A self-locking structure for dual-motor parallel drive and a steering gear

Abstract

The present invention relates to the technical field of aviation technology, and particularly relates to a self-locking structure and a servo for dual-motor parallel drive. Among them, a self-locking structure for dual-motor parallel drive includes a base, a first motor and a second motor arranged on the base, and further includes: a first movable tooth assembly, a second movable tooth assembly and an output gear; the first movable tooth assembly is arranged on the driving end of the first motor, the second movable tooth assembly is arranged on the driving end of the second motor, and the first movable tooth assembly and / or the second movable tooth assembly is used to drive the output gear to rotate. This self-locking structure can improve the reliability of the servo without adding redundant electronic control and introducing more failure components.

Description

Technical Field

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

[0002] Aircraft or their aerospace equipment have high reliability requirements for servos. To meet such high reliability requirements, servos generally adopt dual motors with independent control drive boards (this structure is a dual-redundancy structure) to improve the reliability of the entire servo in task completion.

[0003] In related technologies, there are the following three common dual-redundancy structures in the industry. The first is the dual-motor direct drive type, where the output shaft gears of the two motors are simultaneously engaged with the servo output gear. The defect of this structure is that when one motor is damaged, the output force will be reduced by 1 time, and in some mechanisms, the reduced force may not be able to drive. The second is the clutch drive type, where a clutch is added to the motor output shaft, and the clutch is closed when the corresponding motor is needed. This structure requires electronic control of the clutch. If there are electronic control logic problems or the clutch itself is damaged, it may lead to inability to drive. The third is the planetary gear structure type, which is the most used structure in the industry, but brakes need to be added to the two motors respectively. Once the brake on one of the motors fails, the other motor will not be able to output power, and 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 adding redundant electronic control or introducing more failure components, thus resulting in 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; the self-locking structure for dual-motor parallel drive does not need to add redundant electronic control, nor introduce more failure components, and it can improve the reliability of the servo; and the reliability of the servo adopting the above self-locking structure in task completion can be effectively improved.

[0006] 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, including a base and a first motor and a second motor disposed on the base, and further including: a first movable tooth assembly, a second movable tooth assembly, and an output gear; the first movable tooth assembly is disposed on the driving end of the first motor, the second movable tooth assembly is disposed on the driving end of the second motor, and the first movable tooth assembly and / or the second movable tooth assembly is used to drive the output gear to rotate;

[0008] The second movable tooth assembly includes a second shock wheel, a second movable tooth frame, a second central wheel, and a plurality of second rollers; the second shock wheel is coaxially arranged on the driving end of the second motor, the second movable tooth frame is rotatably sleeved on the second shock wheel, the second central wheel is rotatably sleeved on the second movable tooth frame, and the output gear is coaxially installed on the second movable tooth frame; a plurality of second rollers are installed on the second movable tooth frame, and both sides of the second rollers are respectively used to contact the outer working surface of the second shock wheel and the inner working surface of the second central wheel. The outer working surface is the second cam surface, and the inner working surface is the second curved surface; the second central 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 central wheel cannot rotate, but the driving end of the second motor can drive the second shock wheel to rotate coaxially. Since the second movable tooth frame is rotatably sleeved on the second shock wheel, the rotation of the second shock wheel will drive the rotation of the second movable tooth frame, 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 central wheel to rotate. At this time, the second central wheel contacts a plurality of second rollers through the second curved surface, thereby driving the rotation of the second movable tooth frame, and further driving the output gear to rotate coaxially. When the driving ends of the first motor and the second motor rotate simultaneously, the second central wheel and the second shock wheel simultaneously drive the second movable tooth frame to rotate, thereby driving the output gear to rotate coaxially. By fixedly connecting the first movable tooth frame, rotatably connecting the second movable tooth frame, and setting each component, the first motor and the second motor can be mutually self-locked, and the two motors can be independent of each other and can output power simultaneously. It can also be normally implemented when the first motor and the second motor are of different specifications. Therefore, the reliability of the servo can be improved.

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

[0011] By adopting the above technical solution, when the driving end of the first motor rotates while 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 a plurality of first rollers. Since the first movable tooth rack is fixed, the rotation of the first shock wave wheel will cause the plurality of first rollers to rotate. The plurality of first rollers contact the first curved surface of the first central gear, thereby driving the first central gear to rotate. Then the first central gear can drive the second central gear to rotate, and the second central gear can drive the output gear to rotate through the second movable tooth rack. At the same time, the first central gear cannot rotate by itself and drive the first shock wave wheel to rotate in reverse, having a self-locking function. When the driving end of the second motor rotates while 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 simultaneously, they can jointly drive the output gear to rotate. Therefore, the first motor and the second motor can be used as driving sources respectively, and can also be used as a common driving source. When any one of the motors is damaged, it does not affect the power chain output of the other motor, without adding redundant electronic control and without introducing more failure components, so the reliability of the steering gear can be improved.

[0012] Optionally, the cross-section of the first shock wave wheel has three first protruding parts, and the three first protruding parts are arranged at equal intervals. The first protruding parts are used for applying force to the first rollers.

[0013] Optionally, the first curved surface is composed of a plurality of first protruding surfaces. The two side edges of the first protruding surface are respectively collinear with the edges of two adjacent first protruding surfaces. The plurality of first protruding surfaces are distributed around the central axis of the first central gear, and the plurality of first protruding surfaces are equally divided by the first central gear into N1, where N1 represents the number of first protruding surfaces. The first protruding surfaces are used for applying force to the first rollers.

[0014] Optionally, the cross-section of the second shock wave wheel has three second protruding parts, and the three second protruding parts are arranged at equal intervals. The second protruding parts are used for applying force to the second rollers.

[0015] Optionally, the second curved surface is composed of a plurality of second protruding surfaces. The two side edges of the second protruding surface are respectively collinear with the edges of two adjacent second protruding surfaces. The plurality of second protruding surfaces are distributed around the central axis of the second central gear, and the plurality of second protruding surfaces are equally divided by the second central gear into N2, where N2 represents the number of second protruding surfaces. The second protruding surfaces are used for applying force to the second rollers.

[0016] Optionally, the second movable tooth rack is rotatably sleeved on the second shock wave wheel through a bearing. The bearing is fixedly connected between the base and the second movable tooth rack. Through the bearing, the rotation of the second movable tooth rack can be realized, and the second movable tooth rack can be sleeved on the second shock wave wheel.

[0017] Optionally, the first central gear has first external teeth, and the second central gear has second external teeth. The first external teeth of the first central gear are meshed and connected with the second external teeth of the second central gear. By providing the first external teeth and the second external teeth, the meshing of the first central gear and the second central gear can be achieved.

[0018] Optionally, different reduction ratios are achieved by combining the number of protruding portions of the shock wave wheel, the number of convex surfaces of the curved surface, and the number of rollers.

[0019] Optionally, a self-locking structure for dual-motor parallel drive further includes a structural housing disposed on the base to protect each part.

[0020] In a second aspect, the present invention provides a steering gear, including a self-locking structure for dual-motor parallel drive according to any one of the first aspects, so as to effectively improve the reliability of completing the tasks of the steering gear.

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

[0022] 1. The self-locking structure can achieve the power output of dual motors or single motor without adding redundant electronic control and introducing more failure components. When any one of the motors is damaged, it does not affect the power output of the other motor. The two motors are backup for each other, and the first motor and the second motor in the self-locking structure can adopt different specifications, as long as the torques of the first motor and the second motor are similar. Therefore, the reliability of the steering gear can be improved.

[0023] 2. When driven by dual motors, the driving speed is fast. When driven by a single motor, the speed is half of that of dual motors, which can be used as the input of a two-speed steering gear. At the same time, it is more suitable for occasions where the requirement for the action speed is not high but the requirement for the action completion degree is high, such as the retractable steering gear of the landing gear of an aircraft.

[0024] 3. The self-locking structure is simple and compact, does not increase the installation distance between the first motor and the second motor, saves space, and is especially suitable for the space-compact requirements on board an aircraft, in a missile, etc.

[0025] 4. When the first motor and the second motor are powered off, the end load cannot reverse-drive any one of the motors through the steering gear, and power-off self-locking can be achieved. Therefore, the self-locking structure is applicable to some occasions with high safety requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 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 It 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 It 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 reference numerals: 1, structural housing; 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 frame; 53, first central gear; 531, first curved surface; 532, first external teeth; 54, first roller; 6, second movable tooth assembly; 61, second shock wave wheel; 611, second cam surface; 62, second movable tooth frame; 63, second central gear; 631, second curved surface; 632, second external teeth; 64, second roller; 65, bearing; 7, output gear. Detailed implementation manners

[0033] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to 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 limit the present invention. As used in the specification and appended claims of the present invention, the singular forms "a", "an", "the", "above", "said", "this" are also intended to include the plural forms, unless the context clearly indicates otherwise. 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 of the listed items. The term "exemplary" means "serving as an example, embodiment or illustration", and any embodiment described as "exemplary" here does not have to be construed as superior to or better than other embodiments. The terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, unless otherwise stated, the meaning of "plurality" is two or more.

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

[0036] Reference Figure 1 , a self-locking structure for dual-motor parallel drive, includes a structural housing 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] Reference Figure 1 , Figure 2 and Figure 3 , the structural housing 1 and the base 2 are fixedly connected, and the fixed connection method can be screw connection, welding, riveting or the like. The first motor 3 and the second motor 4 are both fixedly connected to the structural housing 1, and thus are fixedly connected to the base 2 by being fixedly connected to the structural housing 1. And the first motor 3 and the second motor 4 are arranged side by side, and the driving ends of the first motor 3 and the second motor 4 face the same direction. The structural housing 1 and the base 2 form an inner cavity, the first movable tooth assembly 5 is arranged at the driving end of the first motor 3, the second movable tooth assembly 6 is arranged at the driving end of the second motor 4, the first movable tooth assembly 5 and the second movable tooth assembly 6 are located in the inner cavity, and the output gear 7 is arranged on the second movable tooth assembly 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] Reference Figure 1 and Figure 4 , the first movable tooth assembly 5 includes a first shock wave wheel 51, a first movable tooth frame 52, a first central wheel 53, and a plurality of first rollers 54. The first shock wave wheel 51 is coaxially and fixedly connected to 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. The first central wheel 53 is rotatably sleeved on the first movable tooth frame 52. The plurality of first rollers 54 are installed on the first movable tooth frame 52, and the plurality of first rollers 54 are evenly distributed around the central axis of the first movable tooth frame 52 at equal intervals. The first central wheel 53 is meshed and 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 central wheel 53. The first roller 54 can rotate through the rotation of the first shock wave wheel 51, thereby driving the first central 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, which are equidistantly arranged. The inner working surface of the first central wheel 53 is the first curved surface 531, which is composed of multiple first convex surfaces. One side edge of the first convex surface is collinear with the edge of the adjacent first convex surface, and the other side edge of the first convex surface is collinear with the edge of another adjacent first convex surface. The multiple first convex surfaces are distributed in a circular pattern along the central axis of the first central wheel 53, and the multiple first convex surfaces are equally divided into N1 parts by the first central wheel 53, where N1 represents the number of the first convex surfaces. A plurality of first external teeth 532 are integrally formed on the first central wheel 53, and the plurality of first external teeth 532 are equidistantly distributed in a circular pattern along the central axis of the first central axis. The first central 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 multiple first rollers 54 on the first movable tooth carrier 52 to rotate. The multiple first rollers 54 drive the first central wheel 53 to rotate in the reverse direction. The first central wheel 53 drives the second movable tooth assembly 6 to rotate, thereby driving the output gear 7 to rotate. However, in the above process, the first central wheel 53 cannot rotate by itself and drive the first shock wheel 51 to rotate in the reverse direction.

[0042] Reference Figure 1 and Figure 4 , the second movable tooth assembly 6 includes a second shock wheel 61, a second movable tooth carrier 62, a second central wheel 63, and multiple second rollers 64. The second shock wheel 61 is coaxially and fixedly connected to the driving end of the second motor 4. The second movable tooth carrier 62 is rotatably sleeved on the second shock wheel 61 through a bearing 65. Among them, 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 carrier 62. The second central wheel 63 is rotatably sleeved on the second movable tooth carrier 62. The second central wheel 63 is meshed and connected with the first central wheel 53. The output gear 7 is coaxially and fixedly connected to the second movable tooth carrier 62. The multiple second rollers 64 are installed on the second movable tooth carrier 62, and the multiple second rollers 64 are equidistantly distributed in a circular pattern along the central axis of the second movable tooth carrier 62. The second central wheel 63 is meshed and connected with the second movable tooth assembly 6. One side of the second roller 64 close to the second shock wheel 61 is used to contact the second shock wheel 61, and one side of the second roller 64 close to the second central wheel 63 is used to contact the second central wheel 63. The second roller 64 can rotate through the rotation of the first central wheel 53 and can also rotate through the rotation of the second shock wheel 61, thereby driving the second movable tooth carrier 62 to rotate.

[0043] Among them, reference Figure 4 and Figure 6, the outer working surface of the second shock wheel 61 is the 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 central wheel 63 is the second curved surface 631, which is composed of a plurality of second convex surfaces. One side edge of the second convex surface is collinear with the edge of the adjacent second convex surface, and the other side edge of the second convex surface is collinear with the edge of another adjacent second convex surface. The plurality of second convex surfaces are distributed around the central axis of the second central wheel 63, and the plurality of second convex surfaces are equally divided into N2 by the second central wheel 63, where N2 represents the number of second convex surfaces. A plurality of second external teeth 632 are integrally formed on the second central wheel 63, and the plurality of second external teeth 632 are distributed around the central axis of the second central axis at equal intervals. The second external teeth 632 of the second central wheel 63 are meshed and connected with the first external teeth 532 of the first central wheel 53. It should be understood that different reduction ratios can be achieved by changing the combination of the number of protrusions of the shock wheel, the number of convex surfaces of the curved surface, and the number of rollers.

[0044] When the first central wheel 53 drives the second movable tooth assembly 6 to rotate, the first central wheel 53 drives the second central wheel 63 in the second movable tooth assembly 6 to rotate. The second central wheel 63 drives the second movable tooth frame 62 to rotate on the second shock wheel 61, and the output gear 7 on the second movable tooth frame 62 rotates coaxially with the second movable tooth frame 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 tooth frame 62 to rotate, and the second movable tooth frame 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 central wheel 53 cannot rotate, and the second central wheel 63 meshed and connected with the first central wheel 53 is stuck and cannot rotate. At the same time, in the above process, the second movable tooth frame 62 cannot rotate by itself and drive the second shock wheel 61 to rotate, and the second central wheel 63 can drive the second movable tooth frame 62 to rotate in the same direction.

[0046] When the driving ends of the first motor 3 and the second motor 4 rotate simultaneously, the power chains of the first motor 3 and the second motor 4 are driven simultaneously, and the combined power output of the first motor 3 and the second motor 4 can be realized. When any one of the motors has a problem, the single-motor power output can be carried out according to the power chain of the single motor as described above.

[0047] The self-locking structure in the present invention can achieve the power output of dual motors or single motor without adding redundant electronic control or introducing more failure components (such as brakes or clutches). When any one of the motors is damaged (regardless of whether the damaged motor can rotate), it does not affect the power output of the other motor. The dual motors serve as backups for each other, thus improving the reliability of the servo. When driven by dual motors, the driving speed is fast. When driven by a single motor, the speed is half of that of the dual motors, which can be used as the input of a two-speed servo. Meanwhile, it is more suitable for occasions where the requirement for action speed is not high but the requirement for action completion is high, such as the retractable servo of the landing gear of an aircraft.

[0048] Meanwhile, the self-locking structure in the present invention is simple and compact, does not increase the installation distance between the first motor 3 and the second motor 4, saves space, and is especially suitable for the space-compact requirements on aircraft, missiles, etc. Moreover, different specifications can be adopted for the first motor 3 and the second motor 4 in the self-locking structure of the present invention, as long as the torques of the first motor 3 and the second motor 4 are similar, which greatly improves the reliability of the motor itself and its servo. More importantly, the self-locking structure in the present invention has self-locking property. When the first motor 3 and the second motor 4 are powered off, the end load cannot reverse-drive any one of the motors through the servo, and power-off self-locking can be achieved, which is very applicable in some occasions with high safety requirements (such as heavy-lift elevators, occasions for maintaining the opening and closing of spacecraft hatches).

[0049] The embodiment of the present invention also provides a servo, including the above self-locking structure for dual-motor parallel drive.

[0050] As mentioned above, the above embodiments are only used to introduce the technical solutions of the present invention in detail. However, the description of the above embodiments is only used to help understand the method and its core idea of the present invention, and should not be construed as a limitation of the present invention. Any changes or substitutions that can be easily thought of by those skilled in the art 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); and the output gear (7) is coaxially mounted on the second movable tooth rack (62); the 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 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 meshingly 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 mounted on the first movable tooth frame (52); 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 a first cam surface (511) and the inner working surface is a 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 as claimed in claim 2, 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 circumferential manner along the central axis of the first center wheel (53), and the plurality of first convex surfaces are divided equally 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) by N2, where N2 represents the number of 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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