainous areas, and can also be used in rural logistics and agricultural facility projects. At the same time, it can also carry out related work such as agricultural situation information collection;

[0079] (2) Intelligent breeding, by installing corresponding equipment such as feed feeding, livestock and poultry house cleaning, and inspection on the chassis to carry out intelligent breeding;

[0080] (3) Fire fighting and rescue, disinfection, explosive disposal, obstacle clearance, etc.;

[0081] (5) Conduct all-round expansion in the fields of agricultural research and study, cultural and tourism leisure, etc.

[0082] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above specific implementation manners. The equipment and structures not described in detail should be understood to be implemented in a common manner in the art; any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above, or modify it into an equivalent embodiment with equivalent changes, which does not affect the essence of the present invention. Therefore, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A full - drive traction chassis, the full - drive traction chassis includes a frame (100), a gearbox (110) is installed on the frame (100), a gearbox output shaft (111) is respectively arranged on the left and right sides of the gearbox (110), a clutch - brake mechanism is arranged in the gearbox (110) to connect the two gearbox output shafts (111), and the clutch - brake mechanism is configured with two shift forks (112) to respectively control the power output of the two gearbox output shafts (111), characterized in that, The clutch braking mechanism is provided with a steering control mechanism (120) for controlling two shift forks (112); A traveling wheel mechanism (200) is installed at the rear side of the frame (100), and a traction track (300) is installed at the front side of the frame (100); The traveling wheel mechanism (200) includes traveling wheels (201) located on both sides of the frame (100), and the traveling wheels (201) on both sides are connected to the transmission output shafts (111) on the left and right sides through a first rotating shaft (203); The traction track (300) includes a track (301) and a track driving mechanism (310). The track driving mechanism (310) includes two second rotating shafts (311), and the two second rotating shafts (311) are connected through a differential (312). A track driving wheel (313) is installed on the differential (312), and the second rotating shaft (311) and the first rotating shaft (203) on the same side of the frame (100) are in transmission connection; An engine or a motor is installed on the frame (100). The transmission (110) is provided with a power input shaft, and the power input shaft is connected to the power output shaft of the engine or the motor through a belt; The steering control mechanism (120) includes a lead screw motor (121), a slide bar (122), and shift rods (123) located on the left and right sides of the lead screw motor (121). The shift rods (123) on both sides are connected to the two shift forks (112) of the clutch braking mechanism. The lead screw motor (121) drives the slide bar (122) to slide and drives one side of the shift rod (123) to swing, and the shift rod (123) drives the shift fork (112) to rotate to interrupt the power output of the transmission output shaft (111) on this side.

2. The full - drive traction chassis according to claim 1, characterized in that, Two horizontally outward extending extension plates (101) are fixedly installed on both sides of the frame (100); The two traveling wheels (201) are respectively installed on two first rotating shafts (203) through universal joints (202). Rotating sleeves (204) are sleeved on the inner relative rotating shafts of the traveling wheels (201), and the rotating sleeves (204) are provided with hinge seats and are horizontally rotatably connected to the extension plates (101).

3. The full - drive traction chassis according to claim 2, characterized in that, The two first rotating shafts (203) are respectively connected to the transmission output shafts (111) on the left and right sides; A traveling wheel steering mechanism (210) connected to the two traveling wheels is provided on the frame (100). The traveling wheel steering mechanism (210) is composed of two sets of link mechanisms (211) arranged left and right, and one of the link mechanisms (211) is connected to a steering push rod (214), Each of the link mechanisms (211) is composed of a first link (212) and a second link (213). One ends of the two first links (212) are horizontally rotatable on the frame (100) and are meshed with each other. The two ends of the second link (213) are hinged between the rotating sleeve (204) and the other end of the first link (212).

4. The full - drive traction chassis according to claim 2, characterized in that, The two walking wheels (201) are symmetrically installed on both sides of the vehicle frame (100) in an outward V-shaped distribution.

5. The full - drive traction chassis according to claim 1, characterized in that, The traction crawler belt (300) is equipped with a lifting mechanism for lifting the front end of the traction crawler belt (300).

6. The full - drive traction chassis according to claim 1, characterized in that, The differential (312) includes a differential housing (312-4) fixedly connected coaxially with the crawler drive wheel (313). Inside the differential housing (312-4), there are a first bevel gear (312-1), a second bevel gear (312-2), and a planetary gear shaft (312-3) in the middle. Opposite two card slots (312-4a) are provided on the inner ring of the differential housing (312-4). The planetary gear shaft (312-3) is installed between the two card slots (312-4a). The first bevel gear (312-1) and the second bevel gear (312-2) are respectively fixed at the opposite ends of two second rotating shafts (311). Third bevel gears (312-3a) that mesh with both the first bevel gear (312-1) and the second bevel gear (312-2) are fixed at both ends of the planetary gear shaft (312-3).

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