A tandem synchronous dual motor drive member

Abstract

The application relates to the technical field of motor equipment, in particular to a series-connection synchronous double-motor transmission component, which comprises a main shaft body, the main shaft body is fixedly connected with two groups of main gear wheels, one group of main motors is arranged on the side surface of each of the two groups of main gear wheels, and the two groups of main motors are connected in series in a circuit. The centrifugal self-disconnection linkage mechanism is used to realize instantaneous physical isolation of a power path of a fault motor, the healthy motor is prevented from being overloaded and burnt, a pure mechanical collision alarm design is adopted, the acoustic alarm can be reliably triggered in a severe environment, the adjustable centrifugal triggering mechanism is used to flexibly adapt to different rotating speeds and load demands, and the system cost is obviously reduced and the environmental adaptability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor equipment, in particular to a series-connection synchronous double-motor transmission component. BACKGROUND

[0002] In a space-limited use scenario (such as a robot joint, a portable power tool, etc.), a single large-size motor cannot be installed, and in order to meet the driving load demand, two small-size motors of the same power are used to drive an output shaft through a transmission mechanism to meet the high load driving demand in a narrow space in engineering applications.

[0003] However, the use of two motors has the following problems:

[0004] When one of the motors is stalled due to mechanical jamming (such as foreign matter jamming in the gear box, friction between the rotor and the stator), winding short circuit (insulation layer aging or overvoltage breakdown) or bearing damage (lubrication failure causing ball jamming), etc., the rigidly connected transmission mechanism will cause the healthy motor to be in the dilemma of "reverse driving fault motor": the rotor of the fault motor is equivalent to forming a fixed resistance on the output shaft, and the healthy motor needs to bear the rated load torque and the static friction torque of the fault motor, resulting in a sharp rise in the armature current to several times the rated value. In the lithium battery power supply system of a portable tool, such overload current may cause the battery protection board to shut off the power supply urgently; and in the servo driving system of a robot joint, even if the driver has short-time overload capacity, the motor winding will overheat due to the rapid increase in copper loss within tens of seconds, the insulation paint will carbonize and smoke, eventually causing demagnetization of the permanent magnet or burning of the coil, and thus causing the entire driving system to be paralyzed.

[0005] In the prior art, in order to realize fault alarm, an electronic monitoring module needs to be installed on the motor to identify abnormal states. The overall detection cost is high, and the motor stall fault cannot be economically and timely known. SUMMARY

[0006] In order to overcome the above technical problems, the purpose of the present application is to provide a series-connection synchronous double-motor transmission component to solve the problem of overloading and burning of the healthy motor caused by the stall of a single motor due to mechanical jamming, winding short circuit, etc.

[0007] To achieve the above purpose, the present application provides the following technical solution: a series-connection synchronous double-motor transmission component, comprising a main shaft body, the main shaft body being fixedly connected with two groups of main gears, each group of main gears being provided with a group of main motors on the side surface, the two groups of main motors being connected in series circuit, wherein, further comprising:

[0008] The centrifugal self-disconnection linkage mechanism is connected between the main motor and the main gear, and is used for transmitting power to the main gear and the main shaft body when the main motor works normally, and disconnecting power transmission when the main motor is faulted; the centrifugal self-disconnection linkage mechanism comprises a centrifugal shaft assembly, a clutch assembly and a transmission assembly; the centrifugal shaft assembly comprises a middle shaft one and a middle shaft two which are fixedly connected with a working end of the main motor, the middle shaft one is fixedly connected with a guide sleeve through a groove, the outer wall of the guide sleeve is rotationally connected with an adjusting ring, and the adjusting ring is slidingly matched with a guide frame through a spiral protrusion; the centrifugal self-disconnection linkage mechanism further comprises a warning assembly, which comprises a convex rod fixed to an outer inclined block and a bell component group on the side of the cylinder shell, and the convex rod collides with the rotating bell component group to trigger an alarm when a fault occurs.

[0009] Preferably, the guide frame is slidingly connected with the centrifugal inclined block, and a tension spring is arranged between the centrifugal inclined block and the guide frame; the clutch assembly comprises an outer inclined block, a dynamic clutch piece and a static clutch piece, the outer inclined block is slidingly connected with the cylinder shell of the transmission assembly, the dynamic clutch piece is fixed to the outer inclined block, and the static clutch piece is fixed to the cylinder shell; the centrifugal inclined block is in contact with the outer inclined block through an inclined surface, the centrifugal force drives the centrifugal inclined block to push the outer inclined block to move axially, so that the dynamic clutch piece and the static clutch piece are frictionally engaged; the outer wall of the cylinder shell of the transmission assembly is fixed with a gear ring, and the gear ring is engaged with the main gear.

[0010] Preferably, the guide frame moves radially in the sliding groove of the guide sleeve through the spiral protrusion, and the guide frame is used for adjusting the initial distance between the centrifugal inclined block and the outer inclined block.

[0011] Preferably, the outer wall of the adjusting ring is provided with an anti-skid ring, and the position is locked through a limiting plate and a screw, and the limiting plate is fixedly connected with the guide sleeve.

[0012] Preferably, the contact surface of the centrifugal inclined block and the outer inclined block is an inclined surface, the inclination angle of the inclined surface is 15°, and the outer inclined block is pushed to move axially under the action of the centrifugal force.

[0013] Preferably, a tension spring is arranged between the outer inclined block and the cylinder shell, and is used for resetting the outer inclined block and the dynamic clutch piece when a fault occurs.

[0014] Preferably, the cylinder shell is rotationally connected with the middle shaft two through a cylinder frame, the cylinder frame is fixedly connected with a mounting frame, and the mounting frame rotationally supports the middle shaft one and the middle shaft two.

[0015] Preferably, the bell component group of the warning assembly comprises a metal bell and a spring connected with the cylinder shell, the end of the convex rod is provided with a metal impact head, and the cylinder shell rotates and periodically collides with the static convex rod to produce sound when a fault occurs.

[0016] Preferably, the friction surfaces of the dynamic clutch piece and the static clutch piece are coated with a tungsten carbide wear-resistant layer, and a anti-disengagement limiting block is arranged in the guide frame to limit the maximum displacement of the centrifugal inclined block and prevent the centrifugal inclined block from disengaging from the guide frame.

[0017] Preferably, the centrifugal shaft assembly, clutch assembly and transmission assembly are two symmetrical groups, respectively connected to two main motors, independently responding to faults and triggering disconnection.

[0018] Compared with the prior art, the application has the following advantages:

[0019] 1. When one main motor is stalled due to mechanical jamming, winding short circuit or bearing damage, the centrifugal self-disconnection mechanism retracts the centrifugal wedge and resets the tension spring, drives the dynamic clutch plate and the static clutch plate to separate quickly, and completely cuts off the power transmission path between the fault motor and the main gear. This purely mechanical disconnection mechanism avoids the forced reverse driving of the healthy motor by the fault motor, eliminates the risk of overload current and temperature rise out of control, and ensures that the healthy motor always operates safely within the rated load;

[0020] 2. Through the mechanical impact design of the cam and bell component group, when the fault motor is disconnected, the rotating cylinder shell drives the bell component group and the stationary cam to impact periodically, generating an alarm. This structure does not require electronic sensors, controllers or external power supply, significantly reducing system cost, while maintaining 100% alarm reliability in dusty, high-temperature and vibrating environments, completely solving the problem of failure and complex maintenance of traditional electronic monitoring modules;

[0021] 3. By rotating the adjustment ring to drive the guide frame to move radially, the initial distance between the centrifugal wedge and the outer wedge is accurately adjusted, thereby linearly changing the rotation speed threshold required to trigger the clutch engagement. This design allows users to customize the trigger conditions according to load characteristics (such as low speed high torque or high speed low torque), breaking through the limitations of fixed threshold of traditional centrifugal clutches, greatly expanding the application scenarios of the device. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure;

[0023] Figure 2 is a schematic diagram of the cross-sectional structure of the main motor and the centrifugal self-disconnection mechanism;

[0024] Figure 3 is Figure 2 is a schematic diagram of the structure at point A;

[0025] Figure 4 is a schematic diagram of the centrifugal shaft assembly, transmission assembly and mounting bracket;

[0026] Figure 5 is a schematic diagram of the guide sleeve and guide frame part;

[0027] Figure 6 is a schematic diagram of the adjustment ring and guide frame part;

[0028] Figure 7 is a schematic diagram of the centrifugal shaft assembly and cam part;

[0029] Figure 8 Structure diagram of clutch assembly part.

[0030] In the figure: 11, main shaft body; 12, main gear; 13, main motor; 02, centrifugal shaft assembly; 21, middle shaft one; 22, middle shaft two; 23, guide sleeve; 24, adjusting ring; 25, limiting plate; 26, guide frame; 27, centrifugal inclined block; 03, clutch assembly; 31, outer inclined block; 32, dynamic clutch piece; 33, static clutch piece; 34, outer ring; 04, transmission assembly; 41, cylinder shell; 42, gear ring; 43, cylinder frame; 05, warning assembly; 51, convex rod; 52, bell component group; 06, mounting frame. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0032] An embodiment provided by the present application comprises:

[0033] Reference Figure 1 and Figure 2 A series connection synchronous double-motor transmission component comprises a main shaft body 11, the main shaft body 11 is fixedly connected with two groups of main gears 12, and one group of main motors 13 is arranged on the side surface of each group of main gears 12, the two groups of main motors 13 are connected in series circuit, and the controller is used for simultaneously controlling the work of the two groups of main motors 13, wherein the series connection synchronous double-motor transmission component further comprises:

[0034] A centrifugal self-disconnection linkage mechanism is used for connecting between the main motor 13 and the main gear 12, enabling transmission, when the main motor 13 works, the centrifugal self-disconnection linkage mechanism outputs power to the main gear 12 and the main shaft body 11, and when the main motor 13 is faulted and locked, the centrifugal self-disconnection linkage mechanism disconnects the connection between the main motor 13 and the main gear 12, so as to avoid that when the other main motor 13 normally works, the locked main motor 13 is reversely driven through the main shaft body 11 and the main gear 12.

[0035] Reference Figure 2 and Figure 3 The centrifugal self-disconnection linkage mechanism comprises a centrifugal shaft assembly 02, a clutch assembly 03 and a transmission assembly 04.

[0036] Reference Figure 2 and Figure 3, the centrifugal shaft assembly 02 is used for rotating with the working end of the main motor 13, the centrifugal shaft assembly 02 comprises a middle shaft one 21, one end of the middle shaft one 21 is fixedly connected with a middle shaft two 22, the end of the middle shaft two 22 away from the middle shaft one 21 is fixedly connected with the working end of the main motor 13, the middle shaft one 21 is fixedly connected with a guide sleeve 23 through a groove, the middle shaft one 21 and the middle shaft two 22 are on the same axis, the outer wall of the guide sleeve 23 is rotatably connected with an adjusting ring 24, the adjusting ring 24, the guide sleeve 23, the middle shaft one 21 and the middle shaft two 22 are on the same axis, the side surface of the adjusting ring 24 is provided with a limiting plate 25, the limiting plate 25 is provided with a screw through a hole, the adjusting ring 24 is provided with a plurality of threaded holes corresponding to the screw, the adjusting ring 24 is connected with the limiting plate 25 through the screw, and the limiting plate 25 is fixedly connected with the guide sleeve 23.

[0037] Reference Figures 3-6 , the guide sleeve 23 is in sliding contact with a guide frame 26, the side surface of the adjusting ring 24 is provided with a spiral protrusion, and the guide frame 26 is in contact with the adjusting ring 24 through the spiral protrusion, the outer wall of the adjusting ring 24 is connected with an anti-skid ring, when the screw on the limiting plate 25 is removed, the adjusting ring 24 is rotated by holding the anti-skid ring, at this time, the adjusting ring 24 can drive the guide frame 26 to move radially in the sliding groove of the guide sleeve 23 because the adjusting ring 24 is rotatably connected with the guide sleeve 23, and Figure 3 , the guide frame 26 can move upwards or downwards. The guide frame 26 is in sliding contact with a centrifugal inclined block 27, a tension spring is connected between the centrifugal inclined block 27 and the guide frame 26, and the guide frame 26 is provided with an anti-falling limiting block corresponding to the centrifugal inclined block 27, which is mainly used to prevent the centrifugal inclined block 27 from falling out of the sliding groove of the guide frame 26. The specific structure of the guide sleeve 23 is shown in Figure 5 , and the relationship between the guide frame 26 and the adjusting ring 24 is shown in Figure 6 , when the adjusting ring 24 is rotated, the guide frame 26 can move radially through the guide cooperation of the threaded protrusion and the guide sleeve 23, and this movement is mainly to adjust the distance between the guide frame 26 and the outer inclined block 31, so that the required rotating speed of the centrifugal inclined block 27 and the outer inclined block 31 can be adjusted, and after the position of the guide frame 26 is adjusted, the position of the guide frame 26 can be locked by connecting the limiting plate 25 and the adjusting ring 24 through the screw.

[0038] Reference Figure 3, the clutch assembly 03 includes outer inclined block 31, dynamic clutch piece 32, outer ring 34 and static clutch piece 33, the inner wall between outer inclined block 31 and outer ring 34 is provided with tension spring, wherein the outer inclined block 31 is in sliding contact with the inner wall of the cylinder shell 41, the outer inclined block 31 is fixedly connected with the dynamic clutch piece 32, the static clutch piece 33 is fixedly connected in the cylinder shell 41 through the groove, the outer ring 34 is rotatably connected with the cylinder shell 41, wherein the outer ring 34 is provided with a connecting bracket between the guide sleeve 23, the outer ring 34 is rotated with the guide sleeve 23, under the action of centrifugal force, the centrifugal inclined block 27 will be thrown out to contact the outer inclined block 31, the centrifugal inclined block 27 and the outer inclined block 31 are in contact through the inclined surface, under the action of centrifugal force, the centrifugal inclined block 27 will apply a thrust to the outer inclined block 31, and the thrust receiving position is the inclined surface between them, and then the outer inclined block 31 will move along the axis to the direction of the static clutch piece 33, that is Figure 3 move to the left, the outer inclined block 31 drives the dynamic clutch piece 32 to move to the left, at this time the dynamic clutch piece 32 rotates while moving to the static clutch piece 33, and the static clutch piece 33 is static at this time, the dynamic clutch piece 32 will frictionally contact the static clutch piece 33, and the tension spring between the outer inclined block 31 and the cylinder shell 41 is stretched.

[0039] When the main motor 13 rotates to the rotating speed, the transmission assembly 04 is driven to rotate by the centrifugal shaft assembly 02 and the clutch assembly 03, the transmission assembly 04 comprises a cylinder shell 41, the outer wall of the cylinder shell 41 is fixedly connected with a gear ring 42 and a cylinder frame 43, the gear ring 42 is engaged with the main gear 12, the cylinder frame 43 is rotatably connected with the cylinder shell 41, the cylinder frame 43 is used for stabilizing the position of the cylinder shell 41, and the cylinder shell 41 is further rotatably connected with the middle shaft two 22.

[0040] Reference Figure 2 and Figure 7 , the warning assembly 05 is used for issuing a bell alarm through mechanical cooperation with the clutch assembly 03 when the main motor 13 fails, the warning assembly 05 comprises a convex rod 51 and a bell component group 52, the convex rod 51 is in sliding contact with the outer ring 34 through a hole, one end of the convex rod 51 is fixedly connected with the outer inclined block 31, the other end of the convex rod 51 is provided with a metal impact head, if one of the two main motors 13 fails, the main motor 13 is locked due to damage, and then the centrifugal inclined block 27 cannot be thrown out under the centrifugal force, the tension spring between the centrifugal inclined block 27 and the guide frame 26 pulls the centrifugal inclined block 27 back to the sliding groove of the guide frame 26, the centrifugal inclined block 27 is separated from the contact of the outer inclined block 31, the tension spring between the outer inclined block 31 and the cylinder shell 41 also pulls the outer inclined block 31 back, the outer inclined block 31 moves to the right Figure 3 ), drives the convex rod 51 to move together, the bell component group 52 is composed of a metal bell and a spring, and the spring is connected between the metal bell and the cylinder shell 41.

[0041] When one set of main motors 13 fails, the other set of normal main motors 13 can still drive the main shaft body 11 and the main gear 12 to rotate, and the barrel shell 41 also rotates, and the bell component group 52 connected to the side of the barrel shell 41 will collide with the stationary convex rod 51, and the bell component group 52 will produce a sound to remind the staff in the range that the main motor 13 has failed and needs to be maintained.

[0042] Two sets of mounting racks 06 are further arranged outside the middle shaft one 21, and the two sets of mounting racks 06 are fixedly connected with the barrel rack 43, one set of mounting racks 06 is rotatably connected with the middle shaft one 21, and the other set of mounting racks 06 is rotatably connected with the middle shaft two 22, and the two sets of mounting racks 06 and the barrel rack 43 both play an auxiliary role of supporting and installing the overall mechanism.

[0043] Working principle:

[0044] The application provides a series of synchronous double-motor transmission components, which realize cooperative driving and automatic fault isolation of double motors through a centrifugal self-disconnection linkage mechanism.

[0045] Cooperative driving of double motors:

[0046] When two main motors 13 are normally started and reach the set rotating speed, the centrifugal shaft assembly 02 rotates with the motor working end. The centrifugal inclined block 27 of the centrifugal shaft assembly 02 is thrown out along the sliding groove of the guide frame 26 under the action of centrifugal force and overcomes the resistance of the tension spring. The centrifugal inclined block 27 contacts the inclined surface of the outer inclined block 31 through the inclined surface thereof, applies an axial thrust to the outer inclined block 31, and drives the outer inclined block 31 and the movable clutch piece 32 to move towards the static clutch piece 33.

[0047] The movable clutch piece 32 gradually presses the static clutch piece 33 (which is fixed in the barrel shell 41) during the axial movement, and a friction pair is formed. At this time, the movable clutch piece 32 and the static clutch piece 33 transmit torque through friction, and the barrel shell 41 rotates with the motor rotating speed. The gear ring 42 on the outer wall of the barrel shell 41 meshes with the main gear 12, transmits power to the main shaft body 11, and drives the load to run.

[0048] Before use, the adjusting ring 24 is rotated, the helical protrusions on the side thereof drive the guide frame 26 to move radially in the sliding groove of the guide sleeve 23, and thus the initial distance between the centrifugal inclined block 27 and the outer inclined block 31 is changed. The smaller the distance, the lower the centrifugal force required to trigger clutch engagement (i.e., the lower the required rotating speed); the larger the distance, the higher the rotating speed required to trigger engagement. After adjustment, the guide frame 26 is locked in position by the limiting plate 25 and the screw fixing adjusting ring 24.

[0049] If one of the main motors 13 is mechanically stuck or electrically fails to stop rotating, the rotating speed of the corresponding centrifugal shaft assembly 02 drops sharply. The centrifugal force of the centrifugal inclined block 27 disappears, and the centrifugal inclined block 27 is retracted into the sliding groove of the guide frame 26 under the action of the tension spring and is separated from the outer inclined block 31.

[0050] Automatic fault isolation:

[0051] When the main motor 13 is locked, the centrifugal wedge 27 is pulled back into the guide frame 26 by the tension spring, and the outer wedge 31 is quickly pulled back to the initial position by the tension spring between the outer wedge 31 and the barrel 41, and the dynamic clutch piece 32 moves rightward and completely separates from the static clutch piece 33. At this time, the power transmission path of the faulty main motor 13 is physically cut off, avoiding the reverse driving of the healthy main motor 13 through the main shaft body 11 to prevent overload.

[0052] Alarm:

[0053] When the outer wedge 31 moves rightward, the convex rod 51 is synchronously moved. Since the outer wedge 31 of the faulty motor is at a standstill, and the barrel 41 is still driven to rotate by the main gear 12, the bell component group 52 on the side of the barrel 41 periodically collides with the metal impact head on the stationary convex rod 51, generating a continuous bell alarm to prompt the staff to timely repair.

[0054] It should be noted that due to the structural design characteristics, the warning bell will also produce a bell sound when the initial speed of the main motor 13 is not enough, and when the speed is enough to drive the barrel 41, the convex rod 51 and the bell component group 52 will not collide at the same speed, and the bell sound will not be produced.

[0055] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A series-connection synchronous double-motor transmission component, comprising a main shaft body, two groups of main gears are fixedly connected to the main shaft body, one group of main motors is arranged on the side surface of each of the two groups of main gears, and the two groups of main motors are connected in series circuit, characterized in that, Also include: The centrifugal self-disconnection linkage mechanism is connected between the main motor and the main gear for transmitting power to the main gear and the main shaft body when the main motor works normally, and disconnecting the power transmission when the main motor fails to lock; The centrifugal self-disconnection linkage mechanism includes a centrifugal shaft assembly, a clutch assembly and a transmission assembly; The centrifugal shaft assembly includes a middle shaft one and a middle shaft two fixedly connected with the working end of the main motor, the middle shaft one is fixedly connected with the guide sleeve through the slot, the outer wall of the guide sleeve is rotatably connected with the adjusting ring, and the adjusting ring is slidably connected with the guide frame through the spiral protrusion; The outer wall of the adjusting ring is provided with an anti-skid ring, and the position is locked by the limiting plate and the screw, and the limiting plate is fixedly connected with the guide sleeve; The guide frame is slidably connected with the centrifugal inclined block, and the centrifugal inclined block is provided with a tension spring between the guide frame; The clutch assembly includes an outer inclined block, a dynamic clutch plate and a static clutch plate, the outer inclined block is slidably connected with the cylinder shell of the transmission assembly, the dynamic clutch plate is fixed to the outer inclined block, and the static clutch plate is fixed to the cylinder shell; The centrifugal inclined block and the outer inclined block are in contact through the inclined surface, the centrifugal force drives the centrifugal inclined block to push the outer inclined block to move axially, so that the dynamic clutch plate and the static clutch plate are frictionally engaged; The outer wall of the cylinder shell of the transmission assembly is fixedly connected with a gear ring, and the gear ring is engaged with the main gear; The centrifugal self-disconnection linkage mechanism further includes a warning assembly, which includes a protruding rod fixed to the outer inclined block and a bell component group on the side of the cylinder shell, and the protruding rod collides with the rotating bell component group to trigger an alarm when a fault occurs.

2. A series synchronous dual motor drive member according to claim 1, characterized in that: The guide frame moves radially in the sliding slot of the guide sleeve through the spiral protrusion, and the guide frame is used for adjusting the initial distance between the centrifugal inclined block and the outer inclined block.

3. A series synchronous dual motor drive member according to claim 1, wherein: The contact surface between the centrifugal inclined block and the outer inclined block is an inclined surface, and the inclination angle of the inclined surface is 15°, and the centrifugal force drives the outer inclined block to move axially.

4. A series synchronous dual motor drive member according to claim 1, wherein: The outer inclined block and the cylinder shell are provided with a tension spring for resetting the outer inclined block and the dynamic clutch plate when a fault occurs.

5. A series synchronous dual motor drive member as claimed in claim 1, wherein: The cylinder shell is rotatably connected with the middle shaft two through the cylinder frame, the cylinder frame is fixedly connected with the mounting frame, and the mounting frame rotatably supports the middle shaft one and the middle shaft two.

6. A series synchronous dual motor drive member as claimed in claim 1, wherein: The bell component group of the warning assembly includes a metal bell and a spring connected with the cylinder shell, the end of the protruding rod is provided with a metal impact head, and the cylinder shell rotates and periodically collides with the static protruding rod to produce sound when a fault occurs.

7. A series synchronous dual motor drive member as claimed in claim 1, wherein: The friction surfaces of the dynamic clutch plate and the static clutch plate are coated with a tungsten carbide wear-resistant layer, and the guide frame is provided with a anti-dropping limiting block to limit the maximum displacement of the centrifugal inclined block and prevent the centrifugal inclined block from separating from the guide frame.

8. A series synchronous dual motor drive member as claimed in claim 1, wherein: The centrifugal shaft assembly, the clutch assembly and the transmission assembly are two groups of symmetrical distribution, respectively connected with two main motors, independently respond to faults and trigger disconnection.

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