Dual drive control dual output differential module mechanism

Abstract

A double drive control double output differential module mechanism, including first rotary drive device, second rotary drive device, main mounting arm structure and vice movable arm structure, first rotary drive device and second rotary drive device output end are respectively connected with first drive bevel gear member and second drive bevel gear member, vice movable arm structure top is equipped with driven bevel gear, first drive bevel gear member and second drive bevel gear member are respectively engaged with both sides of the driven bevel gear, first drive bevel gear member and second drive bevel gear member and the driven bevel gear outside side still set up with transfer support sleeve kit, vice movable arm structure and transfer support sleeve kit between have vertical rotary connection pair, first drive bevel gear member and second drive bevel gear member and / or lug structure and transfer support sleeve kit between have horizontal rotary connection pair, the invention through double drive control same joint place opposite direction double power output, thereby realize higher peak torque.

Description

Technical Field

[0001] This invention belongs to the technical field of power control systems, specifically relating to a differential module mechanism with dual drive control and dual output. Background Technology

[0002] Conventional mechanical transmission control methods are based on electrical control components combined with traditional mechanical transmission structures to achieve one drive controlling one joint or device whose movement needs to be controlled. In the prior art, patent application No. 202510046900.8 describes a kinetic energy distribution transmission mechanism for dual-drive control of dual joints, including a first drive device, a second drive device, a first joint frame, a second joint frame, and a third joint frame. A first idler wheel structure and a second idler wheel structure are rotatably arranged on the second joint shaft structure. A first drive wheel structure and a second drive wheel structure are arranged on the first joint shaft structure. The first drive wheel structure and the second drive wheel structure are both fixedly connected to the first joint frame. The first drive device is sequentially connected to the first idler wheel structure and the first drive wheel structure through a first rotary transmission pair. The second drive device is sequentially connected to the second idler wheel structure and the second drive wheel structure through a second rotary transmission pair. The rotation directions of the second idler wheel structure and the second drive wheel structure are different.

[0003] The aforementioned solution provides sufficient kinetic energy through dual-drive control of dual joints, with both joints moving in the same direction. However, this solution is unsuitable for scenarios requiring two different degrees of freedom at the same joint. For example, a robot's hand joint needs to bend its arm span while simultaneously rotating and twisting to ensure accurate end-effector operation. Current methods involve only bending at the joint and then cutting the originally complete arm into two segments with added rotational structures. This increases the burden on the arm joint control and fails to achieve the higher peak torque, lower overall energy consumption, lower manufacturing cost, and smaller overall space and weight advantages of the aforementioned transmission mechanism. Therefore, a joint module mechanism with dual-drive control and dual power output is urgently needed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a differential module mechanism with dual drive control and dual output, which achieves higher peak torque, provides more kinetic energy, and has lower overall energy consumption, lower manufacturing cost, and occupies less overall space and weight by controlling the opposite power output at the same joint.

[0005] The specific technical solution is as follows:

[0006] A differential module mechanism with dual drive control and dual output is characterized in that it includes a first rotary drive device, a second rotary drive device, a main mounting arm structure and a secondary movable arm structure, wherein the output ends of the first rotary drive device and the second rotary drive device are respectively connected to a first drive bevel gear component and a second drive bevel gear component.

[0007] The main mounting arm structure has two oppositely arranged support lugs at its end. The first driving bevel gear component and the second driving bevel gear component are rotatably mounted on the inner side of the two support lugs, and the rotation axes of the first driving bevel gear component and the second driving bevel gear component are the same. The top of the auxiliary movable arm structure is provided with a driven bevel gear. The first driving bevel gear component and the second driving bevel gear component are symmetrically arranged on both sides of the driven bevel gear and mesh with both sides of the driven bevel gear respectively.

[0008] A transfer support assembly is also sleeved on the outer side of the first and second driving bevel gear components and the driven bevel gear. A vertical rotational connection pair is provided between the auxiliary movable arm structure and the transfer support assembly. A lateral rotational connection pair is provided between the first and second driving bevel gear components and / or the lug structure and the transfer support assembly. The rotation axis of the vertical rotational connection pair is the same as the rotation axis of the driven bevel gear, and the rotation axis of the lateral rotational connection pair is the same as the rotation axis of the first driving bevel gear component.

[0009] Furthermore, the transfer support kit consists of a support connecting housing and two auxiliary support ear housings. The two auxiliary support ear housings are symmetrically arranged on both sides of the support connecting housing. The center of the first drive bevel gear component and the second drive bevel gear component are provided with mounting hole structures. The two mounting hole structures are arranged opposite to each other. The center of the two auxiliary support ear housings has a mounting column structure. The mounting column structure and the mounting hole structure are rotatably engaged by a bearing structure to form a transverse rotational connection pair.

[0010] The support connecting housing has a mounting through hole structure in the middle, and the auxiliary movable arm structure has a mounting shaft structure at the top. The mounting shaft structure is connected to the driven bevel gear, and the mounting shaft structure passes through the mounting through hole structure. Through the bearing structure, the upper and lower ends of the mounting shaft structure are respectively rotated and engaged with the upper and lower sides of the mounting through hole structure to form a vertical rotating connection pair.

[0011] Furthermore, the first driving bevel gear component consists of a bevel gear sleeve, a lightweight flange bushing, and an outer annular gear disc. The bevel gear sleeve and the outer annular gear disc are respectively fixedly installed at both ends of the lightweight flange bushing. The middle part of the lightweight flange bushing is rotatably installed in the lug structure through a bearing. The outer annular gear disc is used for transmission connection to the first rotary drive device. The bevel gear sleeve meshes with the driven bevel gear.

[0012] Furthermore, the lightweight flange bushing is integrally formed from the flange outer disc, the gear plate mounting ring step, the partition ring step, the bearing mounting ring step, and the bevel gear mounting ring step. The inner ring of the outer annular gear plate is mounted on the gear plate mounting ring step, and the inner ring of the outer annular gear plate and the gear plate mounting ring step are provided with mutually cooperating keyway groups and key protrusion groups. The outer annular gear plate is fastened to the side of the flange outer disc by screws or bolts.

[0013] The bevel gear sleeve has a circular mounting groove on its back end face, and the bevel gear mounting ring step has a set of grooves around it. The inner ring of the circular mounting groove is provided with a set of mounting flanges. The circular mounting groove is fitted onto the bevel gear mounting ring step, and the mounting flanges cooperate with the mounting grooves. The mounting flanges are provided with screw holes. The bevel gear sleeve is fastened to the side end face of the bearing mounting ring step by screws or bolts that cooperate with the screw holes.

[0014] Furthermore, the bevel gear sleeve and the lightweight flange bushing are respectively provided with a mounting through hole and an inner stepped through hole in the center. The mounting column structure consists of a hollow column, a hollow shaft with an end cap, and a tension bolt structure. A threaded hole is provided in the center of one end of the hollow column. The tension bolt structure passes through the hollow shaft with the end cap and engages with the threaded hole.

[0015] The hollow column is rotatably engaged with the inner wall of the mounting through hole via a bearing. The bevel gear sleeve is also provided with an annular stepped recessed platform. An angular contact bearing is provided on the side of the annular stepped recessed platform. The inner ring of the angular contact bearing is fitted onto the hollow shaft with the end cover. The tension bolt structure drives the hollow shaft with the end cover to press the angular contact bearing tightly against the side of the annular stepped recessed platform, and the outer ring of the angular contact bearing engages with the inner wall of the inner stepped through hole.

[0016] Furthermore, the top of the auxiliary movable arm structure is provided with a first-stage fastening threaded rod, a second-stage gear mounting rod, and a third-stage bearing mounting rod from top to bottom. The third-stage bearing mounting rod has the largest outer diameter, while the first-stage fastening threaded rod has the smallest outer diameter. The driven bevel gear is mounted on the second-stage gear mounting rod. The first-stage fastening threaded rod includes a threaded part and a rod part. A fastening nut is provided on the threaded part. A bearing structure is fitted on the rod part and rotates with the upper part of the support connecting housing. A bearing structure is fitted on the third-stage bearing mounting rod and rotates with the lower part of the support connecting housing.

[0017] Furthermore, the third-stage bearing mounting rod is uniformly surrounded by locking blocks, and the driven bevel gear mounting inner ring is uniformly surrounded by locking grooves. The locking blocks and locking grooves cooperate with each other. In addition, a set of threaded holes is also surrounded on the stepped end face of the third-stage bearing mounting rod. The set of threaded holes is located between the locking blocks. The driven bevel gear is fastened to the stepped end face of the third-stage bearing mounting rod by the cooperation of the bolt set and the threaded hole set.

[0018] The supporting connecting housing includes an upper bearing mounting housing, a bevel gear receiving cavity, and a lower bearing mounting housing. The bevel gear receiving cavity has meshing channels on both sides that connect the two auxiliary support lug housings. The upper bearing mounting housing has two angular contact bearings arranged side by side that rotate with the rod of the fastening threaded rod. The lower bearing mounting housing has a deep groove ball bearing that rotates with the rod of the third-stage bearing mounting housing.

[0019] Furthermore, an elliptical groove is provided on the stepped end face of the third-stage bearing mounting rod, and an elliptical protrusion is provided on the back end face of the driven bevel gear. The elliptical protrusion cooperates with the elliptical groove, and a set of threaded holes is provided around the bottom wall of the elliptical groove. The driven bevel gear is fastened to the bottom wall of the elliptical groove by the cooperation of the bolt set and the threaded hole set.

[0020] The supporting connecting housing consists of a bearing support bottom cover and a connecting cavity seat. The support bottom cover is installed at the bottom of the connecting cavity seat by screws. The connecting cavity seat has an upper bearing mounting hole seat and two receiving support side shells. The upper bearing mounting hole seat is rotatably engaged with the rod of the fastening threaded rod through two angular contact bearings. The two auxiliary support ear shells are integrally formed on two opposite sides of the upper bearing mounting hole seat, and the two receiving support side shells are integrally formed on the other two opposite sides of the upper bearing mounting hole seat.

[0021] Furthermore, the first rotary drive device and the second rotary drive device are respectively embedded in the main mounting arm structure, and the output end of the first rotary drive device and the first drive bevel gear component, as well as the output end of the second rotary drive device and the second drive bevel gear component, are connected by a belt drive structure, a chain drive structure, a gear drive structure, or a tendon wire drive structure.

[0022] Furthermore, both the first and second rotary drive devices are joint module motors, and both the bevel gear sleeve and the driven bevel gear are helical bevel gears.

[0023] The beneficial effects of this invention are as follows: by controlling the opposite dual power output at the same joint through dual drive, a higher peak torque can be achieved, which can provide more kinetic energy, and the overall energy consumption during the motion process is lower, the manufacturing cost is lower, and the overall space and mass occupied are lower. Attached Figure Description

[0024] Figure 1 This is a schematic diagram illustrating the overall composite application of the present invention.

[0025] Figure 2 This is a schematic diagram of the overall structure of the present invention.

[0026] Figure 3 This is a schematic diagram of the overall transmission structure of the present invention.

[0027] Figure 4 This is an exploded structural diagram of the first driving bevel gear component in this invention.

[0028] Figure 5 This is an exploded view of the internal components of the transfer support assembly in this invention.

[0029] Figure 6 This is a schematic diagram of the intermediate support assembly in this invention.

[0030] Figure 7 This is a schematic diagram of the top structure of the auxiliary movable arm in this invention.

[0031] Figure 8 This is an exploded view of the internal components of the transfer support assembly in Embodiment 2 of the present invention.

[0032] Figure 9 This is a schematic diagram of the main structure of the transfer support kit in Embodiment 2 of the present invention.

[0033] Figure 10 This is a schematic diagram of the top structure of the auxiliary movable arm in Embodiment 2 of the present invention.

[0034] Explanation of reference numerals in the attached drawings: 1. First rotary drive device; 2. Second rotary drive device; 3. Main mounting arm structure; 4. Secondary movable arm structure; 5. First drive bevel gear component; 6. Second drive bevel gear component; 7. Transfer support assembly; 8. Vertical rotation connection pair; 9. Lateral rotation connection pair.

[0035] Support lug structure 31; driven bevel gear 41; first-order fastening threaded rod 42; second-order gear mounting rod 43; third-order bearing mounting rod 44;

[0036] 51. Bevel gear sleeve; 52. Lightweight flange bushing; 53. Outer ring gear disc;

[0037] Support connecting housing 71; secondary support lug housing 72; hollow column 73; hollow shaft with end cap 74; tension bolt structure 75. Detailed Implementation

[0038] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0039] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0040] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a direct connection or a connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] Example 1:

[0042] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown: A differential module mechanism with dual drive control and dual output is provided, which includes a first rotary drive device 1, a second rotary drive device 2, a main mounting arm structure 3, and a secondary movable arm structure 4. The output ends of the first rotary drive device 1 and the second rotary drive device 2 are respectively connected to a first drive bevel gear component 5 and a second drive bevel gear component 6. Both the first rotary drive device 1 and the second rotary drive device 2 are joint module motors. Other rotary drive devices such as hydraulic motors or pneumatic motors can also be used, but their operating conditions are harsh and bulky, so they are generally not used.

[0043] The main mounting arm structure 3 has two opposing support lug structures 31 at its end. The first driving bevel gear component 5 and the second driving bevel gear component 6 are rotatably mounted inside the two support lug structures 31, and their rotation axes are the same, meaning their rotation center lines coincide. The auxiliary movable arm structure 4 has a driven bevel gear 41 at its top. The main mounting arm structure 3 and the auxiliary movable arm structure 4 are relative concepts and can be reused to construct similar joints, such as... Figure 1As shown, the main mounting arm structure 3 is connected to the auxiliary movable arm structure 4 through a differential module mechanism. The auxiliary movable arm structure 4 can serve as the main mounting arm structure 3 for the next differential module mechanism installation, and then connect to another auxiliary movable arm structure 4, and so on. The main mounting arm structure 3 is composed of at least two mounting support housings, which are arranged opposite to each other and fastened together by a surrounding screw structure. The two oppositely arranged support lug structures 31 are integrally formed with the two mounting support housings, making the structure more flexible and facilitating the installation of the first drive bevel gear component 5 and the second drive bevel gear component 6 on the two support lug structures 31, and then cooperating with other components.

[0044] The first driving bevel gear component 5 and the second driving bevel gear component 6 are symmetrically arranged on both sides of the driven bevel gear 41 and mesh with both sides of the driven bevel gear 41 respectively. The rotation axis of the driven bevel gear 41 intersects perpendicularly with the rotation axis of the first driving bevel gear component 5 and the second driving bevel gear component 6. Perpendicular intersection means that the two virtual rotation axes intersect each other perpendicularly on the same virtual plane. If they are not perpendicular to each other on the same plane, they cannot intersect. Only by keeping the rotation axes perpendicularly intersecting can the rotation trajectory remain unchanged and form an unusual tilted state. The common way to achieve this is that the bevel gear parts of the first driving bevel gear component 5 and the second driving bevel gear component 6 are exactly the same. The first driving bevel gear component 5 and the second driving bevel gear component 6 are symmetrically arranged with respect to the driven bevel gear 41, which means that the first driving bevel gear component 5 and the second driving bevel gear component 6 have the same structure, so the bevel gear parts are also exactly the same.

[0045] A transfer support kit 7 is also sleeved on the outer side of the first drive bevel gear component 5, the second drive bevel gear component 6, and the driven bevel gear 41. A vertical rotational connection pair 8 is provided between the auxiliary movable arm structure 4 and the transfer support kit 7. A lateral rotational connection pair 9 is provided between the first drive bevel gear component 5, the second drive bevel gear component 6 and / or the lug structure 31 and the transfer support kit 7. The rotation axis of the vertical rotational connection pair 8 is the same as the rotation axis of the driven bevel gear 41, and the rotation axis of the lateral rotational connection pair 9 is the same as the rotation axis of the first drive bevel gear component 5.

[0046] The first rotary drive device 1 and the second rotary drive device 2 are respectively embedded in the main mounting arm structure 3, and the output end of the first rotary drive device 1 and the first drive bevel gear component 5 and the output end of the second rotary drive device 2 and the second drive bevel gear component 6 are connected by a belt drive structure, chain drive structure, gear drive structure or tendon wire drive structure.

[0047] The intermediate support assembly 7 consists of a support connecting housing 71 and two auxiliary support ear housings 72. The two auxiliary support ear housings 72 are symmetrically arranged on both sides of the support connecting housing 71. The center of the first drive bevel gear component 5 and the second drive bevel gear component 6 are provided with mounting hole structures. The two mounting hole structures are arranged opposite to each other. The center of the two auxiliary support ear housings 72 has a mounting column structure. The mounting column structure and the mounting hole structure are rotatably engaged by a bearing structure to form a transverse rotational connection pair 9. The transverse rotational connection pair 9 formed in this way is more stable and occupies less space, making the overall mass of the mechanism smaller and more suitable for scenarios with smaller installation space. The scenario in which this differential module mechanism is used to enhance power is precisely the scenario in which the smaller the space occupied is, the better.

[0048] The supporting connecting housing 71 has a mounting through hole structure in the middle, and the auxiliary movable arm structure 4 has a mounting shaft structure at the top. The mounting shaft structure is connected to the driven bevel gear 41, and the mounting shaft structure passes through the mounting through hole structure. Through the bearing structure, the upper and lower ends of the mounting shaft structure are respectively rotated with the upper and lower sides of the mounting through hole structure to form a vertical rotating connection pair 8. Similarly, the vertical rotating connection pair 8 formed in this way is more stable and is conducive to the mounting shaft structure at the top of the auxiliary movable arm structure 4 bearing various torque loads, resulting in a longer service life and more precise operation and control.

[0049] The specific principle of the dual-drive control system for opposite-direction dual-power output at the same joint, based on the clockwise / counterclockwise rotation of the bevel gear sections of the first drive bevel gear component 5, the second drive bevel gear component 6, and the driven bevel gear 41 at the opposite joint, is as follows:

[0050] When only the lateral rotation connection 9 rotates: When the first rotary drive device 1 and the second rotary drive device 2 control the first drive bevel gear component 5 and the second drive bevel gear component 6 to rotate in the same direction and at the same speed around the rotation axis, that is, when the bevel gear parts of the first drive bevel gear component 5 and the second drive bevel gear component 6 rotate clockwise and the other counterclockwise, the driving forces on both sides of the driven bevel gear 41 completely conflict, so it cannot rotate. Thus, the driven bevel gear 41, the first drive bevel gear component 5 and the second drive bevel gear component 6 and their connecting parts temporarily form a whole. The rotational force of the first drive bevel gear component 5 and the second drive bevel gear component 6 around the rotation axis in the same direction and at the same speed will drive this whole to rotate around the rotation axis, that is, the lateral rotation connection 9 rotates simultaneously.

[0051] When only the vertical rotation connection 8 rotates: When the first rotary drive device 1 and the second rotary drive device 2 control the first drive bevel gear component 5 and the second drive bevel gear component 6 to rotate in opposite directions at the same speed around the rotation axis, that is, when the bevel gear parts of the first drive bevel gear component 5 and the second drive bevel gear component 6 rotate clockwise or counterclockwise, the driven bevel gear 41 is subjected to driving forces on both sides, and the superposition of the two driving forces causes the driven bevel gear 41 to rotate in one direction, that is, the vertical rotation connection 8 rotates. When the bevel gear parts of the first drive bevel gear component 5 and the second drive bevel gear component 6 rotate clockwise, the first drive bevel gear component 5 pushes the left meshing surface of the driven bevel gear 41 outward, causing the driven bevel gear 41 to rotate counterclockwise; while the second drive bevel gear component 6 pushes the right meshing surface of the driven bevel gear 41 inward, similarly causing the driven bevel gear 41 to rotate counterclockwise; however, when viewed from the direction of the first drive bevel gear component 5 towards the second drive bevel gear component 6, the two rotate in different directions around the same rotation axis, and vice versa.

[0052] In fact, the transmission configuration of two bevel gears meshing on both sides of a bevel gear is very common. However, it is used to drive two bevel gears to form two dual-output transmissions with different rotation directions. Reversing the drive forms the configuration of the vertical rotation connection pair 8. However, the key point of this design is that it can not only reverse the superposition of the driven bevel gear 41 to obtain double the rotation torque for self-rotation, but also drive the entire auxiliary movable arm structure 4 to rotate around the transverse rotation connection pair 9 to move closer to or away from the main mounting arm structure 3, thus obtaining double the rotation torque. This achieves a higher peak torque, provides more kinetic energy, and allows the use of a smaller power rotary drive device, resulting in lower manufacturing costs and lower overall space and weight.

[0053] The vertical rotating connecting pair 8 and the horizontal rotating connecting pair 9 rotate in conjunction: When the first rotary drive device 1 and the second rotary drive device 2 control the first drive bevel gear component 5 and the second drive bevel gear component 6 to rotate around the rotation axis in the same or opposite directions with a speed difference, if they rotate in the same direction with a speed difference, the differential speed rotation stroke of the drive bevel gear with the higher speed is used to drive the vertical rotating connecting pair 8 to rotate, while the remaining same speed rotation stroke of both in the same direction is used to drive the horizontal rotating connecting pair 9 to rotate; if they rotate in opposite directions with a speed difference, the differential speed rotation stroke of the drive bevel gear with the higher speed is used to drive the horizontal rotating connecting pair 9 to rotate, while the remaining same speed rotation stroke of both in opposite directions is used to drive the vertical rotating connecting pair 8 to rotate. Therefore, by controlling the opposite dual power output at the same joint through dual drive, the overall energy consumption of the motion process is lower, while the required rotational kinetic energy of the rotating joint can be controlled to be stronger.

[0054] The aforementioned first drive bevel gear component 5 consists of a bevel gear sleeve 51, a lightweight flange bushing 52, and an outer annular gear disc 53. The outer annular gear disc 53 can be a sprocket, or a spur gear disc and a synchronous belt pulley. The sprocket facilitates lightweight remote power transmission and provides more precise transmission after tensioning, making it more suitable for the precise transmission required by humanoid robots, etc. Furthermore, the bevel gear sleeve 51 and the outer annular gear disc 53 are made of alloy steel or steel, while the lightweight flange bushing 52 is made of aluminum alloy, magnesium alloy, or PEEK engineering plastic. This design reduces the cost of mass production and further decreases the overall mass occupied.

[0055] The bevel gear sleeve 51 and the outer annular gear disk 53 are respectively fixedly installed at both ends of the lightweight flange bushing 52. The middle part of the lightweight flange bushing 52 is rotatably installed in the lug structure 31 through the bearing. The outer annular gear disk 53 is used to drive the first rotary drive device 1. The bevel gear sleeve 51 meshes with the driven bevel gear 41. Both the bevel gear sleeve 51 and the driven bevel gear 41 are helical bevel gears. Similarly, the second drive bevel gear component 6 has the same structure as the first drive bevel gear component 5, so its bevel gear sleeve is also a helical bevel gear, or both can be straight bevel gears. However, helical bevel gear transmission is smoother, has a stronger load-bearing capacity, and lower operating noise.

[0056] The lightweight flange bushing 52 is integrally formed from the outer flange plate, the gear plate mounting ring step, the partition ring step, the bearing mounting ring step, and the bevel gear mounting ring step. The inner ring of the outer annular gear plate 53 is mounted on the gear plate mounting ring step, and the inner ring of the outer annular gear plate 53 and the gear plate mounting ring step are provided with mutually cooperating keyway groups and key groups. The outer annular gear plate 53 is fastened to the side of the outer flange plate by screws or bolts. The back end face of the bevel gear sleeve 51 has a circular mounting groove, and the bevel gear mounting ring step is provided with a set of grooves. The inner ring side of the circular mounting groove is provided with a set of mounting flanges. The circular mounting groove is fitted onto the bevel gear mounting ring step, and the mounting flanges cooperate with the mounting grooves. The mounting flanges are provided with screw holes. The bevel gear sleeve is fastened to the side end face of the bearing mounting ring step by screws or bolts that cooperate with the screw holes. This makes it easier to achieve a more lightweight design while making the structure more stable and not affecting the overall service life.

[0057] The aforementioned bevel gear sleeve 51 and lightweight flange bushing 52 are respectively provided with mounting through holes and inner stepped through holes in their center portions. The mounting column structure consists of a hollow column 73, a hollow shaft 74 with an end cap, and a tension bolt structure 75. One end of the hollow column 73 has a threaded hole in its center, and the tension bolt structure 75 passes through the hollow shaft 74 with the end cap and engages with the threaded hole. The hollow column 73 is rotatably engaged with the inner wall of the mounting through hole via a bearing. The bevel gear sleeve 51 is also provided with an annular stepped recessed platform. An angular contact bearing is provided on the side of the annular stepped recessed platform. The inner ring of the angular contact bearing is fitted onto the hollow shaft 74 with the end cap. The tension bolt structure 75 drives the hollow shaft 74 with the end cap to press the angular contact bearing tightly against the side of the annular stepped recessed platform, and the outer ring of the angular contact bearing engages with the inner wall of the inner stepped through hole. This makes it easier to install and fix the intermediate support assembly 7. Furthermore, the hollowed-out bevel gear sleeve 51 and lightweight flange bushing 52 can also provide structural support through the angular contact bearing, etc., and the two complement each other.

[0058] The top of the aforementioned auxiliary movable arm structure 4, from top to bottom, is provided with a first-stage fastening threaded rod 42, a second-stage gear mounting rod 43, and a third-stage bearing mounting rod 44, wherein the third-stage bearing mounting rod 44 has the largest outer diameter, and the first-stage fastening threaded rod 42 has the smallest outer diameter. The first-stage fastening threaded rod 42, the second-stage gear mounting rod 43, and the third-stage bearing mounting rod 44 form a mounting shaft structure. This mounting shaft structure can be integrally formed and installed on the top of the auxiliary movable arm structure 4, or it can be connected and installed to the top of the auxiliary movable arm structure 4 by adding a connecting mounting rod. Its driven bevel gear 41 is mounted on the second-stage gear mounting rod 43. The first-stage fastening threaded rod 42 includes a threaded part and a rod part. A fastening nut is provided on the threaded part, and a bearing structure is fitted on the rod part, rotatably engaging with the upper part of the support connecting housing 71. The third-stage bearing mounting rod 44 is fitted with a bearing structure, rotatably engaging with the lower part of the support connecting housing 71.

[0059] The third-stage bearing mounting rod 44 is also uniformly surrounded by locking blocks, and the driven bevel gear 41 is uniformly surrounded by locking grooves. The locking blocks and locking grooves are in close contact. The stepped end face of the third-stage bearing mounting rod 44 is also surrounded by a set of threaded holes, which are all located between the locking blocks. The driven bevel gear 41 is fastened to the stepped end face of the third-stage bearing mounting rod 44 by the engagement of the bolt set with the threaded hole set. In this way, the bolt set does not bear the lateral shear force and can fix the driven bevel gear 41 more firmly. The support connecting housing 71 includes an upper bearing mounting housing, a bevel gear receiving cavity, and a lower bearing mounting housing. The two sides of the bevel gear receiving cavity have meshing channels connecting the two auxiliary support ear housings 72. The upper bearing mounting housing has two angular contact bearings arranged side by side that rotate with the rod of the fastening threaded rod 42. The lower bearing mounting housing has a deep groove ball bearing that rotates with the third-stage bearing mounting rod 44.

[0060] Example 2:

[0061] like Figure 8 , Figure 9 and Figure 10 As shown: As an improvement, with other structures the same as in Embodiment 1, an elliptical groove is provided on the stepped end face of the aforementioned three-stage bearing mounting rod 44. The back end face of the driven bevel gear 41 has an elliptical protrusion that mates with the elliptical groove. A set of threaded holes is provided around the bottom wall of the elliptical groove. The driven bevel gear 41 is fastened to the bottom wall of the elliptical groove by the engagement of the bolt set with the threaded hole set. The support connecting housing 71 consists of a bearing support bottom cover and a connecting cavity seat. The support bottom cover is installed at the bottom end of the connecting cavity seat by screws. The connecting cavity seat has an upper bearing mounting hole seat and two receiving support side shells. The upper bearing mounting hole seat is rotatably engaged with the rod of the fastening threaded rod 42 through two angular contact bearings. The two auxiliary support ear shells 72 are integrally formed on the two opposite sides of the upper bearing mounting hole seat. The two receiving support side shells are integrally formed on the upper bearing... For the other two opposite sides of the mounting hole seat, this scheme is similar to the overall space requirement. Generally speaking, the entire differential module mechanism is scaled down proportionally. However, for the robustness and stability of the overall structure, the meshing surface of the bevel gear sleeves of the first drive bevel gear component 5 and the second drive bevel gear component 6 with the driven bevel gear 41, as well as the robustness of the mounting shaft structure, are not suitable for synchronous and unlimited scaling down. Therefore, a scheme is adopted to change the cooperation between the third-order bearing mounting rod 44 and the driven bevel gear 41. This allows the third-order bearing mounting rod 44, which bears the torque of the main body, to be designed to be more robust. The smaller driven bevel gear 41 has an increased contact tooth area, so it cannot be directly drilled and inserted into the support connecting housing 71. Therefore, the support connecting housing 71 is designed with open meshing surfaces on both sides and a separate bearing support bottom cover at the bottom to facilitate the assembly and installation of the driven bevel gear 41.

[0062] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.

Claims

1. A differential module mechanism with dual drive control and dual output, characterized in that: It includes a first rotary drive device (1), a second rotary drive device (2), a main mounting arm structure (3) and a secondary movable arm structure (4). The output ends of the first rotary drive device (1) and the second rotary drive device (2) are respectively connected to a first drive bevel gear component (5) and a second drive bevel gear component (6). The main mounting arm structure (3) has two oppositely arranged support ear structures (31) at its end. The first driving bevel gear component (5) and the second driving bevel gear component (6) are rotatably mounted on the inner side of the two support ear structures (31), and the rotation axes of the first driving bevel gear component (5) and the second driving bevel gear component (6) are the same. The auxiliary movable arm structure (4) is provided with a driven bevel gear (41) at its top. The first driving bevel gear component (5) and the second driving bevel gear component (6) are symmetrically arranged on both sides of the driven bevel gear (41) and mesh with both sides of the driven bevel gear (41) respectively. The first driving bevel gear component (5) and the second driving bevel gear component (6) are further fitted with a transfer support kit (7) on the outer side of the driven bevel gear (41). The auxiliary movable arm structure (4) and the transfer support kit (7) have a vertical rotation connection pair (8). The first driving bevel gear component (5) and the second driving bevel gear component (6) and / or the support lug structure (31) and the transfer support kit (7) have a transverse rotation connection pair (9). The rotation axis of the vertical rotation connection pair (8) is the same as the rotation axis of the driven bevel gear (41), and the rotation axis of the transverse rotation connection pair (9) is the same as the rotation axis of the first driving bevel gear component (5).

2. The differential module mechanism with dual drive control and dual output as described in claim 1, characterized in that: The intermediate support assembly (7) consists of a support connecting housing (71) and two auxiliary support ear housings (72). The two auxiliary support ear housings (72) are symmetrically arranged on both sides of the support connecting housing (71). The first drive bevel gear component (5) and the second drive bevel gear component (6) are provided with mounting hole structures at their center. The two mounting hole structures are arranged opposite to each other. The two auxiliary support ear housings (72) have mounting column structures in the middle. The mounting column structure and the mounting hole structure are rotatably engaged by a bearing structure to form a transverse rotational connection pair (9). The support connecting housing (71) has a mounting through hole structure in the middle, and the auxiliary movable arm structure (4) has a mounting shaft structure at the top. The mounting shaft structure is connected to the driven bevel gear (41), and the mounting shaft structure passes through the mounting through hole structure. Through the bearing structure, the upper and lower ends of the mounting shaft structure are respectively rotated and engaged with the upper and lower sides of the mounting through hole structure to form a vertical rotating connection pair (8).

3. The differential module mechanism with dual drive control and dual output according to claim 2, characterized in that: The first driving bevel gear component (5) is composed of a bevel gear sleeve (51), a lightweight flange bushing (52), and an outer ring gear disk (53). The bevel gear sleeve (51) and the outer ring gear disk (53) are respectively fixedly installed at both ends of the lightweight flange bushing (52). The middle part of the lightweight flange bushing (52) is rotatably installed in the lug structure (31) through a bearing. The outer ring gear disk (53) is used to drive the first rotary drive device (1). The bevel gear sleeve (51) meshes with the driven bevel gear (41).

4. The differential module mechanism with dual drive control and dual output according to claim 3, characterized in that: The lightweight flange bushing (52) is integrally formed from the outer flange plate, the gear plate mounting ring step, the partition ring step, the bearing mounting ring step, and the bevel gear mounting ring step. The inner ring of the outer annular gear plate (53) is installed on the gear plate mounting ring step, and the inner ring of the outer annular gear plate (53) and the gear plate mounting ring step are surrounded by a set of keyways and a set of protruding keys that cooperate with each other. The outer annular gear plate (53) is fastened to the side of the outer flange plate by screws or bolts. The bevel gear sleeve (51) has a circular mounting groove on its back end face, and the bevel gear mounting ring step has a set of grooves around it. The inner ring of the circular mounting groove is surrounded by a set of mounting flanges. The circular mounting groove is fitted onto the bevel gear mounting ring step, and the mounting flanges cooperate with the mounting grooves. The mounting flanges have screw holes. The bevel gear sleeve is fastened to the side end face of the bearing mounting ring step by screws or bolts that cooperate with the screw holes.

5. The differential module mechanism with dual drive control and dual output according to claim 4, characterized in that: The bevel gear sleeve (51) and the lightweight flange bushing (52) are respectively provided with a mounting through hole and an inner stepped through hole in the center. The mounting column structure consists of a hollow column (73), a hollow shaft with an end cap (74), and a tension bolt structure (75). The hollow column (73) has a threaded hole in the center of one end. The tension bolt structure (75) passes through the hollow shaft with an end cap (74) and engages with the threaded hole. The hollow column (73) is rotatably fitted with the inner wall of the mounting through hole through the bearing. The bevel gear sleeve (51) is also provided with an annular stepped recess. An angular contact bearing is provided on the side of the annular stepped recess. The inner ring of the angular contact bearing is fitted on the hollow shaft (74) with the end cover. The tension bolt structure (75) drives the hollow shaft (74) with the end cover to press the angular contact bearing tightly against the side of the annular stepped recess. The outer ring of the angular contact bearing is fitted with the inner wall of the inner stepped through hole.

6. The differential module mechanism with dual drive control and dual output according to any one of claims 2-5, characterized in that: The top of the auxiliary movable arm structure (4) is provided with a first-stage fastening threaded rod (42), a second-stage gear mounting rod (43), and a third-stage bearing mounting rod (44) from top to bottom. The third-stage bearing mounting rod (44) has the largest outer diameter, while the first-stage fastening threaded rod (42) has the smallest outer diameter. The driven bevel gear (41) is mounted on the second-stage gear mounting rod (43). The first-stage fastening threaded rod (42) includes a threaded part and a rod part. A fastening nut is provided on the threaded part. A bearing structure is fitted on the rod part and rotates with the upper part of the support connection housing (71). A bearing structure is fitted on the third-stage bearing mounting rod (44) and rotates with the lower part of the support connection housing (71).

7. The differential module mechanism with dual drive control and dual output according to claim 6, characterized in that: The third-stage bearing mounting rod (44) is uniformly surrounded by locking blocks, and the driven bevel gear (41) is uniformly surrounded by locking grooves. The locking blocks and locking grooves cooperate, and a set of threaded holes is also surrounded on the stepped end face of the third-stage bearing mounting rod (44). The set of threaded holes is located between the locking blocks. The driven bevel gear (41) is fastened to the stepped end face of the third-stage bearing mounting rod (44) by the cooperation of the bolt set and the threaded hole set. The supporting connecting housing (71) includes an upper bearing mounting housing, a bevel gear receiving cavity, and a lower bearing mounting housing. The bevel gear receiving cavity has meshing channels on both sides that connect the two auxiliary support ear housings (72). The upper bearing mounting housing has two angular contact bearings arranged side by side that rotate with the rod of the fastening threaded rod (42). The lower bearing mounting housing has a deep groove ball bearing that rotates with the three-stage bearing mounting rod (44).

8. The differential module mechanism with dual drive control and dual output according to claim 6, characterized in that: An elliptical groove is provided on the stepped end face of the third bearing mounting rod (44), and an elliptical protrusion is provided on the back end face of the driven bevel gear (41). The elliptical protrusion cooperates with the elliptical groove, and a threaded hole group is provided around the bottom wall of the elliptical groove. The driven bevel gear (41) is fastened to the bottom wall of the elliptical groove by the cooperation of the bolt group and the threaded hole group. The support connection housing (71) consists of a bearing support bottom cover and a connecting cavity seat. The support bottom cover is installed at the bottom of the connecting cavity seat by screws. The connecting cavity seat has an upper bearing mounting hole seat and two receiving support side shells. The upper bearing mounting hole seat is rotatably engaged with the rod of the fastening threaded rod (42) by two angular contact bearings. The two auxiliary support ear shells (72) are integrally formed on the two opposite sides of the upper bearing mounting hole seat. The two receiving support side shells are integrally formed on the other two opposite sides of the upper bearing mounting hole seat.

9. The differential module mechanism with dual drive control and dual output according to any one of claims 1-5 or 7-8, characterized in that: The first rotary drive device (1) and the second rotary drive device (2) are respectively embedded in the main mounting arm structure (3), and the output end of the first rotary drive device (1) and the first drive bevel gear component (5) and the output end of the second rotary drive device (2) and the second drive bevel gear component (6) are connected by a belt drive structure, a chain drive structure, a gear drive structure or a tendon wire drive structure.

10. The differential module mechanism with dual drive control and dual output according to any one of claims 3-5, characterized in that: The first rotary drive device (1) and the second rotary drive device (2) are both joint module motors, and the bevel gear sleeve (51) and the driven bevel gear (41) are both helical bevel gears.

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