Self-locking structure for double-motor parallel driving and steering engine

Abstract

The invention relates to the technical field of aviation technologies, in particular to a self-locking structure for double-motor parallel driving and a steering engine. The self-locking structure for double-motor parallel driving comprises a base, a first motor and a second motor which are arranged on the base, and further comprises a first oscillating tooth assembly, a second oscillating tooth assembly and an output gear. The first oscillating tooth assembly is arranged at the driving end of the first motor, the second oscillating tooth assembly is arranged at the driving end of the second motor, the first oscillating tooth assembly and / or the second oscillating tooth assembly are / is used for driving the output gear to rotate, and the self-locking structure can improve the reliability of the steering engine under the condition that redundant electric control is not added and more failure assemblies are not introduced.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation technology, and in particular to a self-locking structure and a steering gear for dual-motor parallel drive. Background Art

[0002] Aircraft or other aerospace equipment have high reliability requirements for servos. In order to meet this high reliability requirement, servos generally use dual motors with independent control drive boards (this structure is a dual-redundancy structure) to improve the mission completion reliability of the entire servo.

[0003] In the related technology, there are three common dual-redundancy structures in the industry. The first is the dual-motor direct drive type. The output shaft gears of the two motors are meshed with the servo output gears at the same time. The defect of this structure is that when one motor is damaged, the output force will be reduced by 1 times. In some mechanisms, the force is reduced and it cannot be driven. The second is the clutch drive type. A clutch is added to the motor output shaft. The clutch is closed according to which motor is needed. This structure requires electronic control of the clutch. If the clutch has electronic control logic problems or is damaged, it may cause it to be unable to drive. The third is the planetary gear structure, which is the most commonly used structure in the industry, but it is necessary to add brakes to each of the two motors. Once the brake on one of the motors fails, the other motor will not be able to output power. The control and structure are complex and the reliability improvement is limited.

[0004] From this we can see that the above three structures have limitations or require the addition of redundant electronic controls or the introduction of more failed components, which leads to a decrease in the reliability of the servo. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a self-locking structure and a servo for dual-motor parallel drive; wherein the self-locking structure for dual-motor parallel drive does not require the addition of redundant electronic controls, nor does it require the introduction of more failure components, and can improve the reliability of the servo; and the mission completion reliability of the servo using the above-mentioned self-locking structure can be effectively improved.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a self-locking structure for dual-motor parallel drive, comprising a base and a first motor and a second motor arranged on the base, and further comprising: a first movable tooth assembly, a second movable tooth assembly and an output gear; the first movable tooth assembly is arranged on a driving end of the first motor, the second movable tooth assembly is arranged on a driving end of the second motor, and the first movable tooth assembly and / or the second movable tooth assembly are used to drive the output gear to rotate;

[0008] The second movable tooth assembly includes a second shock wave wheel, a second movable tooth rack, a second center wheel and a plurality of second rollers; the second shock wave wheel is coaxially arranged on the driving end of the second motor, the second movable tooth rack is rotatably sleeved on the second shock wave wheel, the second center wheel is rotatably sleeved on the second movable tooth rack, and the output gear is coaxially mounted on the second movable tooth rack; a plurality of second rollers are mounted on the second movable tooth rack, and the two sides of the second rollers are respectively used to contact the outer working surface of the second shock wave wheel and the inner working surface of the second center wheel, the outer working surface is the second cam surface, and the inner working surface is the second curved surface; the second center wheel is meshed and connected with the first movable tooth assembly.

[0009] By adopting the above technical solution, when the driving end of the second motor rotates and the driving end of the first motor does not rotate, the second center wheel cannot rotate, but the driving end of the second motor can drive the second shock wave wheel to rotate coaxially. Since the second movable gear rack is rotatably mounted on the second shock wave wheel, the rotation of the second shock wave wheel will drive the rotation of the second movable gear rack, thereby driving the rotation of the output gear. When the driving end of the first motor rotates and the driving end of the second motor does not rotate, the driving end of the first motor drives the second center wheel to rotate. At this time, the second center wheel contacts the multiple second rollers through the second curved surface, thereby driving the second movable gear rack to rotate, and then driving the output gear to rotate coaxially. When the driving ends of the first motor and the second motor rotate at the same time, the second center wheel and the second shock wave wheel simultaneously drive the second movable gear rack to rotate, thereby driving the output gear to rotate coaxially. By fixedly connecting the first movable gear rack, rotatably connecting the second movable gear rack, and arranging the various components, the first motor and the second motor can be self-locked with each other, and the two motors can output power at the same time without affecting each other. It can also be implemented normally when the first motor and the second motor are of different specifications, thereby improving the reliability of the servo.

[0010] Optionally, the first movable tooth assembly includes a first shock wave wheel, a first movable tooth rack, a first center wheel and a plurality of first rollers; the first shock wave wheel is coaxially arranged on the driving end of the first motor, the first movable tooth rack is fixedly connected to the base and sleeved on the first shock wave wheel, the first center wheel is rotatably sleeved on the first movable tooth rack, and a plurality of first rollers are installed on the first movable tooth rack; the opposite sides of the first roller are respectively used to contact the outer working surface of the first shock wave wheel and the inner working surface of the first center wheel, the outer working surface is the first cam surface, and the inner working surface is the first curved surface; the first center wheel is meshingly connected with the second center wheel.

[0011] By adopting the above technical solution, when the driving end of the first motor rotates and the driving end of the second motor does not rotate, the driving end of the first motor can drive the first shock wave wheel to rotate coaxially. During the rotation of the first shock wave wheel, the first cam surface will intermittently contact with multiple first rollers. Since the first movable tooth rack is fixed, the rotation of the first shock wave wheel will cause multiple first rollers to rotate, and multiple first rollers will contact with the first curved surface of the first center wheel, thereby driving the first center wheel to rotate. After that, the first center wheel can drive the second center wheel to rotate, and the second center wheel can drive the output gear to rotate through the second movable tooth rack. At the same time, the first center wheel cannot rotate by itself and reversely drives the first shock wave wheel to rotate, and has a self-locking function. When the driving end of the second motor rotates and the driving end of the first motor does not rotate, the driving end of the second motor can drive the second movable tooth rack to drive the output gear to rotate. When the driving ends of the first motor and the second motor rotate at the same time, they can jointly drive the output gear to rotate. Therefore, the first motor and the second motor can be used as drive sources separately or together, and when any one motor is damaged, it will not affect the power chain output of the other motor. There is no need to add redundant electronic control or introduce more failure components, thereby improving the reliability of the servo.

[0012] Optionally, the cross section of the first shock wheel has three first protrusions, the three first protrusions are arranged at equal intervals, and the first protrusions are used to apply force to the first roller.

[0013] Optionally, the first curved surface is composed of a plurality of first convex surfaces, the edges on both sides of the first convex surface are respectively collinear with the edges of two adjacent first convex surfaces, the plurality of first convex surfaces are distributed around the central axis of the first center wheel, and the plurality of first convex surfaces are formed by the first center wheel N 1 Equally divided, N 1 Represents the number of first raised surfaces, and the first raised surfaces are used to apply force to the first roller.

[0014] Optionally, the cross section of the second shock wheel has three second protrusions, the three second protrusions are arranged at equal intervals, and the second protrusions are used to apply force to the second roller.

[0015] Optionally, the second curved surface is composed of a plurality of second convex surfaces, the edges on both sides of the second convex surface are respectively collinear with the edges of two adjacent second convex surfaces, the plurality of second convex surfaces are distributed around the central axis of the second center wheel, and the plurality of second convex surfaces are arranged on the second center wheel N. 2 Equally divided, N 2 Represents the number of second raised surfaces, and the second raised surfaces are used to apply force to the second roller.

[0016] Optionally, the second movable gear rack is rotatably mounted on the second shock wave wheel via a bearing, and the bearing is fixedly connected between the base and the second movable gear rack. The bearing can realize the rotation of the second movable gear rack and enable the second movable gear rack to be mounted on the second shock wave wheel.

[0017] Optionally, the first center wheel has first external teeth, and the second center wheel has second external teeth. The first external teeth of the first center wheel are meshingly connected with the second external teeth of the second center wheel. The meshing of the first center wheel and the second center wheel can be achieved by setting the first external teeth and the second external teeth.

[0018] Optionally, different reduction ratios are achieved by changing the number of protrusions of the shock wheel, the number of raised surfaces of the curved surface, and the number of rollers.

[0019] Optionally, a self-locking structure for dual-motor parallel drive also includes a structural shell arranged on the base to protect various parts.

[0020] In a second aspect, the present invention provides a steering gear, comprising a self-locking structure for dual-motor parallel drive as described in any one of the first aspects, so as to ensure effective improvement of the reliability of the steering gear task completion.

[0021] In summary, the present invention at least includes the following beneficial technical effects:

[0022] 1. The self-locking structure can realize the power output of dual motors or single motors without adding extra electronic control or introducing more failure components. When any motor is damaged, it will not affect the power output of the other motor. The dual motors are backup for each other. The first motor and the second motor in the self-locking structure can adopt different specifications. It is only necessary to make the torque of the first motor and the second motor similar, so the reliability of the servo can be improved.

[0023] 2. When driven by dual motors, the driving speed is fast, and when driven by a single motor, the speed is half of that of the dual motors. It can be used as the input of a dual-speed servo. At the same time, it is more suitable for occasions that require low action speed but high action completion, such as the retracting and extending servo of an aircraft landing gear.

[0024] 3. The self-locking structure is simple and compact, and will not increase the installation distance between the first motor and the second motor, thus saving space, which is particularly in line with the requirements of compact space on aircraft and missiles;

[0025] 4. When the first motor and the second motor are powered off, the end load cannot reversely drive any motor through the servo, and the power-off self-locking can be achieved. Therefore, the self-locking structure is suitable for some occasions with higher safety requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1This is a schematic diagram of the overall structure of a self-locking structure for dual-motor parallel drive in an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of the overall structure of the first movable tooth assembly;

[0028] Figure 3 is a schematic diagram of the overall structure of the second movable tooth assembly;

[0029] Figure 4 It is a schematic cross-sectional structure diagram of a self-locking structure for dual-motor parallel drive in an embodiment of the present invention;

[0030] Figure 5 is a schematic diagram of the transmission structure of the first movable tooth assembly;

[0031] Figure 6 It is a schematic diagram of the transmission structure of the second movable tooth assembly.

[0032] Explanation of the accompanying drawings: 1. structural shell; 2. base; 3. first motor; 4. second motor; 5. first movable tooth assembly; 51. first shock wave wheel; 511. first cam surface; 52. first movable tooth rack; 53. first center wheel; 531. first curved surface; 532. first outer tooth; 54. first roller; 6. second movable tooth assembly; 61. second shock wave wheel; 611. second cam surface; 62. second movable tooth rack; 63. second center wheel; 631. second curved surface; 632. second outer tooth; 64. second roller; 65. bearing; 7. output gear. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] The terms used in the following embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to be used as limitations of the present invention. As used in the specification of the present invention and the appended claims, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear contrary indication in its context. It should also be understood that the term "and / or" used in the present invention refers to and includes any or all possible combinations of one or more listed items. The term "exemplary" means "used as an example, embodiment or illustrative", and any embodiment described as "exemplary" here does not have to be interpreted as being superior to or better than other embodiments. The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" can expressly or implicitly include one or more of these features, and in the description of the embodiments of the present invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0035] An embodiment of the present invention provides a self-locking structure for dual-motor parallel driving.

[0036] refer to Figure 1 A self-locking structure for dual-motor parallel drive includes a structural shell 1, a base 2, a first motor 3, a second motor 4, a first movable tooth assembly 5, a second movable tooth assembly 6 and an output gear 7.

[0037] refer to Figure 1 , Figure 2 and Figure 3 , the structural shell 1 and the base 2 are fixedly connected, and the fixed connection method can be screw connection, welding or riveting. The first motor 3 and the second motor 4 are both fixedly connected to the structural shell 1, and are thus fixedly connected to the base 2 by being fixedly connected to the structural shell 1. The first motor 3 and the second motor 4 are arranged side by side, and the driving end of the first motor 3 and the driving end of the second motor 4 are oriented in the same direction. The structural shell 1 and the base 2 form an inner cavity, the first movable tooth component 5 is arranged at the driving end of the first motor 3, the second movable tooth component 6 is arranged at the driving end of the second motor 4, the first movable tooth component 5 and the second movable tooth component 6 are located in the inner cavity, and the output gear 7 is arranged on the second movable tooth component 6.

[0038] The first movable tooth assembly 5 and / or the second movable tooth assembly 6 is used to drive the output gear 7 to rotate.

[0039] refer to Figure 1 and Figure 4The first movable tooth assembly 5 includes a first shock wave wheel 51, a first movable tooth frame 52, a first center wheel 53 and a plurality of first rollers 54. The first shock wave wheel 51 is coaxially fixedly connected with the driving end of the first motor 3, the first movable tooth frame 52 is sleeved on the first shock wave wheel 51, and the first movable tooth frame 52 is fixedly connected to the base 2, and the first center wheel 53 is rotatably sleeved on the first movable tooth frame 52. A plurality of first rollers 54 are installed on the first movable tooth frame 52, and the plurality of first rollers 54 are distributed around the central axis of the first movable tooth frame 52 at equal intervals. The first center wheel 53 is meshedly connected with the second movable tooth assembly 6. One side of the first roller 54 is used to contact the outer working surface of the first shock wave wheel 51, and the other side is used to contact the inner working surface of the first center wheel 53. The first roller 54 can rotate by the rotation of the first shock wave wheel 51, thereby driving the first center wheel 53 to rotate in the opposite direction.

[0040] Among them, reference Figure 4 and Figure 5 The outer working surface of the first shock wheel 51 is the first cam surface 511. The cross section of the first shock wheel 51 has three first protrusions, and the three first protrusions are arranged at equal intervals. The inner working surface of the first center wheel 53 is the first curved surface 531. The first curved surface 531 is composed of a plurality of first raised surfaces. The edge of one side of the first raised surface is collinear with the edge of the adjacent first raised surface, and the edge of the other side of the first raised surface is collinear with the edge of another adjacent first raised surface. The plurality of first raised surfaces are distributed in a circle along the central axis of the first center wheel 53, and the plurality of first raised surfaces are formed by the first center wheel 53N. 1 Equally divided, N 1 The first center wheel 53 is integrally formed with a plurality of first external teeth 532 , which are equally spaced and distributed around the central axis of the first center shaft. The first center wheel 53 is meshed and connected with the first movable tooth assembly 5 through the first external teeth 532 .

[0041] When the driving end of the first motor 3 rotates, the driving end of the first motor 3 drives the first shock wheel 51 to rotate coaxially, the outer working surface on the first shock wheel 51 drives the first rollers 54 on the first movable gear rack 52 to rotate, the first rollers 54 drive the first center wheel 53 to rotate in the opposite direction, the first center wheel 53 drives the second movable gear assembly 6 to rotate, and thus drives the output gear 7 to rotate. However, in the above process, the first center wheel 53 cannot rotate by itself and reversely drive the first shock wheel 51 to rotate.

[0042] refer to Figure 1 and Figure 4The second movable tooth assembly 6 includes a second shock wave wheel 61, a second movable tooth rack 62, a second center wheel 63 and a plurality of second rollers 64. The second shock wave wheel 61 is coaxially fixedly connected to the driving end of the second motor 4, and the second movable tooth rack 62 is rotatably sleeved on the second shock wave wheel 61 through a bearing 65, wherein the bearing 65 is located in the inner cavity of the base 2, and the bearing 65 is fixedly connected between the base 2 and the second movable tooth rack 62. The second center wheel 63 is rotatably sleeved on the second movable tooth rack 62, the second center wheel 63 is meshingly connected with the first center wheel 53, and the output gear 7 is coaxially fixedly connected to the second movable tooth rack 62. A plurality of second rollers 64 are installed on the second movable tooth rack 62, and the plurality of second rollers 64 are distributed around the center axis of the second movable tooth rack 62 at equal intervals. The second center wheel 63 is meshingly connected with the second movable tooth assembly 6. The side of the second roller 64 close to the second shock wheel 61 is used to contact the second shock wheel 61, and the side of the second roller 64 close to the second center wheel 63 is used to contact the second center wheel 63. The second roller 64 can rotate by the rotation of the first center wheel 53, and can also rotate by the rotation of the second shock wheel 61, thereby driving the second movable gear rack 62 to rotate.

[0043] Among them, reference Figure 4 and Figure 6 The outer working surface of the second shock wheel 61 is a second cam surface. The cross section of the second shock wheel 61 has three second protrusions, which are arranged at equal intervals. The inner working surface of the second center wheel 63 is a second curved surface 631. The second curved surface 631 is composed of a plurality of second raised surfaces. The edge of one side of the second raised surface is collinear with the edge of the adjacent second raised surface, and the edge of the other side of the second raised surface is collinear with the edge of another adjacent second raised surface. The plurality of second raised surfaces are distributed in a circle along the central axis of the second center wheel 63, and the plurality of second raised surfaces are formed by the second center wheel 63N. 2 Equally divided, N 2 Represents the number of second raised surfaces. A plurality of second outer teeth 632 are integrally formed on the second center wheel 63, and the plurality of second outer teeth 632 are equally spaced and distributed around the central axis of the second center shaft, and the second outer teeth 632 of the second center wheel 63 are meshed and connected with the first outer teeth 532 of the first center wheel 53. It should be understood that different reduction ratios can be achieved by changing the number of protrusions of the shock wheel, the number of raised surfaces of the curved surface, and the number of rollers.

[0044] When the first center wheel 53 drives the second movable tooth assembly 6 to rotate, the first center wheel 53 drives the second center wheel 63 in the second movable tooth assembly 6 to rotate, the second center wheel 63 drives the second movable tooth rack 62 to rotate on the second shock wave wheel 61, and the output gear 7 on the second movable tooth rack 62 rotates coaxially with the second movable tooth rack 62, thereby realizing the power output of the first motor 3.

[0045] When the driving end of the second motor 4 rotates, the driving end of the second motor 4 drives the second shock wheel 61 to rotate coaxially, the second shock wheel 61 drives the second movable gear rack 62 to rotate, and the second movable gear rack 62 drives the output gear 7 to rotate coaxially, thereby realizing the power output of the second motor 4. At this time, since the driving end of the first motor 3 does not rotate, the first center wheel 53 cannot rotate, and the second center wheel 63 meshing with the first center wheel 53 is stuck and cannot rotate. At the same time, in the above process, the second movable gear rack 62 cannot rotate by itself and drive the second shock wheel 61 to rotate, and the second center wheel 63 can drive the second movable gear rack 62 to rotate in the same direction.

[0046] When the driving end of the first motor 3 and the driving end of the second motor 4 rotate simultaneously, the power chains of the first motor 3 and the second motor 4 are driven simultaneously, so that the power of the first motor 3 and the second motor 4 can be combined and output. When any motor has a problem, the power of the single motor can be output according to the power chain of the single motor.

[0047] The self-locking structure in the present invention can realize the power output of dual motors or single motors without adding redundant electric control or introducing more failure components (such as brakes or clutches). When any motor is damaged (regardless of whether the damaged motor can rotate), it does not affect the power output of the other motor. The dual motors are backup for each other, thus improving the reliability of the steering gear. When the dual motors are driven, the driving speed is fast, and when the single motor is driven, the speed is generally that of the dual motors, which can be used as the input of the dual-speed steering gear. At the same time, it is more suitable for occasions that do not require high action speed but high action completion, such as the retracting and extending steering gear of the aircraft landing gear.

[0048] At the same time, the self-locking structure of the present invention is simple and compact, and the installation distance between the first motor 3 and the second motor 4 will not be pulled apart, which saves space and is particularly in line with the requirements of compact space on aircraft and missiles. In addition, the first motor 3 and the second motor 4 in the self-locking structure of the present invention can be of different specifications, and it is only necessary to make the torque of the first motor 3 and the second motor 4 similar, which greatly improves the reliability of the motor itself and its steering gear. More importantly, the self-locking structure of the present invention has self-locking properties. When the first motor 3 and the second motor 4 are powered off, the end load cannot reversely drive any motor through the steering gear, and can achieve power-off self-locking, which is very applicable in some occasions with high safety requirements (such as heavy object elevators and occasions where the hatch of a spacecraft is opened and closed).

[0049] An embodiment of the present invention further provides a steering gear, comprising the above-mentioned self-locking structure for dual-motor parallel driving.

[0050] As described above, the above embodiments are only used to introduce the technical solution of the present invention in detail, but the description of the above embodiments is only used to help understand the method and core idea of ​​the present invention and should not be understood as limiting the present invention. Changes or substitutions that can be easily thought of by technicians in this technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A self-locking structure for dual-motor parallel driving, comprising a base (2) and a first motor (3) and a second motor (4) arranged on the base (2), characterized in that: Also includes: A first movable tooth assembly (5), a second movable tooth assembly (6) and an output gear (7); the first movable tooth assembly (5) is arranged on the driving end of the first motor (3), the second movable tooth assembly (6) is arranged on the driving end of the second motor (4), and the first movable tooth assembly (5) and / or the second movable tooth assembly (6) are used to drive the output gear (7) to rotate; The second movable tooth assembly (6) comprises a second shock wave wheel (61), a second movable tooth rack (62), a second center wheel (63) and a plurality of second rollers (64); the second shock wave wheel (61) is coaxially arranged on the driving end of the second motor (4); the second movable tooth rack (62) is rotatably sleeved on the second shock wave wheel (61); the second center wheel (63) is rotatably sleeved on the second movable tooth rack (62); the output gear (7) is coaxially mounted on the second movable tooth rack (62); a plurality of second rollers (64) are mounted on the second movable tooth rack (62); two sides of the second rollers (64) are respectively used to contact with the outer working surface of the second shock wave wheel (61) and the inner working surface of the second center wheel (63); the outer working surface is a second cam surface (611), and the inner working surface is a second curved surface (631); the second center wheel (63) is meshedly connected with the first movable tooth assembly (5).

2. A self-locking structure for dual motor parallel drive according to claim 1, characterized in that: The first movable tooth assembly (5) comprises a first shock wave wheel (51), a first movable tooth frame (52), a first center wheel (53) and a plurality of first rollers (54); the first shock wave wheel (51) is coaxially arranged on the driving end of the first motor (3); the first movable tooth frame (52) is fixedly connected to the base (2) and sleeved on the first shock wave wheel (51); the first center wheel (53) is rotatably sleeved on the first movable tooth frame (52); and the plurality of first rollers (54) are installed on the first movable tooth frame (52); the opposite sides of the first roller (54) are respectively used to contact the outer working surface of the first shock wave wheel (51) and the inner working surface of the first center wheel (53); the outer working surface is the first cam surface (511), and the inner working surface is the first curved surface (531); the first center wheel (53) is meshingly connected with the second center wheel (63).

3. A self-locking structure for dual motor parallel drive according to claim 1, characterized in that: The cross section of the first shock wheel (51) has three first protrusions, and the three first protrusions are arranged at equal intervals.

4. A self-locking structure for dual motor parallel drive as claimed in claim 3, characterized in that: The first curved surface (531) is composed of a plurality of first convex surfaces, the edges on both sides of the first convex surface are respectively collinear with the edges of two adjacent first convex surfaces, the plurality of first convex surfaces are distributed in a circular manner along the central axis of the first center wheel (53), and the plurality of first convex surfaces are equally divided by the first center wheel (53) N1, where N1 represents the number of the first convex surfaces.

5. A self-locking structure for dual motor parallel drive as claimed in claim 2, characterized in that: The cross section of the second shock wheel (61) has three second protrusions, and the three second protrusions are arranged at equal intervals.

6. A self-locking structure for dual motor parallel drive according to claim 5, characterized in that: The second curved surface (631) is composed of a plurality of second convex surfaces, the edges on both sides of the second convex surface are respectively collinear with the edges of two adjacent second convex surfaces, the plurality of second convex surfaces are distributed in a circular pattern along the central axis of the second center wheel (63), and the plurality of second convex surfaces are divided equally by the second center wheel (63) N2, where N2 represents the number of the second convex surfaces.

7. A self-locking structure for dual motor parallel drive as claimed in claim 2, characterized in that: The second movable gear frame (62) is rotatably sleeved on the second shock wheel (61) via a bearing (65), and the bearing (65) is fixedly connected between the base (2) and the second movable gear frame (62).

8. A self-locking structure for dual motor parallel drive as claimed in claim 2, characterized in that: The first center wheel (53) has first external teeth (532), the second center wheel (63) has second external teeth (632), and the first external teeth (532) of the first center wheel (53) are meshingly connected with the second external teeth (632) of the second center wheel (63).

9. A self-locking structure for dual motor parallel drive as claimed in claim 2, characterized in that: It also includes a structural shell (1) arranged on the base (2).

10. A steering gear, characterized in that: It comprises a self-locking structure for dual-motor parallel drive as described in any one of claims 1 to 9.

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