Differential power horizontal-vertical conversion actuator module

Abstract

The present invention relates to a differential power horizontal-vertical conversion type actuator module, which is provided in a seat trolley on which a seat is mounted and which is capable of traveling along a guide rail and capable of performing a power transmission function and a self-locking function, the actuator module including: an actuator which rotates a horizontal drive shaft formed in a horizontal direction as a whole; a first gear box which is connected to one side end portion of the horizontal drive shaft and serves to convert the direction of rotational power of one side of the horizontal drive shaft into the direction of a first vertical rotation shaft which is in a vertical direction as a whole and transmit; and a second gear box which is connected to the other side end portion of the horizontal drive shaft and serves to convert the direction of rotational power of the other side of the horizontal drive shaft into the direction of a second vertical rotation shaft which is in a vertical direction as a whole and transmit.

Description

[0001] This invention was conducted as part of a research project related to the "World-Class+ Project" of the Ministry of Trade, Industry and Energy of Korea and the Korea Advanced Institute of Technology (AIST). The project title is "Infrastructure Construction of an Electronic Component Material Library Based on Autonomous Vehicle Pilot Testing." (Project No.: P0021941, Specific Project Number: 0021941, Research Period: June 1, 2022 to December 31, 2025, Supervising Company: Daien Sangyo Co., Ltd.) Technical Field

[0002] This invention relates to a differential power horizontal-vertical conversion actuator module, and more specifically, to a differential power horizontal-vertical conversion actuator module, which is installed in a seat trolley equipped with a seat and capable of traveling along a guide rail, and is capable of performing power transmission and self-locking functions. Background Technology

[0003] Typically, existing longitudinal sliding devices include a low rail and front and rear trolleys. The low rail is a straight bar that extends along the front-rear direction to allow the vehicle seat to move forward or backward. The front and rear trolleys have a seat frame fixed to one side and can move forward and backward along the low rail. The low rail is formed entirely by straight sections, so the seat moves forward and backward along a straight line.

[0004] This existing linear sliding device cannot avoid the rear wheel housing protruding into the interior space. It only provides the low rail in the front-to-back direction, or provides an additional left-to-right guide rail between the low rail and the seat frame, so that it can avoid the rear wheel housing by moving left and right during the process of moving forward and backward into the seat.

[0005] However, in this existing longitudinal sliding device with a linear low rail and linear left and right guide rails, the user can only operate it manually. It cannot perform linear manual operation and left and right manual operation simultaneously. For example, manual operation of forward and backward movement followed by manual operation of left and right movement, or manual operation of left and right movement followed by manual operation of forward and backward movement, can only be performed sequentially. Therefore, it is inconvenient to use.

[0006] In addition, the existing technology has the following problem: when the left and right guide rails are arranged inside the seat, a certain amount of space is required in the height direction. Therefore, the seating height of the seat becomes higher, which becomes a spatial obstacle when using other auxiliary functions on the seat.

[0007] In addition, a recent trend is that with the widespread use of autonomous vehicles, research is underway on deformable seats to allow them to be arranged in various positions in indoor spaces, without violating existing safety regulations. However, the real problem is that the technical structure of low-rail and front-to-back approach vehicles that can travel in curved sections is very complex.

[0008] In particular, in order to travel in such curved and height-varying areas, it is necessary not only to transmit different speeds in the left and right directions of the seat carriage equipped with the seat, but also to provide a self-locking function so that the seat carriage can lock itself when it stops. However, the problem with the prior art is that it is very difficult to achieve this function using a small number of parts. Summary of the Invention

[0009] [Technical Issues]

[0010] This invention addresses numerous problems, including those mentioned above, by providing a differential power horizontal-vertical conversion actuator module. Utilizing a differential structure corresponding to left-right rotational deviation, it can be applied in a seat trolley capable of unlimited speed travel on curved guide rails. Maximum stress drive can be achieved using a single motor, enabling 2WD and 4WD drive modes with two motors, thereby reducing manufacturing costs. By combining worm gear combinations, differential gear combinations, and planetary gear combinations to form a compact structure that reduces the number of components while achieving a self-locking function, it reduces noise, vibration, and gaps between components, improves component assemblability and durability, and significantly enhances operational accuracy and reliability. The use of a BLDC motor enables variable speed control and quiet operation. However, the above-mentioned technical problems are merely exemplary, and the scope of this invention is not limited thereto.

[0011] [Technical Solution]

[0012] To solve the above-mentioned technical problems, the differential power horizontal-vertical conversion actuator module according to the present invention may include: an actuator that rotates a horizontally oriented drive shaft; a first gearbox connected to one end of the horizontally oriented drive shaft and used to convert and transmit the direction of the rotational power on one side of the horizontally oriented drive shaft to the direction of a first vertically oriented rotational shaft; and a second gearbox connected to the other end of the horizontally oriented drive shaft and used to convert and transmit the direction of the rotational power on the other side of the horizontally oriented drive shaft to the direction of a second vertically oriented rotational shaft.

[0013] Furthermore, according to the present invention, the actuator includes: a housing; an electric motor disposed inside the housing and causing the motor rotating shaft to rotate; and a differential gear assembly disposed inside the housing and at one end of the motor rotating shaft, so that a first rotational speed of the first vertical rotating shaft of the first gearbox and a second rotational speed of the second vertical rotating shaft of the second gearbox can rotate at different speeds.

[0014] Furthermore, according to the present invention, one end of the motor rotating shaft is connected to the differential gear combination, and the other end can form the other side end of the horizontal drive shaft. In order to alleviate the twisting or bending phenomenon at both ends, the motor rotating shaft can be a flexible wire made of flexible material.

[0015] Furthermore, according to the present invention, the differential gear assembly includes: a rotary cage cover, which is supported and freely rotatable relative to the motor; a first differential side gear, which is bevel gear shaped and connected to one end of the rotating shaft of the motor; at least one differential longitudinal gear, which is bevel gear shaped such that one side of it engages with the first differential side gear; a rotary cage, which supports the differential longitudinal gear and allows it to rotate freely via a pin; and a second differential side gear, which is bevel gear shaped such that it engages with the other side of the differential longitudinal gear and forms one end of the horizontal drive shaft.

[0016] Furthermore, according to the present invention, the first gearbox may include: a housing; a worm gear assembly rotatably disposed on one side of the housing by means of bearings and connected to the end of the horizontal drive shaft on that side; and a planetary gear assembly rotatably disposed on the other side of the housing by means of bearings and connected to the worm gear assembly.

[0017] Furthermore, according to the present invention, the worm gear assembly may include: a worm shaft connected to one end of the horizontal drive shaft; a worm gear formed on the worm shaft; and a worm wheel gear meshing with the worm gear to convert the horizontal driving force of the worm shaft into a vertical force.

[0018] Furthermore, according to the present invention, the worm gear may be a widened worm gear or an hourglass worm gear with an increased meshing area to perform a self-locking (anti-reverse) function by increasing the reduction ratio, and the worm gear may be a widened worm gear or a concave worm gear.

[0019] Furthermore, according to the present invention, the satellite gear assembly may include: a sun gear shaft with the worm gear disposed on one side; a sun gear formed on the sun gear shaft; at least one planetary gear arranged in a mating configuration with respect to the sun gear; an internal gear formed in a ring shape to mesh with the planetary gear; and a carrier shaft that supports the planetary gear and allows it to rotate freely, and serves to form the first vertical rotation shaft.

[0020] Furthermore, according to the present invention, the three planetary gears are arranged in a triangular shape with the sun gear as the center.

[0021] Furthermore, according to the present invention, in the planetary gear assembly, the sun gear can be used as input, the internal meshing gear can be fixed, and the bearing shaft can be used as output to perform a self-locking function by increasing the reduction ratio.

[0022] Furthermore, according to the present invention, a coupling device may be further included, disposed between the actuator and the first gearbox, to transmit power from the horizontal drive shaft to the first gearbox.

[0023] Furthermore, according to the present invention, the coupling device may include: a first coupling dog disposed at one end of the horizontal drive shaft; a flexible coupler engaged with the first coupling dog and made of a soft elastic material to mitigate impact; and a second coupling dog engaged with the flexible coupler and connected to the worm shaft of the first gearbox.

[0024] Furthermore, according to the present invention, the first vertical rotation shaft of the first gearbox can be connected to a first drive gear or a first drive wheel disposed on one side of the seat trolley, and the second vertical rotation shaft of the second gearbox can be connected to a second drive gear or a second drive wheel disposed on the other side of the seat trolley, so that the seat trolley with the seat mounted can travel along the track.

[0025] Furthermore, according to the present invention, the actuator drives the first vertical rotation shaft of the first gearbox and the second vertical rotation shaft of the second gearbox via an electric motor, and the actuator may be provided with a differential gear combination to make the first rotational speed of the first vertical rotation shaft and the second rotational speed of the second vertical rotation shaft rotate at different speeds in the curved section of the guide rail.

[0026] Furthermore, according to the present invention, a clearance compensation device may be further included, which is used to apply pressure to the worm shaft in the direction of the worm gear to prevent the worm gear from becoming disengaged from the worm gear.

[0027] Furthermore, according to the present invention, the gap compensation device may be a positioning ball plug, which is screwed into the housing and presses the bearing of the worm shaft against the elastic ball at the front end by utilizing the elastic restoring force of the elastic spring.

[0028] [Beneficial Effects]

[0029] According to some embodiments of the present invention as described above, the following effects are achieved: The differential structure corresponding to the left and right rotational deviation can be applied in a seat trolley that can travel at unlimited speed in a curved guide rail; maximum stress drive can be achieved using a single motor, thereby realizing 2WD and 4WD drive modes using two motors, thus reducing manufacturing costs; by combining differential gear combinations, worm gear combinations, and planetary gear combinations to form a compact structure that reduces the number of parts while achieving a self-locking function, noise, vibration, and gaps between parts are reduced, improving component assemblability and durability, significantly improving operational accuracy and reliability; and by using a BLDC motor, variable speed control and quiet operation are achieved. Of course, the scope of the present invention is not limited to the above effects. Attached Figure Description

[0030] Figure 1 This is a perspective view illustrating the external shape of a differential power horizontal-vertical conversion actuator module according to some embodiments of the present invention.

[0031] Figure 2 It is Figure 1 An exploded perspective view of the actuator, first gearbox, and second gearbox of the differential power horizontal-vertical conversion actuator module.

[0032] Figure 3 It is used for detailed illustrations Figure 2 An exploded perspective view of the actuator of the differential power horizontal-vertical conversion actuator module.

[0033] Figure 4 It is used for detailed illustrations Figure 2 An exploded perspective view of the first gearbox component of the differential power horizontal-vertical conversion actuator module.

[0034] Figure 5 It is used for illustration. Figure 1 A 3D view of the interior of a differential power horizontal-vertical conversion actuator module.

[0035] Figure 6 It is used for illustration. Figure 1 A 3D view of the actuator of the differential power horizontal-vertical conversion actuator module.

[0036] Figure 7 It is used for illustration. Figure 6 An exploded perspective view of the differential gear assembly of the differential power horizontal-vertical conversion actuator module.

[0037] Figures 8 to 10 It is used for illustration. Figure 1 A three-dimensional view of the worm gear assembly and planetary gear assembly of the differential power horizontal-vertical conversion actuator module. Detailed Implementation

[0038] Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0039] The embodiments of the present invention are provided to illustrate the invention more completely to those skilled in the art. The following embodiments can be modified into various other forms, and the present invention is not limited to the following embodiments. Rather, the embodiments are provided to further enrich and improve this disclosure and to fully convey the spirit of the invention to those skilled in the art. Furthermore, the thickness or dimensions of each layer in the drawings will be shown enlarged for ease of explanation and clarity.

[0040] The terminology used in this specification is for illustrating specific embodiments and not for limiting the invention. As used herein, singular expressions may include plural expressions unless the context explicitly indicates otherwise. Furthermore, the terms "comprise" and / or "comprising" as used herein are intended to indicate the presence of the mentioned shapes, numbers, steps, actions, constituent elements, components, or combinations thereof, and are not intended to preclude the possibility of the presence or addition of one or more other shapes, numbers, steps, actions, constituent elements, components, or combinations thereof.

[0041] Hereinafter, embodiments of the invention will be described with reference to the accompanying drawings, which schematically illustrate preferred embodiments of the invention. In the drawings, for example, deformations occurring in the illustrated shapes can be anticipated based on manufacturing techniques and / or tolerances. Therefore, embodiments of the inventive concept should not be interpreted based on the specific shape of the regions illustrated in this specification, but should include, for example, manufacturing-related deformations.

[0042] Hereinafter, a differential power horizontal-vertical conversion actuator module 100 according to some embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0043] Figure 1 This is a perspective view illustrating the external shape of a differential power horizontal-vertical conversion actuator module 100 according to some embodiments of the present invention. Figure 2 It is Figure 1 An exploded perspective view of the actuator 10 of the differential power horizontal-vertical conversion actuator module 100, the first gearbox 20-1, and the second gearbox 20-2.

[0044] First, such as Figure 1 and Figure 2 As shown, the differential power horizontal-vertical conversion actuator module 100 according to some embodiments of the present invention may generally include an actuator 10 and a gearbox 20.

[0045] For example, such as Figure 1 and Figure 2 As shown, the actuator 10 can be a device that includes a rotating device for rotating a horizontal drive shaft D that is formed generally along the horizontal direction and a differential power transmission device.

[0046] In addition, for example, such as Figure 1 and Figure 2 As shown, the gearbox 20 may include: a first gearbox 20-1, which is connected to the left end of the horizontal drive shaft D and is used to convert the rotational power direction on the left side of the horizontal drive shaft D into the direction of a first vertical rotation shaft D1 that is generally vertical and transmit it; and a second gearbox 20-2, which is connected to the right end of the horizontal drive shaft D and is used to convert the rotational power direction on the right side of the horizontal drive shaft D into the direction of a second vertical rotation shaft D2 that is generally vertical and transmit it.

[0047] Among them, such as Figure 1 and Figure 2 As shown, in order to enable the seat trolley 1 equipped with a seat to travel along the guide rail R, the first vertical rotation shaft D1 of the first gearbox 20-1 can be connected to the first drive gear W1 or the first drive wheel located on one side of the seat trolley 1, and the second vertical rotation shaft D2 of the second gearbox 20-2 can be connected to the second drive gear W2 or the second drive wheel located on the other side of the seat trolley 1.

[0048] like Figure 1 As shown, the first drive gear W1 and the second drive gear W2 can mesh with the rack and pinion RG disposed on one side of the guide rail R, thereby enabling the seat trolley 1 to move.

[0049] Therefore, the differential power horizontal-vertical conversion actuator module 100 of the present invention can also correspond to the rotational deviation of the first drive gear W1 and the second drive gear W2, i.e. the left and right speed deviation, by separating the horizontal power generated in the overall horizontal direction along the left and right sides in the curve range or height change range of the guide rail R.

[0050] Figure 3 It is used for detailed illustrations Figure 2 An exploded perspective view of the actuator 10 component of the differential power horizontal-vertical conversion actuator module 100.

[0051] like Figure 3 As shown, according to some embodiments of the present invention, the actuator 10 of the differential power horizontal-vertical conversion actuator module 100 is an apparatus for operating the first gearbox 20-1 and the second gearbox 20-2 by means of a horizontal drive shaft D integrally formed in the middle and switching between left and right sides with the first vertical rotation shaft D1 and the second vertical rotation shaft D2 as centers respectively. The actuator 10 includes: a housing 11; a motor 12 disposed inside the housing 11 and used to rotate the motor rotation shaft 121; a differential gear assembly 13 disposed inside the housing 11 and at one end of the motor rotation shaft 121, so that the first rotational speed of the first vertical rotation shaft D1 of the first gearbox 20-1 and the second rotational speed of the second vertical rotation shaft D2 of the second gearbox 20-2 can rotate at different speeds; and a motor cover 14 for sealing the housing 11.

[0052] For example, such as Figure 3 As shown, one end of the motor rotating shaft 121 is connected to the differential gear assembly 13, and the other end can form the other side end of the horizontal drive shaft D. In order to alleviate the twisting or bending phenomenon at both ends, the motor rotating shaft 121 can be a flexible wire made of flexible material.

[0053] Furthermore, for example, the motor 12 may be a hollow type with a drive shaft running through its center, and may be a brushless DC electric motor (BLDC) capable of variable speed control. However, it is not limited to this, and motors of various forms may be used.

[0054] More specifically, for example, such as Figure 3As shown, the differential gear assembly 13 may include: a RotateCage Cover 131, which is supported and freely rotatable relative to the motor 12; a first differential side gear 132, which is bevel gear shaped to connect to one end of the motor rotation shaft 121; at least one differential longitudinal gear 133, which is bevel gear shaped to engage one side of the first differential side gear 132; a Rotate Cage 134, which is shaped around the differential longitudinal gear 133, supports the differential longitudinal gear 133 and allows it to rotate freely via a pin P; and a second differential side gear 135, which is bevel gear shaped to engage the other side of the differential longitudinal gear 133 and forms one end of the horizontal drive shaft D.

[0055] That is, such as Figures 1 to 3 As shown, according to some embodiments of the present invention, the actuator 10 of the differential power horizontal-vertical conversion actuator module 100 drives the first vertical rotation shaft D1 of the first gearbox 20-1 and the second vertical rotation shaft D2 of the second gearbox 20-2 through a motor 12, and the actuator 10 may be provided with a differential gear assembly 13 to make the first rotational speed of the first vertical rotation shaft D1 and the second rotational speed of the second vertical rotation shaft D2 rotate at different speeds in the curved section of the guide rail R.

[0056] Therefore, the rotational driving force of the motor rotating shaft 121 can be directly transmitted to the first differential side gear 132. The second differential side gear 135 can be indirectly transmitted through the differential longitudinal gear 133 and the rotating cage 134. Therefore, under normal circumstances, the rotational speed transmitted to the left end of the horizontal drive shaft D by the differential gear combination 13 is the same as the rotational speed transmitted to the right end of the horizontal drive shaft D. However, for example, when the rotational speed of the left end of the horizontal drive shaft D is stopped to 0 by an external force in the curved guide rail R, the rotational speed of the right end of the horizontal drive shaft D is increased by 2 times, thereby enabling curved driving without increasing the burden on the components.

[0057] Therefore, according to the present invention, a seat trolley 1 capable of automatic movement on a curved guide rail R can achieve 2WD differential drive using only one electric motor, significantly reducing manufacturing costs. Furthermore, 4WD differential drive can also be achieved using two electric motors.

[0058] Figure 4 It is used for detailed illustrations Figure 2An exploded perspective view of the first gearbox 20-1 of the differential power horizontal-vertical conversion actuator module 100.

[0059] like Figure 4 As shown, the first gearbox 20-1 of the differential power horizontal-vertical conversion actuator module 100 according to some embodiments of the present invention may include: a housing 210; a worm gear assembly 220, which is rotatably disposed on one side of the housing 210 by means of bearings B1 and B2 and connected to the end of the horizontal drive shaft D on the same side; and a planetary gear assembly 230, which is rotatably disposed on the other side of the housing 210 by means of bearings B3 and B4 and connected to the worm gear assembly 220.

[0060] For example, such as Figures 1 to 4 As shown, the worm gear assembly 220 may include: a worm shaft 221 connected to one end of the horizontal drive shaft D; a worm gear 222 formed on the worm shaft 221; and a worm wheel gear 223 meshing with the worm gear 222 to convert the horizontal driving force of the worm shaft 221 into a vertical force.

[0061] The worm gear 222 can be a widened worm gear or an hourglass worm gear with an increased meshing area to perform a self-locking (anti-reverse) function by increasing the reduction ratio. The turbine gear 223 can be a widened turbine gear or a concave turbine gear.

[0062] Therefore, by utilizing the worm gear 222 and the worm gear 223 with a large reduction ratio, driving force can be transmitted from the worm gear 222 to the worm gear 223. However, conversely, since driving force cannot be transmitted from the worm gear 223 to the worm gear 222, a self-locking function can be achieved.

[0063] In addition, for example, such as Figures 1 to 4As shown, the planetary gear assembly 230 of the differential power horizontal-vertical conversion actuator module 100 according to some embodiments of the present invention may include: a sun gear shaft 231, on one side of which the worm gear 223 is disposed; a sun gear 232 formed on the sun gear shaft 231; at least one planetary gear 233 arranged in a mating arrangement with the sun gear 232 as the center; an internal gear 234 formed in a ring shape to mesh with the planetary gear 233; and a carrier shaft 235 that supports the planetary gear 233 and allows it to rotate freely, and is used to form the first vertical rotation shaft D1.

[0064] With the sun gear 232 as the center, the three planetary gears 233 can be arranged in a triangular shape. However, this is not a limitation; with the sun gear 232 as the center, four, five, six, or more planetary gears 233 can also be arranged in a polygonal shape.

[0065] Therefore, the planetary gear assembly 230 is also a planetary gear assembly. By increasing the reduction ratio, it can perform a self-locking function, taking the sun gear 232 as the input, fixing the internal meshing gear 234, and taking the bearing shaft 235 as the output.

[0066] For example, when the reduction ratio of the worm gear assembly 220 described above is 10:1 and the reduction ratio of the planetary gear assembly 230 is 3.63:1, the total reduction ratio is 36.3:1, which is very large. Therefore, it cannot be reverse driven, thus enabling the self-locking function. In particular, when the torsion angle of the worm gear assembly 220 is within 7 degrees, even if the motor 12 stops providing driving force, and even without an additional braking device, the seat carriage 1 can be firmly maintained in the stopped position.

[0067] In addition, such as Figures 1 to 4 As shown, the differential power horizontal-vertical conversion actuator module 100 according to some embodiments of the present invention may further include a coupling device 30, which is disposed between the actuator 10 and the first gearbox 20-1 to transmit the power of the horizontal drive shaft D to the first gearbox 20-1.

[0068] More specifically, for example, the coupling device 30 may include: a first coupling dog 31 disposed at one end of the horizontal drive shaft D; a flexible coupler 32 engaged with the first coupling dog 31 and made of a soft elastic material to mitigate impact; and a second coupling dog 33 engaged with the flexible coupler 32 and connected to the worm shaft 221 of the first gearbox 20-1.

[0069] Therefore, by using the coupling device 30, the power of the horizontal drive shaft D can be transmitted to the first gearbox 20-1. If necessary, the coupling device 30 can be easily disassembled and its components replaced or repaired.

[0070] Additionally, for example, such as Figures 1 to 4 As shown, the differential power horizontal-vertical conversion actuator module 100 according to some embodiments of the present invention may further include a clearance compensation device 40, which is used to apply pressure to the worm shaft 221 in the direction of the worm gear to prevent the worm gear 222 from becoming disengaged from the worm gear 223.

[0071] More specifically, for example, the gap compensation device 40 may be a positioning ball plug 41, which is screwed into the housing 210 and uses the elastic restoring force of the elastic spring E to press the bearing B1 of the worm shaft 221 against the elastic ball B at the front end.

[0072] Therefore, even if the worm gear 222 and the worm gear 223 become loose due to prolonged use, the positioning ball plug 41 can always apply pressure to the bearing B1 using the elastic spring E by utilizing the clearance compensation device 40. Thus, the worm gear 222 and the worm gear 223 can always maintain a tight mesh, thereby enabling smooth power transmission.

[0073] Figure 5 It is used for illustration. Figure 1 A three-dimensional view of the interior of the differential power horizontal-vertical conversion actuator module 100. Figure 6 It is used for illustration. Figure 1 A perspective view of the actuator 10 of the differential power horizontal-vertical conversion actuator module 100. Figure 7 It is used for illustration. Figure 6 A perspective view of the differential gear assembly 13 of the differential power horizontal-vertical conversion actuator module 100.

[0074] like Figures 5 to 7As shown, the working process of the differential power horizontal-vertical conversion actuator module 100 according to some embodiments of the present invention will be described as follows: First, the electric motor 12 and the differential gear combination 13 of the actuator 10 are used to differentiate the horizontal power generated in the overall horizontal direction along the left and right sides. In the curve range or height change range of the guide rail R, the power can also be transmitted with the rotational deviation corresponding to the first drive gear W1 and the second drive gear W2, that is, the left and right speed deviation.

[0075] Figures 8 to 10 It is used for illustration. Figure 1 A perspective view of the worm gear assembly 220 and planetary gear assembly 230 of the differential power horizontal-vertical conversion actuator module 100.

[0076] Next, for example, the driving force of the actuator 10 is transmitted to the worm shaft 221. If the worm gear 222 rotates, the turbine gear 223 meshing with the worm gear 222 can rotate at a larger reduction ratio.

[0077] Next, if the sun gear shaft 231 on one side, which is used to set the worm gear 223, rotates, the sun gear 232 can rotate. As the three planet gears 233, which are arranged in a triangular shape around the sun gear 232 based on the fixed planet gear 233, rotate, the bearing shaft 235, which forms the first vertical rotation axis D1, can rotate at a greater reduction ratio.

[0078] Therefore, in the seat trolley 1 that can automatically travel on the curved guide rail R, maximum stress drive can be achieved using one electric motor 12, thereby enabling 2WD and 4WD drive modes using two motors, which can reduce manufacturing costs. By combining the differential gear assembly 13, the worm gear assembly 220 and the planetary gear assembly 230 to form a compact structure that reduces the number of parts, a self-locking function can be achieved, noise and vibration between parts and the occurrence of gaps can be reduced, the assemblability and durability of parts can be improved, and the accuracy and reliability of operation can be greatly improved. By using a BLDC electric motor, variable speed control and quiet driving can be achieved.

[0079] Furthermore, the differential power horizontal-vertical conversion actuator module 100 according to some embodiments of the present invention is not limited to being installed on a seat trolley, which is provided with a seat and can travel along a guide rail, but can also be applied to various trolleys that can travel.

[0080] The present invention has been described with reference to the embodiments shown in the accompanying drawings; however, these are merely exemplary, and those skilled in the art should understand that various modifications and equivalent embodiments can be derived based on them. Therefore, the true scope of protection of the present invention should be determined based on the technical concept of the claims.

Claims

1. A differential power horizontal-vertical conversion actuator module, comprising: An actuator that causes the whole to rotate about a horizontally driven shaft formed in the horizontal direction; A first gearbox, connected to one end of the horizontal drive shaft, is used to convert and transmit the direction of rotational power from one side of the horizontal drive shaft to the direction of a first vertical rotation axis that is generally perpendicular to the horizontal drive shaft; and The second gearbox is connected to the other end of the horizontal drive shaft and is used to convert the direction of the rotational power on the other side of the horizontal drive shaft into the direction of the second vertical rotation shaft, which is generally vertical, and transmit it. The actuator includes: Box body; An electric motor, disposed inside the housing, rotates the motor shaft; and A differential gear assembly is disposed inside the housing and at one end of the motor rotating shaft, so that the first rotational speed of the first vertical rotating shaft of the first gearbox and the second rotational speed of the second vertical rotating shaft of the second gearbox can rotate at different speeds.

2. The differential power horizontal-vertical conversion actuator module as described in claim 1, wherein, One end of the motor rotating shaft is connected to the differential gear assembly, and the other end can form the other side end of the horizontal drive shaft. In order to alleviate the twisting or bending phenomenon at both ends, the motor rotating shaft is a flexible wire made of flexible material.

3. The differential power horizontal-vertical conversion actuator module as described in claim 1, wherein, The differential gear assembly includes: The rotating cage cover is supported and rotates freely with respect to the motor. The first differential side gear is bevel gear shaped and connected to one end of the rotating shaft of the motor; At least one differential longitudinal gear is bevel gear shaped such that one side of it meshes with the first differential side gear; A rotating cage, which supports the differential longitudinal gear and allows it to rotate freely via a pin; and The second differential side gear is bevel gear shaped to engage with the other side of the differential longitudinal gear and forms the end of the horizontal drive shaft on one side.

4. The differential power horizontal-vertical conversion actuator module as described in claim 1, wherein, The first gearbox includes: shell; A worm gear assembly, rotatably mounted on one side of the housing using bearings, and connected to the said one-side end of the horizontal drive shaft; and A planetary gear assembly, which is rotatably mounted on the other side of the housing using bearings, and connected to the worm gear assembly.

5. The differential power horizontal-vertical conversion actuator module as described in claim 4, wherein, The worm gear assembly includes: A worm shaft, which is connected to one end of the horizontal drive shaft; A worm gear, formed on the worm shaft; and A worm gear meshes with the worm gear to convert the horizontal driving force of the worm shaft into a vertical force.

6. The differential power horizontal-vertical conversion actuator module as described in claim 5, wherein, The worm gear is a widened worm gear or a toroidal worm gear with an increased meshing area to perform a self-locking function by increasing the reduction ratio; the worm wheel is a widened worm wheel or a concave worm wheel.

7. The differential power horizontal-vertical conversion actuator module as described in claim 5, wherein, The planetary gear assembly includes: The sun gear shaft has the worm gear disposed on one side thereon; A sun gear, which is formed on the sun gear shaft; At least one planetary gear, which is arranged in conjunction with the sun gear as the center; An internal meshing gear, formed in a ring shape to mesh with the planetary gear; and The bearing shaft supports the planetary gear and allows it to rotate freely, and serves to form the first vertical rotation shaft.

8. The differential power horizontal-vertical conversion actuator module as described in claim 7, wherein, Centered on the sun gear, the three planetary gears are arranged in a triangular shape.

9. The differential power horizontal-vertical conversion actuator module as described in claim 8, wherein, In the planetary gear assembly, the sun gear is used as the input, the internal meshing gear is fixed, and the bearing shaft is used as the output, so as to perform a self-locking function by increasing the reduction ratio.

10. The differential power horizontal-vertical conversion actuator module as described in claim 1, wherein, It further includes a coupling device disposed between the actuator and the first gearbox to transmit power from the horizontal drive shaft to the first gearbox.

11. The differential power horizontal-vertical conversion actuator module as described in claim 10, wherein, The coupling device includes: A first coupling claw is disposed at one end of the horizontal drive shaft; A flexible coupler, which engages with the first coupling claw, is made of a soft, elastic material to mitigate impact; and The second coupling claw engages with the flexible coupler and is connected to the worm shaft of the first gearbox.

12. The differential power horizontal-vertical conversion actuator module as described in claim 1, wherein, The first vertical rotation shaft of the first gearbox is connected to a first drive gear located on one side of the seat trolley, and the second vertical rotation shaft of the second gearbox is connected to a second drive gear located on the other side of the seat trolley, so that the seat trolley with the seat installed can travel along the track.

13. The differential power horizontal-vertical conversion actuator module as described in claim 12, wherein, The actuator drives the first vertical rotation shaft of the first gearbox and the second vertical rotation shaft of the second gearbox via an electric motor, and the actuator may be provided with a differential gear combination to make the first rotational speed of the first vertical rotation shaft and the second rotational speed of the second vertical rotation shaft rotate at different speeds in the curved section of the guide rail.

14. The differential power horizontal-vertical conversion actuator module as described in claim 5, wherein, It further includes a clearance compensation device for applying pressure to the worm shaft in the direction of the worm gear to prevent the worm gear from becoming disengaged from the worm wheel gear.

15. The differential power horizontal-vertical conversion actuator module as described in claim 14, wherein, The gap compensation device is a positioning ball plug, which is movably mounted on the housing in a screw manner. The elastic restoring force of the elastic spring causes the bearing of the worm shaft to apply pressure to the elastic ball at the front end.

16. The differential power horizontal-vertical conversion actuator module as described in claim 1, wherein, The motor is a hollow type with a drive shaft running through its center, and is a brushless DC motor capable of variable speed control.

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