Rear axle structure and robot

Abstract

The application discloses a rear axle structure and a robot, and relates to the technical field of rear axle structures. The rear axle structure comprises a seat shell, a driving assembly, a gear end cover, an inner end cover, a first half shaft and a second half shaft. The seat shell is internally defined with an accommodating cavity. The driving assembly is connected with the seat shell. The gear end cover is arranged in the accommodating cavity and is engaged with the driving assembly. The inner end cover is arranged in the accommodating cavity and is arranged in a spaced-apart and opposite manner with the gear end cover. One end of the first half shaft extends into the seat shell and is connected with the inner end cover. One end of the second half shaft extends into the seat shell and is connected with the gear end cover. The first half shaft and the second half shaft are arranged in an opposite manner in the axial direction. The differential assembly is arranged in the accommodating cavity and is connected with the gear end cover, the first half shaft, the second half shaft and the inner end cover. The differential assembly can be switched between a locking state and a free rotation state. The application solves the problem that the bevel gear set occupies a large space and can automatically start or shut down the differential lock function.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot manufacturing, and more particularly to a rear axle structure and a robot. BACKGROUND

[0002] The rear axle structure in the prior art mainly realizes the differential function through bevel gears. The bevel gear set for realizing the differential function has insufficient energy transmission efficiency and occupies a large space. The differential lock function needs an additional active control system, which occupies space and system resources. The differential lock active control system cannot respond in time to tire slip caused by uneven road surface, and if the differential lock is not removed in time when turning, the tire will be greatly worn. SUMMARY

[0003] An object of the present application is to provide a new technical solution for a rear axle structure, which can at least solve the problems of large space occupation and untimely differential lock contact in the prior art.

[0004] In a first aspect, the present application provides a rear axle structure, comprising: a seat shell, the seat shell defining an accommodation cavity therein; a drive assembly connected with the seat shell; a gear end cover arranged in the accommodation cavity, the drive assembly being engaged with the gear end cover; an inner end cover arranged in the accommodation cavity, the inner end cover being spaced apart from and oppositely arranged with the gear end cover; a first half shaft, one end of the first half shaft extending into the seat shell and being connected with the inner end cover; a second half shaft, one end of the second half shaft extending into the seat shell and being connected with the gear end cover, the first half shaft and the second half shaft being oppositely arranged in the axial direction; and a differential assembly arranged in the accommodation cavity, the differential assembly being connected with the gear end cover, the first half shaft, the second half shaft and the inner end cover, respectively, the differential assembly being switchable between a locked state and a free rotation state.

[0005] Optionally, the differential assembly comprises: a first inner ring, the first inner ring being spline-fitted with and synchronously rotating with the shaft end of the first half shaft; a second inner ring, the second inner ring being spline-fitted with and synchronously rotating with the shaft end of the second half shaft; a first roller holder, the first roller holder being arranged on the first inner ring; a second roller holder, the second roller holder being arranged on the second inner ring, rollers being arranged in the first roller holder and the second roller holder, respectively; a first sliding thrust ring, the first sliding thrust ring being connected with and synchronously rotating with the first inner ring; a second sliding thrust ring, the second sliding thrust ring being connected with and synchronously rotating with the second inner ring; and an outer ring, the outer ring being sleeved on the first roller holder and the second roller holder, and the outer ring being connected with the gear end cover and the inner end cover, respectively.

[0006] Optionally, one end of the second roller frame is limited by a check ring with the second inner ring, and the other end is limited by a second sliding thrust ring.

[0007] Optionally, the opposite two end faces of the first roller frame and the second roller frame are respectively provided with groove structures, and the two groove structures form a clearance engagement, and the first roller frame and the second roller frame can rotate relatively in the clearance.

[0008] Optionally, the inner wall of the outer ring is provided with a wave structure, and the roller is in contact with the wave structure to enable the roller to roll freely or be locked by the roller.

[0009] Optionally, the angle of the first roller frame and the second roller frame entering the engagement and locking after the clearance is eliminated is β, and the angle of the roller rotating relative to the outer ring to enter the locking state is α, wherein β < α < 2β.

[0010] Optionally, the driving assembly comprises a servo motor, and a speed reducer, the input end of the speed reducer is connected with the servo motor, and the speed reducer is engaged with the gear end cover.

[0011] Optionally, the seat shell comprises a first shell, a bridge cover, the bridge cover defines the accommodating cavity, the first shell is connected with the bridge cover, a bridge cover cover is connected with the bridge cover, and a second shell is connected with the bridge cover cover.

[0012] Optionally, the rear axle structure further comprises an outer bearing, the outer bearing is connected with the first shell, the first half shaft and the second half shaft are connected with the outer bearing respectively, and an inner bearing is connected with the gear end cover and the inner end cover respectively.

[0013] In a second aspect of the present application, a robot is provided, comprising the rear axle structure described in the above embodiments.

[0014] The rear axle structure of the present application integrates the differential assembly in the seat shell, solves the problem of large space occupied by the bevel gear set, and further reduces the size of the differential structure. And under the premise of not greatly increasing the size of the structure, the passive differential lock structure is formed by the differential assembly, which can be switched between the locking state and the free rotating state, and can automatically start the differential lock function when one side tire slips, and automatically close the differential lock function when normal driving and steering.

[0015] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, which description should be taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0017] Figure 1 is a structural schematic view of a rear axle structure according to an embodiment of the present application;

[0018] Figure 2 is a side view of a rear axle structure according to an embodiment of the present application;

[0019] Figure 3 is a sectional view of a rear axle structure according to an embodiment of the present application;

[0020] Figure 4 is another sectional view of a rear axle structure according to an embodiment of the present application;

[0021] Figure 5 is a side sectional view of a locked state of a rear axle structure according to an embodiment of the present application;

[0022] Figure 6 is a partial enlarged view of a roller in a locked state of a rear axle structure according to an embodiment of the present application;

[0023] Figure 7 is a structural schematic view of a differential assembly of a rear axle structure according to an embodiment of the present application.

[0024] Reference numerals:

[0025] Servo motor 1; Reducer 2; First half shaft 3; First housing 4; Inner bearing 5; Axle case 6; Gear end cover 7; Axle case cover 8; Second housing 9; Second half shaft 10; Second sliding thrust ring 11; Second roller carrier 12; Outer ring 13; Second inner ring 14; First inner ring 15; First roller carrier 16; First sliding thrust ring 17; Inner end cover 18; Outer bearing 19; Roller 20. DETAILED DESCRIPTION

[0026] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present application unless otherwise specifically stated.

[0027] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the application or its applications or uses.

[0028] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0029] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Thus, other examples of the example embodiments can have different values.

[0030] It should be noted that like reference numerals and characters refer to like elements throughout the following description and the claims, not only to the following description and the claims. Therefore, once a term is defined in one drawing figure, it is not necessary to discuss it further in connection with other drawing figures.

[0031] In the description of the application, unless otherwise specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense. For example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0032] In the description of the application, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application.

[0033] In the description of the application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense. For example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0034] The rear axle structure according to the embodiment of the application will be described in detail below in conjunction with the drawings.

[0035] As shown in FIGS. Figure 1 and Figure 3 The rear axle structure according to the embodiment of the application includes a housing, a drive assembly, a gear end cover 7, an inner end cover 18, a first half shaft 3, a second half shaft 10 and a differential assembly.

[0036] Specifically, the seat shell defines a receiving cavity. The drive assembly is connected with the seat shell. The gear end cover 7 is arranged in the receiving cavity, and the drive assembly is engaged with the gear end cover 7. The inner end cover 18 is arranged in the receiving cavity, and the inner end cover 18 is arranged in opposite relation with the gear end cover 7. One end of the first half shaft 3 extends into the seat shell and is connected with the inner end cover 18 in a matching manner. One end of the second half shaft 10 extends into the seat shell and is connected with the gear end cover 7 in a matching manner. The first half shaft 3 and the second half shaft 10 are arranged in opposite relation in the axial direction. The differential assembly is arranged in the receiving cavity and is connected with the gear end cover 7, the first half shaft 3, the second half shaft 10 and the inner end cover 18 respectively. The differential assembly is switchable between a locked state and a free rotation state.

[0037] In other words, referring to Figure 1 and Figure 3 , the rear axle structure according to the embodiment of the present application mainly consists of a seat shell, a drive assembly, a gear end cover 7, an inner end cover 18, a first half shaft 3, a second half shaft 10 and a differential assembly. The seat shell defines a receiving cavity. The drive assembly is connected with the seat shell. The drive assembly serves as a power source. The gear end cover 7 is arranged in the receiving cavity, and the drive assembly is engaged with the gear end cover 7. The inner end cover 18 is arranged in the receiving cavity, and the inner end cover 18 is arranged in opposite relation with the gear end cover 7. One end of the first half shaft 3 (left half shaft) extends into the seat shell, and the end portion of the first half shaft 3 is connected with the inner hole of the inner end cover 18 in a matching manner. One end of the second half shaft 10 (right half shaft) extends into the seat shell, and the shaft diameter of the second half shaft 10 is connected with the shaft hole of the gear end cover 7 in a matching manner. The first half shaft 3 and the second half shaft 10 are arranged in opposite relation in the axial direction. The differential assembly is arranged in the receiving cavity and is connected with the gear end cover 7, the first half shaft 3, the second half shaft 10 and the inner end cover 18 respectively. The differential assembly is switchable between a locked state and a free rotation state.

[0038] Thus, the rear axle structure according to the embodiment of the present application integrates the differential assembly in the seat shell, solves the problem of large space occupied by the bevel gear set, and further reduces the size of the differential structure. Moreover, without substantially increasing the size of the structure, the differential assembly constitutes a passive differential lock structure, which is switchable between a locked state and a free rotation state, can automatically activate the differential lock function when one side tire slips, and can automatically close the differential lock function when normal driving and steering.

[0039] According to one embodiment of the present application, the differential assembly comprises a first inner ring 15, a second inner ring 14, a first roller holder 16, a second roller holder 12, a first sliding thrust ring 17, a second sliding thrust ring 11 and an outer ring 13.

[0040] Specifically, the first inner ring 15 is engaged with the shaft end spline of the first half shaft 3 and rotates synchronously. The second inner ring 14 is engaged with the shaft end spline of the second half shaft 10 and rotates synchronously. The first roller carrier 16 is arranged on the first inner ring 15. The second roller carrier 12 is arranged on the second inner ring 14, and the first roller carrier 16 and the second roller carrier 12 are respectively provided with rollers 20. The first sliding thrust ring 17 is connected with the first inner ring 15 and rotates synchronously. The second sliding thrust ring 11 is connected with the second inner ring 14 and rotates synchronously. The outer ring 13 is sleeved on the first roller carrier 16 and the second roller carrier 12, and the outer ring 13 is respectively connected with the gear end cover 7 and the inner end cover 18.

[0041] That is, as shown in Figure 3 and Figure 7 , the differential assembly mainly comprises a first inner ring 15 (left inner ring), a second inner ring 14 (right inner ring), a first roller carrier 16 (left roller carrier), a second roller carrier 12 (right roller carrier), a first sliding thrust ring 17 (left sliding thrust ring), a second sliding thrust ring 11 (right sliding thrust ring), and an outer ring 13. Among them, the first inner ring 15 is engaged with the shaft end spline of the first half shaft 3 and rotates synchronously. The second inner ring 14 is engaged with the shaft end spline of the second half shaft 10 and rotates synchronously. The first roller carrier 16 is arranged on the first inner ring 15. The second roller carrier 12 is arranged on the second inner ring 14, and the first roller carrier 16 and the second roller carrier 12 are respectively provided with rollers 20 (see Figure 4 to Figure 6 ). The inner hole of the first sliding thrust ring 17 cooperates with the outer circular surface of the first inner ring 15, and the first inner ring 15 and the first sliding thrust ring 17 are fixed and rotate synchronously through the limiting hole and the positioning pin. The second sliding thrust ring 11 is fixedly connected with the second inner ring 14 through the limiting hole and the positioning pin, and rotates synchronously. The outer ring 13 is sleeved on the first roller carrier 16 and the second roller carrier 12, and the outer ring 13 is respectively connected with the gear end cover 7 and the inner end cover 18. The outer ring of the second sliding thrust ring 11 cooperates with the inner hole of the outer ring 13 and can relatively slide and rotate.

[0042] The present application can realize the differential and differential lock functions through the cooperation of the rollers 20, the first roller carrier 16, the second roller carrier 12, the first inner ring 15, the second inner ring 14, and the outer ring 13 with the wave-shaped inner wall surface. And finally through the left and right half shafts (the first half shaft 3 and the second half shaft 10), the rotating state is transmitted to the wheels.

[0043] In some specific embodiments of the present application, as shown in Figure 3As shown, one end of the second roller frame 12 is limited by the second inner ring 14 through the check ring, and the other end is limited by the second sliding thrust ring 11. The opposite two end faces of the first roller frame 16 and the second roller frame 12 are respectively provided with a groove structure, and the two groove structures form a gap engagement, and the first roller frame 16 and the second roller frame 12 can rotate relatively in the gap. The inner wall of the outer ring 13 is provided with a wave structure, and the roller 20 contacts the wave structure to make the roller 20 freely roll or be locked by the roller 20. The angle of the first roller frame 16 and the second roller frame 12 relative rotation eliminating the gap and entering the engagement locking is β, and the angle of the roller 20 relative to the outer ring 13 rotating into the locking state is α, wherein β < α < 2β.

[0044] That is, as Figure 3 shown, one end of the second roller frame 12 is limited by the second inner ring 14 through the check ring, and the other end of the second roller frame 12 is limited by the second sliding thrust ring 11. The opposite two end faces of the first roller frame 16 and the second roller frame 12 are respectively provided with a groove structure, and the two groove structures form a gap engagement, and the first roller frame 16 and the second roller frame 12 can rotate relatively in the gap. The inner wall of the outer ring 13 is provided with a wave structure, and the roller 20 contacts the wave structure to make the roller 20 freely roll or be locked by the roller 20 (see Figure 4 to Figure 6 ). The outer ring 13 two end shaft holes are respectively matched with the outer rings of the two sliding thrust rings and can relatively slide and rotate, the inner wave avoids contacting the roller 20, and according to the situation, the roller 20 is freely rolled or locked by the roller 20, and needs to be synchronously rotated with the first inner ring 15, the second inner ring 14, the first roller frame 16 and the second roller frame 12. The left inner ring (the first inner ring 15) outer circular face is matched with the left roller frame (the first roller frame 16) inner hole, and is fixed and synchronously rotated with the left sliding thrust ring (the first sliding thrust ring 17) through the limiting hole and the positioning pin. The angle of the first roller frame 16 and the second roller frame 12 relative rotation eliminating the gap and entering the engagement locking is β, and the angle of the roller 20 relative to the outer ring 13 rotating into the locking state is α, wherein β < α < 2β. By using the design of β < α < 2β, and the difference between the free wheel overspeed rotation when turning and the free wheel low speed rotation when single side obstacle, the free switching between the differential and the differential locking state without active control system is realized.

[0045] According to one embodiment of the present application, the driving assembly comprises a servo motor 1 and a speed reducer 2. The input end of the speed reducer 2 is connected with the servo motor 1, and the speed reducer 2 is engaged with the gear end cover 7.

[0046] In other words, as Figure 1 and Figure 2As shown, the drive assembly mainly consists of a servo motor 1 and a speed reducer 2. Among them, the servo motor 1 and the speed reducer 2 act as a power source, and the power is transmitted to the differential structure through a set of straight gear sets. The servo motor 1 can be fixed on the input end of the speed reducer 2 by screws. The shaft end of the speed reducer 2 is provided with a pinion gear, which is engaged with the tooth surface of the gear end cover 7.

[0047] According to an embodiment of the present application, the seat shell comprises a first shell 4, a bridge package 6, a bridge package cover 8 and a second shell 9, wherein the bridge package 6 is defined with a containing cavity, and the first shell 4 is connected with the bridge package 6. The bridge package cover 8 is connected with the bridge package 6. The second shell 9 is connected with the bridge package cover 8.

[0048] That is, as shown, Figure 3 As shown, the seat shell mainly consists of a first shell 4, a bridge package 6, a bridge package cover 8 and a second shell 9, wherein the bridge package 6 is defined with a containing cavity, and the first shell 4 can be fixedly connected with the bridge package 6 by screws. The bridge package cover 8 is connected with the bridge package 6. The second shell 9 can be fixedly connected with the bridge package cover 8 by screws.

[0049] According to an embodiment of the present application, the rear axle structure further comprises an outer bearing 19 and an inner bearing 5. Among them, the outer bearing 19 is connected with the first shell 4, and the first half shaft 3 and the second half shaft 10 are respectively connected with the outer bearing 19. The inner bearing 5 is respectively connected with the gear end cover 7 and the inner end cover 18.

[0050] In other words, as shown, Figure 3 As shown, the rear axle structure further comprises an outer bearing 19 and an inner bearing 5. In the present application, the servo motor 1 is fixed on the input end of the speed reducer 2 by screws. The speed reducer 2 is fixed on the input end of the bridge package 6 by screws, and the shaft end of the speed reducer 2 is provided with a pinion gear, which is engaged with the tooth surface of the gear end cover 7. The left half shaft (the first half shaft 3) is matched with the inner ring of the outer bearing 19 at one end of the shaft diameter, and is matched with the inner hole of the inner end cover 18 at the other end of the shaft diameter, and the shaft end spline is embedded with the left inner ring (the first inner ring 15) to rotate synchronously. The left bearing shell (the first shell 4) is fixed with the bridge package 6 by screws, and the outer end shaft hole is matched with the outer ring of the outer bearing 19. The outer ring of the inner bearing 5 is matched with the bridge package 6, and the inner ring is matched with the shaft diameter of the inner end cover 18. The gear end cover 7 is fixed with the outer ring 13 by screws and rotates synchronously, and the tooth surface is engaged with the shaft end pinion gear of the speed reducer 2 to transmit power.

[0051] The bridge housing cover 8 is fixed to the bridge housing 6 with screws, and its inner hole mates with the outer ring of another inner bearing 5. The right bearing housing (second housing 9) is fixed to the bridge housing cover 8 with screws, and its inner hole at one end mates with the outer ring of another outer bearing 19. One end of the right half-shaft (second half-shaft 10) mates with the inner ring of the outer bearing 19, and the other end mates with the shaft hole of the gear end cover 7. The spline at the shaft end engages with the right inner ring (second inner ring 14) and rotates synchronously. The right sliding thrust ring (second sliding thrust ring 11) is fixed to the right inner ring through a limiting hole and a positioning pin, and its outer ring mates with the inner hole of the outer ring 13 and can slide relative to it. The inner hole of the right roller carrier (second roller carrier 12) mates with the outer cylindrical surface of the right inner ring and can rotate relative to it. Its left end face is limited by an elastic retaining ring on the upper shaft of the right inner ring, and its right end face is limited by the right sliding thrust ring.

[0052] The grooved structure on the inner end face of the right roller carrier engages with the grooved structure on the inner end face of the left roller carrier (first roller carrier 16) with a clearance, allowing relative rotation within the clearance until there is no clearance. The shaft holes at both ends of the outer ring 13 respectively engage with the outer rings of the two sliding thrust rings and allow relative sliding rotation. The inner wave pattern avoids contact with the roller 20 and, depending on the situation, allows the roller 20 to roll freely or be locked by the roller 20. It needs to rotate synchronously with the inner ring and roller carrier. The outer circular surface of the left inner ring engages with the inner hole of the left roller carrier and is fixed to the left sliding thrust ring through a limiting hole and a positioning pin, rotating synchronously. The inner end cap 18 is fixed to the outer ring 13 with screws, and its shaft diameter engages with the inner ring of the inner bearing 55.

[0053] In this invention, the working principle of the differential lock in the rear axle structure is shown in the table below:

[0054]

[0055] In this invention, the differential lock motor drives the rear axle function as follows:

[0056] like Figure 1 to Figure 7 As shown, servo motor 1 drives reducer 2, which transmits rotation to gear end cover 7 via a pinion at the shaft end. Gear end cover 7 drives outer ring 13 to rotate. When roller 20 moves relative to outer ring 13, because the outer ring 13 avoids forming a small angle with the outer cylindrical surface of the inner ring and simultaneously contacts roller 20, roller 20 enters a self-locking state. Outer ring 13, two roller carriers, and two inner rings enter a locked state. At this time, the two inner rings rotate synchronously relative to outer ring 13, driving the left and right half-shafts to rotate synchronously. At this time, the rear axle housing drives the vehicle to move in a straight line.

[0057] When the vehicle needs to turn (assuming right turn), the outer wheel (assuming left wheel) has rotated faster than the inner wheel. At this time, the right half shaft, right inner ring, right roller holder and outer ring 13 rotate synchronously, and the left half shaft, left inner ring and left roller holder rotate faster in the same direction. After a certain angle, the limiting groove of the left roller holder will engage with the limiting groove structure of the right roller holder first and begin to rotate synchronously with the right half shaft, right inner ring, right roller holder and outer ring 13. At this time, the left roller 20 in the left roller holder enters a free rotation state, and the left half shaft, left inner ring can semi-freely rotate relative to the outer ring 13 and the right half shaft, right inner ring, right roller holder at a speed not lower than the right side. At this time, the rear axle enters the differential state.

[0058] When the vehicle needs to cross a single-sided obstacle, one side of the wheel (assuming the left wheel) begins to slip. If the vehicle was in a straight-line walking differential lock state or a right turn and a rear axle differential state after right turn at the previous moment, the power will naturally concentrate on the right wheel, keeping the left and right wheels rotating synchronously, and crossing the obstacle. If the vehicle was in a right turn or a rear axle differential state after right turn at the previous moment, the left wheel begins to slip and rotate first, and the right wheel stops rotating or rotates at a reduced speed. The left half shaft, left inner ring, left roller holder and outer ring 13 rotate synchronously. At this time, the left roller holder and the right roller holder are disengaged from the engaged state and rotate relative to the other side. At this time, the gap between the limiting grooves of the two is twice the gap when the relative positions of the two are in the middle position. Therefore, the right roller 20 will enter the locked state from the previous free rotation state first. At this time, the rear axle enters the differential lock state, and the power is transferred to the right wheel to help the vehicle cross the obstacle.

[0059] In summary, the rear axle structure of the present application greatly reduces the size of the differential mechanism lock occupied space relative to the bevel gear structure, and can ensure the structural strength and service life. The present application realizes the function of automatically identifying the road condition and automatically switching between the differential and differential lock states by using the specific angle self-locking structure of the roller 20 and the wave-shaped wall surface and the specific angle gap engagement structure of the roller holder without greatly increasing the structure size. This greatly improves the flexibility of the differential lock function and reduces the cost of function implementation.

[0060] Of course, other structures of the rear axle structure and their working principles can be understood and implemented by those skilled in the art, and will not be described in detail in the present application.

[0061] According to a second aspect of the embodiments of the present application, a robot is provided, comprising the rear axle structure of the above embodiments. Since the rear axle structure according to the embodiments of the present application has the above technical effects, the robot according to the embodiments of the present application should also have corresponding technical effects, i.e., the robot of the present application adopts the rear axle structure, the differential mechanism lock occupies a space size which is greatly reduced compared with the bevel gear structure, and the structural strength and service life can be guaranteed. The present application realizes the function of automatically identifying the road condition and automatically switching between the differential and differential locking states by using the cooperation of the specific angle self-locking structure of the roller 20 and the wave-shaped wall surface and the specific angle gap meshing structure of the roller holder without greatly increasing the structure size, greatly improves the flexibility of the differential lock function and reduces the cost of function implementation.

[0062] Of course, other structures of the robot and its working principles can be understood and implemented by those skilled in the art, and will not be described in detail in the present application.

[0063] Although some specific embodiments of the present application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A rear axle structure characterized by comprising: include: A housing, wherein a receiving cavity is defined within the housing; A drive assembly is connected to the housing. A gear end cover is disposed within the receiving cavity, and the drive assembly meshes with the gear end cover; An inner end cover is disposed within the receiving cavity, and the inner end cover is arranged opposite to the gear end cover at a distance; The first half-shaft has one end extending into the housing and engaging with the inner end cover; The second half-shaft has one end extending into the housing and engaging with the gear end cover. The first half-shaft and the second half-shaft are arranged opposite each other in the axial direction. A differential assembly is disposed within the receiving cavity and is connected to the gear end cover, the first half-shaft, the second half-shaft, and the inner end cover, respectively. The differential assembly can be switched between a locked state and a free-rotation state. The differential component includes: The first inner ring is engaged with the spline at the end of the first half-shaft and rotates synchronously. The second inner ring is engaged with the spline at the end of the second half-shaft and rotates synchronously. The first roller carrier is mounted on the first inner ring; The second roller holder is mounted on the second inner ring, and the first roller holder and the second roller holder are respectively provided with rollers; A first sliding thrust ring is connected to the first inner ring and rotates synchronously. The second sliding thrust ring is connected to the second inner ring and rotates synchronously. An outer ring is sleeved on the first roller cage and the second roller cage, and the outer ring is connected to the gear end cover and the inner end cover respectively; The angle at which the first roller carrier and the second roller carrier enter engagement and locking after relative rotation to eliminate clearance is β, and the angle at which the roller rotates relative to the outer ring to enter the locking state is α, where β < α < 2β.

2. The rear axle structure of claim 1, wherein One end of the second roller cage is limited to the second inner ring by a retaining ring, and the other end is limited by a second sliding thrust ring.

3. The rear axle structure of claim 1, wherein The first roller carrier and the second roller carrier each have a groove structure on their two opposite end faces, and the two groove structures form a gap engagement, allowing the first roller carrier and the second roller carrier to rotate relative to each other within the gap.

4. The rear axle structure of claim 1, wherein The inner wall of the outer ring is provided with a wave-shaped structure, and the roller contacts the wave-shaped structure so that the roller can roll freely or be locked by the roller.

5. The rear axle structure of claim 1, wherein The driving component includes: Servo motor; A speed reducer, the input end of which is connected to the servo motor, and the speed reducer meshes with the gear end cover.

6. The rear axle structure of claim 1, wherein The housing includes: First shell; A bridge package, wherein the receiving cavity is defined within the bridge package, and the first housing is connected to the bridge package; Bridge bag cover, the bridge bag cover being connected to the bridge bag; The second housing is connected to the bridge cover.

7. The rear axle structure of claim 6, wherein, Also includes: An outer bearing is fitted and connected to the first housing, and the first half-shaft and the second half-shaft are respectively fitted and connected to the outer bearing; An inner bearing is connected to both the gear end cover and the inner end cover.

8. A robot, characterized in that The rear axle structure includes any one of claims 1-7.

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