Double-differential driving unit capable of being quickly replaced

Abstract

The invention relates to the technical field of mobile robots, and discloses a double-differential driving unit capable of being quickly replaced, comprising: a fixing assembly for connecting with a robot vehicle body; the swing assembly is used for driving the robot vehicle body to move, the top of the swing assembly is connected with the fixing assembly through two hinge points, and an elastic piece is further arranged between the swing assembly and the fixing assembly; the integrated interface module is arranged on the swing assembly and connected with a power line plug of the power cable and a signal line plug of the signal cable; the power cable and the signal cable are connected with the robot vehicle body. When the double-differential driving unit is replaced, the fixing assembly is detached from the robot vehicle body, and the power line plug and the signal line plug are pulled out from the integrated interface module. When the robot encounters an uneven road surface, the swing assembly swings along the axis of the hinge point relative to the fixed assembly, and the elastic piece elastically supports the swing assembly and the fixed assembly to play a buffering role, so that the swing assembly adapts to the uneven road surface, and slipping or shaking is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and more particularly to a rapidly replaceable dual-differential drive unit. Background Art

[0002] Omnidirectional mobile robots can move in any direction, including sideways, diagonally, and in-place rotation. They offer high efficiency and minimal space requirements, making them widely used in CNC (Computerized Numerical Control) workshops, densely packed warehouses, and narrow aisles. The drive unit is the core component of an omnidirectional mobile robot, providing both walking and steering power, enabling the robot's omnidirectional motion.

[0003] At present, the commonly used drive units for omnidirectional mobile robots include steering wheel drive units and dual-differential drive units. Among them, the dual-differential drive unit generally adopts an independent drive, and the drive is installed on the robot body, resulting in the drive occupying the robot body space. The existing dual-differential drive unit has a large number of cables, and the cables extend from the inside of the dual-differential drive unit to the inside of the robot body, which is not convenient for assembly, wiring, disassembly and maintenance. In addition, the existing dual-differential drive unit has poor ground adaptability, and the robot body is prone to slipping and shaking.

[0004] Therefore, it is necessary to propose a dual differential drive unit that can be quickly replaced to at least partially solve the problems existing in the prior art. Summary of the Invention

[0005] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] In order to at least partially solve the above problems, the present invention provides a dual-differential drive unit that can be quickly replaced, including: a fixed component for connecting to a robot body; a swinging component for driving the movement of the robot body, the top of which is connected to the fixed component through two hinge points, and an elastic member is also provided between the swinging component and the fixed component; an integrated interface module arranged on the swinging component, which is respectively connected to the power line plug of the power cable and the signal line plug of the signal cable; wherein the power cable and the signal cable are connected to the robot body.

[0007] Preferably, the swing assembly includes: a carrier plate connected to the fixed assembly, two drive motors are provided below the carrier plate, the drive motors are connected to the drive wheels via a reducer, and the integrated interface module is provided on the carrier plate.

[0008] Preferably, the fixing assembly includes: a support plate, on which an inner ring plate is provided, and the outer side of the inner ring plate is rotatably connected to an external gear; an encoder arranged on the support plate, whose output shaft is connected to a detection gear, and the detection gear is meshed with one side of the external gear; and the external gear is connected to the robot body.

[0009] Preferably, the top surface of the outer gear is arranged higher than the top surface of the inner ring plate.

[0010] Preferably, a proximity switch is provided on the support plate, and a detection column corresponding to the proximity switch is provided on the outer gear.

[0011] Preferably, a through hole is provided in the middle of the fixing assembly for the power cord plug and the signal line plug to pass through; a flexible protective ring is provided in the through hole.

[0012] Preferably, a first hinge seat is provided on the bearing plate, and a second hinge seat is provided below the support plate, and the first hinge seat and the second hinge seat are connected by a hinge; the axis of the hinge is arranged perpendicular to the axis of the driving wheel, and elastic parts are symmetrically arranged on both sides of the axis of the hinge, and the elastic parts are connected between the bearing plate and the support plate.

[0013] Preferably, bushings are provided on both the first hinge seat and the second hinge seat, and the hinge passes through the two bushings in sequence to hinge the two hinge seats.

[0014] Preferably, the first hinge seat includes a first fixing block and a second fixing block arranged at intervals, and the second hinge seat includes a third fixing block hinged between the first fixing block and the second fixing block;

[0015] A plurality of first supporting parts are provided on a side of the first fixing block facing the third fixing block, a plurality of second supporting parts are provided on a side of the second fixing block facing the third fixing block, and a plurality of third supporting parts corresponding to the first supporting parts and a plurality of fourth supporting parts corresponding to the second supporting parts are respectively provided on both sides of the third fixing block.

[0016] Preferably, the side of the first fixing block facing the third fixing block is a convex first arc surface, and multiple first support parts are arranged on the first arc surface; the side of the second fixing block facing the third fixing block is a convex second arc surface, and multiple second support parts are arranged on the second arc surface; the two sides of the third fixing block are respectively a concave third arc surface and a fourth arc surface, multiple third support parts are arranged on the third arc surface, and multiple fourth support parts are arranged on the fourth arc surface.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects:

[0018] The dual differential drive unit of the present invention can be quickly replaced. When the dual differential drive unit needs to be replaced, the fixing assembly is removed from the bottom plate of the robot body, and the power cord plug and signal line plug are unplugged from the integrated interface module to complete the disassembly of the dual differential drive unit.

[0019] When the robot body is moving, if it encounters an uneven road surface, the swing component can swing relative to the fixed component along the axis of the hinge point, and the elastic parts elastically support both of them to play a buffering role, so that the swing component can adapt to the uneven road surface and prevent the robot body from slipping or shaking.

[0020] The other advantages, objectives and features of the quick-change dual differential drive unit of the present invention will be partially reflected in the following description and partially understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 This is a schematic structural diagram of the dual differential drive unit that can be quickly replaced according to the present invention;

[0023] Figure 2 This is a schematic diagram of the bottom structure of the quickly replaceable dual differential drive unit of the present invention;

[0024] Figure 3 This is a schematic diagram of the three-dimensional structure of the fixed component in the dual differential drive unit that can be quickly replaced according to the present invention;

[0025] Figure 4 This is a schematic diagram of the exploded structure of the fixed components in the quickly replaceable dual differential drive unit of the present invention;

[0026] Figure 5 This is a schematic top view of the structure of the fixed component in the quickly replaceable dual differential drive unit of the present invention;

[0027] Figure 6 This is a schematic diagram of the installation structure of the first articulated seat in the quickly replaceable dual differential drive unit of the present invention;

[0028] Figure 7 This is a schematic cross-sectional structural diagram of the first articulated seat and the second articulated seat in the quickly replaceable dual differential drive unit of the present invention, in which the first solution is adopted;

[0029] Figure 8 This is a schematic diagram of the exploded structure of the first articulated seat and the second articulated seat in the quickly replaceable dual differential drive unit of the present invention adopting the second solution;

[0030] Figure 9 This is a schematic cross-sectional structural diagram of the first articulated seat and the second articulated seat in the quickly replaceable dual differential drive unit of the present invention, adopting the second solution;

[0031] Figure 10 This is a schematic structural diagram of a dual differential drive unit that can be quickly replaced according to the present invention, in which the first and second supporting parts are annular blocks, and the third and fourth supporting parts are annular grooves;

[0032] Figure 11 This is a schematic structural diagram of a dual differential drive unit that can be quickly replaced according to the present invention, in which the first and second support parts are annular grooves, and the third and fourth support parts are annular blocks;

[0033] Figure 12 This is a schematic diagram of the structure of the connection between the quickly replaceable dual differential drive unit of the present invention and the bottom plate of the robot body;

[0034] Figure 13 This is an enlarged structural diagram of the connection between the quickly replaceable dual differential drive unit of the present invention and the bottom plate of the robot body. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0036] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0037] like Figure 1 As shown, the present invention provides a dual-differential drive unit that can be quickly replaced, including: a fixed component 1, used to connect to the robot body; a swing component 2 for driving the robot body to move, the top of which is connected to the fixed component 1 through two hinge points, and an elastic member 3 is also provided between the swing component 2 and the fixed component 1; an integrated interface module 4 arranged on the swing component 2, respectively connected to the power line plug 61 of the power cable 5 and the signal line plug 62 of the signal cable 7; wherein the power cable 5 and the signal cable 7 are connected to the robot body.

[0038] like Figure 12 and Figure 13As shown, the fixing assembly 1 is detachably connected to the bottom plate 19 of the robot body, for example, by screws; a power cable 5 extending from the interior of the robot body is provided with a power line plug 61, and a signal cable 7 is provided with a signal line plug 62. The power line and signal line of the dual differential drive unit are integrated into the integrated interface module 4. The integrated interface module 4 has only a power interface and a signal interface to the outside. The power interface is connected to the power line plug 61, and the signal interface is connected to the signal line plug 62. The power cable 5 and the signal cable 7 are connected to the controller of the robot body;

[0039] When the dual differential drive unit needs to be replaced, the fixing assembly 1 is removed from the bottom plate 19 of the robot body, and the power cord plug 61 and the signal line plug 62 are unplugged from the integrated interface module 4 to complete the disassembly of the dual differential drive unit.

[0040] When the robot body is walking, if it encounters an uneven road surface, the swing component 2 can swing relative to the fixed component 1 along the axis of the hinge point, and the elastic member 3 elastically supports both of them to play a buffering role, so that the swing component 2 can adapt to the uneven road surface and prevent the robot body from slipping or shaking.

[0041] like Figure 1 and Figure 2 As shown, in one embodiment, the swing component 2 includes: a supporting plate 21 connected to the fixed component 1, two drive motors 22 are provided underneath, the drive motors 22 are connected to the drive wheel 24 through a reducer 23, and the integrated interface module 4 is arranged on the supporting plate 21.

[0042] The drive motor 22 adopts an integrated drive motor 22, such as an integrated stepper motor and an integrated stepper servo motor, which integrates functional components such as a stepper motor and a driver into one, has a compact structure, and saves installation space;

[0043] like Figure 2 As shown, the two drive motors 22 are arranged symmetrically with respect to the center, and the two reducers 23 are arranged symmetrically with respect to the center, so as to minimize the volume of the swing assembly 2;

[0044] The driving wheel 24 is a rubber-coated wheel, that is, a rubber layer is coated on the outer surface of the driving wheel 24 to make the driving wheel 24 have a certain elasticity, so that the driving wheel 24 of the swing assembly 2 can always be in contact with the ground.

[0045] like Figure 3-Figure 5 As shown, in one embodiment, the fixing assembly 1 includes: a support plate 11, on which an inner ring plate 12 is provided, and the outer side of the inner ring plate 12 is rotatably connected to an external gear 13; an encoder 14 is provided on the support plate 11, and a detection gear 15 is connected to its output shaft, and the detection gear 15 is meshed with one side of the external gear 13; the external gear 13 is connected to the robot body.

[0046] Furthermore, the top surface of the outer gear 13 is higher than the top surface of the inner ring plate 12 .

[0047] The inner ring plate 12 is fixedly connected to the support plate 11 , the outer gear 13 is coaxially arranged with the inner ring plate 12 , and the two are connected for relative rotation; the encoder 14 is fixed on the support plate 11 , and the detection gear 15 and the outer gear 13 can rotate relative to each other.

[0048] The cables inside the dual differential drive unit include drive motor cables, encoder cables, and sensor cables (such as the cable of the proximity switch 16). These cables are directly connected to the integrated interface module 4, which completes signal and power processing. After processing, the integrated interface module 4 has a power interface and a signal interface. The power interface is connected to the power line plug 61, and the signal interface is connected to the signal line plug 62.

[0049] The robot body can generally achieve omnidirectional movement through two or more sets of dual differential drive units, such as Figure 12 and Figure 13 As shown, the outer gear 13 is fixed on the bottom plate 19 of the robot body and can be fixed by screws to keep the drive wheel 24 in contact with the ground. The drive motor 22 drives the drive wheel 24 to rotate via the reducer 23; when the speeds of the two drive wheels 24 are the same, the robot body is provided with walking power. When the speeds of the two drive wheels 24 are inconsistent, a torque will be generated, and the drive wheel 24 drives the inner ring plate 12 to rotate together, and the detection gear 15 also rotates around the outer gear 13, and causes the output shaft of the encoder 14 to rotate. The encoder 14 can record the rotation angle of the detection gear 15 and output it to the controller of the robot body. The controller of the robot body can control the rotation angle of the dual differential drive unit by controlling the speed of the two drive motors 22, and make real-time adjustments based on the information of the rotation angle of the detection gear 15 fed back by the encoder 14, thereby realizing steering control.

[0050] like Figure 3 and Figure 4 As shown, in one embodiment, a proximity switch 16 is provided on the support plate 11 , and a detection column 17 corresponding to the proximity switch 16 is provided on the outer gear 13 .

[0051] When turning, the support plate 11 rotates synchronously with the driving wheel 24, while the outer gear 13 connected to the robot body does not rotate, and the detection column 17 is out of the detection range of the proximity switch 16; in the process of the driving wheel 24 turning and then returning to the center, the detection column 17 and the proximity switch 16 approach each other, and the proximity switch 16 and the detection column 17 detect whether the driving wheel 24 has returned to the center. When the proximity switch 16 detects that the detection column 17 is above it, it indicates that the driving wheel 24 has returned to the center.

[0052] like Figure 4 and Figure 7 As shown, in one embodiment, a through hole is provided in the middle of the fixing assembly 1 for the power line plug 61 and the signal line plug 62 to pass through; a flexible retaining ring 18 is provided in the through hole.

[0053] During installation, the power cable 5 with the power plug 61 and the signal cable 7 with the signal plug 62 are passed through the through-hole of the fixing assembly 1 and connected to the integrated interface module 4. The through-hole on the fixing assembly 1 can limit the power cable 5 and the signal cable 7 and provide space for routing. The support plate 11 is provided with a through-hole at the corresponding position of the inner ring of the inner ring plate 12. The through-hole and the inner ring of the inner ring plate 12 form a through-hole for the power plug 61 and the signal plug 62 to pass through. The flexible guard ring 18 is provided on the inner ring of the inner ring plate 12, and the top of the flexible guard ring 18 protrudes from the top surface of the inner ring plate 12. The power cable 5 and the signal cable 7 are protected by the flexible guard ring 18.

[0054] like Figure 7 As shown, in one embodiment, a first articulated seat 8 is provided on the bearing plate 21, and a second articulated seat 9 is provided below the support plate 11. The first articulated seat 8 and the second articulated seat 9 are connected by a hinge 10; the axis of the hinge 10 is perpendicular to the axis of the driving wheel 24, and elastic members 3 are symmetrically arranged on both sides of the axis of the hinge 10, and the elastic members 3 are connected between the bearing plate 21 and the support plate 11.

[0055] The first hinge seat 8 is fixed to the bearing plate 21 by screws, and the second hinge seat 9 is fixed to the support plate 11 by screws. The first hinge seat 8 and the second hinge seat 9 are connected by a hinge 10 to achieve hinged connection;

[0056] When passing through uneven roads, the two driving wheels 24 are subjected to different forces, and the load-bearing plate 21 and the support plate 11 rotate relative to each other at the hinge 10, which will cause different degrees of compression or stretching on the two elastic parts 3, thereby buffering the robot body when passing through uneven roads, ensuring that the driving wheels 24 are in contact with the ground, and preventing slipping and shaking.

[0057] like Figure 7 As shown, a first solution of the first hinge seat 8 and the second hinge seat 9, the first hinge seat 8 and the second hinge seat 9 are both provided with bushings, and the hinge 10 passes through the two bushings in sequence to hinge the two hinge seats.

[0058] The first hinge seat 8 and the second hinge seat 9 are rotatably connected via a hinge 10 , and the weight is mainly borne by the hinge 10 , and elastically supported by the elastic member 3 .

[0059] like Figures 8-11As shown, this is a second solution of the first hinge seat 8 and the second hinge seat 9, wherein the first hinge seat 8 includes a first fixing block 81 and a second fixing block 82 arranged at intervals, and the second hinge seat 9 includes a third fixing block 91 hinged between the first fixing block 81 and the second fixing block 82;

[0060] A plurality of first support portions 811 are provided on the side of the first fixing block 81 facing the third fixing block 91, a plurality of second support portions 821 are provided on the side of the second fixing block 82 facing the third fixing block 91, and a plurality of third support portions 911 corresponding to the first support portions 811 and a plurality of fourth support portions 912 corresponding to the second support portions 821 are respectively provided on both sides of the third fixing block 91.

[0061] In the second scheme, the first articulated seat 8 and the second articulated seat 9 bear the weight through the cooperation of the first support part 811 and the third support part 911, and the second support part 821 and the fourth support part 912; when installing, first align the axial positions of the three fixed blocks so that the first support part 811 and the third support part 911 correspond to each other, and the second support part 821 and the fourth support part 912 correspond to each other, and then fix the first fixed block 81 and the second fixed block 82 to the bearing plate 21 by screws, and fix the third fixed block 91 to the support plate 11 by screws.

[0062] like Figure 8 As shown, in one embodiment, the side of the first fixing block 81 facing the third fixing block 91 is a convex first arc surface, and a plurality of first support portions 811 are arranged on the first arc surface; the side of the second fixing block 82 facing the third fixing block 91 is a convex second arc surface, and a plurality of second support portions 821 are arranged on the second arc surface; the two sides of the third fixing block 91 are respectively a concave third arc surface and a fourth arc surface, a plurality of third support portions 911 are arranged on the third arc surface, and a plurality of fourth support portions 912 are arranged on the fourth arc surface.

[0063] Furthermore, the hinge 10 passes through the centers of the first fixing block 81 , the second fixing block 82 and the third fixing block 91 in sequence to connect the three.

[0064] like Figure 9 As shown, the first fixing block 81, the second fixing block 82 and the third fixing block 91 are each configured as two identical half blocks, and the contacting sides of the two identical half blocks can be connected by magnetic attraction. The two sides of one half block of the third fixing block 91 are rotatably mounted with one half block of the first fixing block 81 and one half block of the second fixing block 82 respectively to form a semi-hinge structure. The two semi-hinge structures are arranged horizontally and limited by magnetic attraction connection. The two halves of the first fixing block 81 and the two halves of the second fixing block 82 are connected to the bearing plate 21 by screws, and the two halves of the third fixing block 91 are fixed to the support plate 11 by screws.

[0065] Alternatively, during processing, the first fixed block 81, the second fixed block 82 and the third fixed block 91 can be divided into two identical halves along the axial direction, and then the two halves of the first fixed block 81 are respectively rotated and installed corresponding to the two halves of the third fixed block 91, and the two halves of the second fixed block 82 are respectively rotated and installed corresponding to the two halves of the third fixed block 91, and then the two halves of the first fixed block 81 and the two halves of the second fixed block 82 are welded.

[0066] like Figure 10 and Figure 11 As shown, further, the first support portion 811 is an annular block or an annular groove, the third support portion 911 is an annular groove or an annular block, the second support portion 821 is an annular block or annular groove, and the fourth support portion 912 is an annular groove or annular block.

[0067] When the first support portion 811 is an annular block or an annular groove, the third support portion 911 is an annular groove or an annular block, and the annular block and the annular groove are rotatably plugged together; when the second support portion 821 is an annular block or annular groove, the fourth support portion 912 is an annular groove or annular block, and the annular block and the annular groove are rotatably plugged together;

[0068] The cooperation between the first arc surface and the third arc surface, as well as the cooperation between the second arc surface and the fourth arc surface, allows the weight to be shared by the cooperation of the annular blocks and the annular grooves provided on the arc surfaces, and the load-bearing capacity on the hinge 10 is relatively small; and, the cooperation between the annular blocks and the annular grooves increases the rotational resistance of the first articulated seat 8 and the second articulated seat 9, thereby increasing the rotational resistance of the swinging assembly 2 and the fixed assembly 1, improving the landing ability of the driving wheel 24, better passing through uneven roads, and preventing the robot body from shaking greatly when passing through uneven roads.

[0069] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0070] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0071] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with this field, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the present invention, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A dual differential drive unit that can be quickly replaced, characterized in that: include: A fixing assembly (1) for connecting to the robot body; A swing assembly (2) for driving the robot body to move has its top connected to a fixed assembly (1) via two hinge points, and an elastic member (3) is further provided between the swing assembly (2) and the fixed assembly (1); an integrated interface module (4) provided on the swing assembly (2) is respectively connected to a power line plug (61) of a power cable (5) and a signal line plug (62) of a signal cable (7); wherein the power cable (5) and the signal cable (7) are connected to the robot body.

2. The quickly replaceable dual differential drive unit according to claim 1, characterized in that: The swing assembly (2) comprises: a carrier plate (21) connected to the fixed assembly (1), two drive motors (22) being provided below the carrier plate, the drive motors (22) being connected to drive wheels (24) via speed reducers (23), and the integrated interface module (4) being provided on the carrier plate (21).

3. The dual differential drive unit that can be quickly replaced according to claim 2, characterized in that: The fixing assembly (1) comprises: a support plate (11) on which an inner ring plate (12) is provided, the outer side of the inner ring plate (12) being rotatably connected to an outer gear (13); an encoder (14) provided on the support plate (11), the output shaft of which is connected to a detection gear (15), the detection gear (15) being meshedly connected to one side of the outer gear (13); and the outer gear (13) being connected to a robot body.

4. The dual differential drive unit that can be quickly replaced according to claim 3, characterized in that: The top surface of the outer gear (13) is arranged higher than the top surface of the inner ring plate (12).

5. The dual differential drive unit that can be quickly replaced according to claim 3, characterized in that: A proximity switch (16) is provided on the support plate (11), and a detection column (17) corresponding to the proximity switch (16) is provided on the external gear (13).

6. The dual differential drive unit capable of rapid replacement according to claim 1, characterized in that: A through hole is provided in the middle of the fixing assembly (1) for the power line plug (61) and the signal line plug (62) to pass through; a flexible protective ring (18) is provided in the through hole.

7. The dual differential drive unit capable of rapid replacement according to claim 3, characterized in that: A first hinge seat (8) is provided on the bearing plate (21), and a second hinge seat (9) is provided below the support plate (11). The first hinge seat (8) and the second hinge seat (9) are connected via a hinge (10); the axis of the hinge (10) is perpendicular to the axis of the driving wheel (24), and elastic members (3) are symmetrically arranged on both sides of the axis of the hinge (10), and the elastic members (3) are connected between the bearing plate (21) and the support plate (11).

8. The dual differential drive unit capable of rapid replacement according to claim 7, characterized in that: The first hinge seat (8) and the second hinge seat (9) are both provided with bushings, and the hinge (10) passes through the two bushings in sequence to hinge the two hinge seats.

9. The dual differential drive unit capable of rapid replacement according to claim 7, characterized in that: The first hinge seat (8) includes a first fixing block (81) and a second fixing block (82) arranged at intervals, and the second hinge seat (9) includes a third fixing block (91) hinged between the first fixing block (81) and the second fixing block (82); The first fixing block (81) is provided with a plurality of first supporting portions (811) on a side facing the third fixing block (91), the second fixing block (82) is provided with a plurality of second supporting portions (821) on a side facing the third fixing block (91), and the third fixing block (91) is provided with a plurality of third supporting portions (911) corresponding to the first supporting portions (811) and a plurality of fourth supporting portions (912) corresponding to the second supporting portions (821) on both sides.

10. The quickly replaceable dual differential drive unit according to claim 9, characterized in that: The side of the first fixing block (81) facing the third fixing block (91) is a convex first arc surface, and a plurality of first support portions (811) are arranged on the first arc surface; the side of the second fixing block (82) facing the third fixing block (91) is a convex second arc surface, and a plurality of second support portions (821) are arranged on the second arc surface; the two sides of the third fixing block (91) are respectively a concave third arc surface and a fourth arc surface, a plurality of third support portions (911) are arranged on the third arc surface, and a plurality of fourth support portions (912) are arranged on the fourth arc surface.

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