Shaft internal complete decoupling automatic feed mechanism based on double symmetrical planetary differential

Abstract

The present application relates to the technical field of machining feed mechanism, and particularly relates to a rotating shaft internal complete decoupling automatic feed mechanism based on double symmetrical planetary differential. The technical scheme comprises a power input module, a first transmission connector, a fixed support, a gear transmission group, a first planetary gear system, a second planetary gear system, a second transmission connector, a feed execution module and a rotating shaft. The fixed support is used for fixed installation on a device rack. The first planetary gear system and the second planetary gear system have the same parameters and share the same planet carrier. The rotating motion of the rotating shaft is completely decoupled from the feed motion of the feed execution module. When the power input module inputs power, the feed execution module generates feed motion. The present application can realize high integration, high precision, low cost, multi-directional feed, and truly achieve complete decoupling of rotation and feed, thereby significantly improving equipment performance and application range.

Description

Technical Field

[0001] This invention relates to the field of machining feed mechanism technology, and in particular to a fully decoupled automatic feed mechanism for a rotating shaft based on a double-symmetric planetary differential. Background Technology

[0002] In the modern machining industry, many key pieces of equipment require the spindle to simultaneously complete high-precision feed movements while rotating at high speed. This composite motion capability has become a core requirement for improving machining accuracy and equipment performance. For example, the automatic variable-diameter boring tool equipped in a CNC machining center needs to complete the radial feed of the tool during the high-speed rotation of the spindle in order to accurately adjust the machining hole diameter; the core-pulling welding head of the friction stir welding equipment needs to achieve axial feed of the stirring pin while the spindle is continuously rotating, so as to accurately control the welding depth and forming quality.

[0003] Currently, the technical solutions for feeding in a rotating state in the industry are mainly divided into two types. The first is the externally driven feeding mechanism, which places the feeding power unit outside the rotating shaft and relies on a multi-stage transmission structure to transmit power to the actuator inside the rotating shaft. This type of structure has a long transmission path, a large overall size, and a low degree of integration. The motion error accumulates significantly after being transmitted through multiple stages, and the feeding positioning error is usually greater than 0.1mm, making it difficult to adapt to high-precision machining scenarios. The second is the partially built-in feeding mechanism, which integrates only some transmission components inside the rotating shaft. It often uses a linear motor as the feeding drive component. Although it achieves a certain degree of integration, it suffers from problems such as high manufacturing costs and insufficient structural adaptability. Moreover, it can only achieve axial feeding in a single direction and cannot meet the multi-dimensional feeding requirements such as radial feeding, thus limiting its application scope. Therefore, this application proposes a fully decoupled automatic feeding mechanism inside the rotating shaft based on double-symmetric planetary differential. Summary of the Invention

[0004] The purpose of this invention is to address the problems in the prior art where existing rotary shaft feed mechanisms generally suffer from low integration, large errors, high costs, and can only feed in one direction, and cannot achieve complete decoupling between rotation and feed. The invention proposes a fully decoupled automatic feed mechanism for the rotary shaft based on double-symmetric planetary differential.

[0005] The technical solution of this invention is as follows: a fully decoupled automatic feed mechanism based on a double-symmetric planetary differential, comprising a power input module, a first transmission connector, a fixed bracket, a gear transmission group, a first planetary gear system, a second planetary gear system, a second transmission connector, a feed execution module, and a rotating shaft; the fixed bracket is used for fixed installation on the equipment frame; the first planetary gear system and the second planetary gear system have identical parameters and share the same common planetary carrier; the rotational motion of the rotating shaft is completely decoupled from the feed motion of the feed execution module; when the power input module inputs power, the feed execution module generates feed motion.

[0006] Optionally, the first transmission connector is a direct coupling, a bevel gear transmission assembly, or a cylindrical gear transmission assembly, used to achieve axial or radial transmission.

[0007] Optionally, the gear transmission assembly includes an input gear, a first misaligned gear, a first synchronous internal gear ring, a second misaligned gear, a first synchronous gear, a third misaligned gear, and a second synchronous gear; the input gear meshes with the external teeth of the first misaligned gear, the first misaligned gear is coaxially arranged with the first synchronous internal gear ring, the first misaligned gear meshes with the third misaligned gear through the second misaligned gear, and the first synchronous internal gear ring meshes with the second synchronous gear through the first synchronous gear.

[0008] Optionally, the power input module is a controllable power input source, the power input module is fixedly installed on a fixed bracket, and the output end of the power input module is connected to the input gear through a first transmission connector.

[0009] Optionally, the first planetary gear system includes a second synchronous internal gear ring, at least three evenly distributed synchronous planetary gears, a common planet carrier, and a synchronous sun gear; the second planetary gear system includes a common planet carrier, at least three evenly distributed staggered planetary gears, a staggered internal gear ring, and a staggered sun gear; the transmission ratios of the first planetary gear system and the second planetary gear system are exactly the same.

[0010] Optionally, the misaligned sun gear and the synchronous sun gear have the same number of teeth; the synchronous planetary gear and the misaligned planetary gear have the same number of teeth; and the second synchronous internal gear ring and the misaligned internal gear ring have the same number of teeth.

[0011] Optionally, the second synchronous internal gear ring is fixedly installed on the inner wall of the rotating shaft and rotates synchronously with the rotating shaft; the misaligned internal gear ring is connected to the feed execution module through the second transmission connector.

[0012] Optionally, the feed execution module is a lead screw and nut assembly, wherein the lead screw is connected to the second transmission connector for transmission, and the nut is fixedly connected to the feed execution component.

[0013] Optionally, the second transmission connector is a direct coupling, a bevel gear transmission assembly, or a cylindrical gear transmission assembly, used to achieve axial or radial feed.

[0014] Optionally, when the power input module is de-energized and locked, the shaft rotates at any speed, the misaligned internal gear ring remains stationary, and the feed execution module does not generate any feed motion.

[0015] Compared with the prior art, this application includes at least one of the following beneficial technical effects:

[0016] This invention utilizes a dual-symmetric differential design between the first and second planetary gear systems, combined with symmetrical power splitting of the gear transmission group, to make the high-speed rotational motion of the shaft completely independent of the feed motion of the feed execution module. The rotational speed and start / stop status of the shaft do not affect the feed action. When the power input module is de-energized and locked, the feed execution module remains stationary, effectively ensuring feed positioning accuracy. At the same time, the fixed bracket provides rigid support, further improving the stability of the mechanism's operation.

[0017] Furthermore, by independently selecting direct couplings, bevel gear transmission components, etc. through the first transmission connector and the second transmission connector, axial or radial feed can be flexibly realized, adapting to the usage requirements of various high-precision mechanical equipment such as automatic variable diameter boring tools and core-pulling friction stir welding heads;

[0018] In summary, this invention achieves high integration, high precision, low cost, and multi-directional feeding, and truly decouples rotation and feeding, significantly improving equipment performance and applicability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a fully decoupled automatic feed mechanism for a rotating shaft based on a double-symmetric planetary differential.

[0020] Figure label:

[0021] 1. Power input module; 2. First transmission connector; 3. Fixed bracket; 4. Input gear; 5. First misaligned gear; 6. First synchronous internal gear ring; 7. Second misaligned gear; 8. First synchronous gear; 9. Third misaligned gear; 10. Second synchronous gear; 11. Second synchronous internal gear ring; 12. Synchronous planetary gear; 13. Common planetary carrier; 14. Misaligned internal gear ring; 15. Misaligned planetary gear; 16. Misaligned sun gear; 17. Second transmission connector; 18. Feed execution module; 19. Rotary shaft; 20. Synchronous sun gear. Detailed Implementation

[0022] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0023] Example

[0024] like Figure 1As shown, the fully decoupled automatic feed mechanism based on double-symmetric planetary differential proposed in this invention includes a power input module 1, a first transmission connector 2, a fixed bracket 3, a gear transmission group, a first planetary gear system, a second planetary gear system, a second transmission connector 17, a feed execution module 18, and a rotating shaft 19. The power input module 1 serves as the core power supply for the entire feed mechanism, providing precisely controllable rotational power to drive the feed action. The first transmission connector 2 connects the power input module 1 and the gear transmission group, achieving stable power transmission and flexible switching of the transmission direction. The fixed bracket 3 serves as the mounting base for the mechanism, stably fixing the entire feed mechanism to the equipment frame and providing mounting for each component. Provides rigid support; the gear transmission group is used to split, reverse and synchronously transmit the power of the power input module 1, ensuring symmetrical power input of the double planetary gear system; the first planetary gear system and the second planetary gear system are the core differential components of the mechanism, used to achieve complete decoupling of the rotary motion and feed motion of the rotating shaft 19; the second transmission connector 17 is used to connect the planetary gear system and the feed execution module 18, realizing the transmission of differential power to feed action; the feed execution module 18 is used to convert rotary power into linear feed motion, realizing precise feed of the execution component; the rotating shaft 19 serves as the mounting carrier of the mechanism, used to accommodate all transmission components, and can also perform high-speed rotary motion itself, providing core rotary support for the machining equipment.

[0025] Furthermore, the fixed bracket 3 is used for fixed installation on the equipment frame, providing an installation benchmark and rigid support for all fixed components of the entire feeding mechanism, ensuring the stability of the mechanism during operation, and avoiding the impact of vibration on transmission accuracy; the parameters of the first planetary gear system and the second planetary gear system are exactly the same and share the same common planetary carrier 13, wherein the common planetary carrier 13 is used to synchronously support the planetary gears of the two planetary gear systems, realizing the coordinated motion and power transmission of the two systems, and ensuring the symmetry of the differential motion of the two systems; the rotational motion of the rotating shaft 19 is completely decoupled from the feeding motion of the feeding execution module 18, that is, the rotational speed and start / stop state of the rotating shaft 19 will not have any impact on the feeding action of the feeding execution module 18; when the power input module 1 inputs power, the feeding execution module 18 generates feeding motion, and when the power input module 1 stops input or is de-energized, the feeding action terminates synchronously.

[0026] Furthermore, the first transmission connector 2 is a direct coupling, a bevel gear transmission assembly, or a cylindrical gear transmission assembly, used to flexibly realize axial or radial transmission according to the actual installation layout and transmission requirements, adapting to the installation space and power transmission direction requirements of different equipment, and improving the versatility and installation flexibility of the mechanism.

[0027] Furthermore, the gear transmission assembly includes an input gear 4, a first misaligned gear 5, a first synchronous internal gear ring 6, a second misaligned gear 7, a first synchronous gear 8, a third misaligned gear 9, and a second synchronous gear 10. The input gear 4 receives power from the power input module 1 and transmits it to the first misaligned gear 5, serving as the first transmission component into the gear transmission assembly. The first misaligned gear 5 achieves the first path of power splitting and, through misalignment, ensures the rationality of the transmission path and avoids component interference. The first synchronous internal gear ring 6 achieves the second path of power splitting and, in conjunction with the first misaligned gear... 5. A symmetrical dual power transmission path is formed by the combination of the first misaligned gear 5 and the second misaligned gear 7. The second misaligned gear 7 serves as a transitional transmission component, used to transmit the power of the first misaligned gear 5 to the third misaligned gear 9, ensuring smooth power transmission in the misaligned path. The first synchronous gear 8 serves as a transitional transmission component, used to transmit the power of the first synchronous internal gear ring 6 to the second synchronous gear 10, ensuring smooth power transmission in the synchronous path. The third misaligned gear 9 is used to transmit the power of the misaligned path to the misaligned sun gear 16 of the second planetary gear system. The second synchronous gear 10 is used to transmit the power of the synchronous path to the synchronous sun gear 20 of the first planetary gear system. The input gear 4 meshes with the external teeth of the first misaligned gear 5 to achieve the initial power transmission. The first misaligned gear 5 and the first synchronous internal gear ring 6 are arranged coaxially to ensure the synchronicity of the two power streams. The first misaligned gear 5 meshes with the third misaligned gear 9 through the second misaligned gear 7, and the first synchronous internal gear ring 6 meshes with the second synchronous gear 10 through the first synchronous gear 8, forming a symmetrical dual power transmission link.

[0028] Specifically, the power input module 1 is a controllable power input source, preferably a servo motor or a stepper motor, which can precisely control the output speed and angle, providing a guarantee for stepless speed regulation and precise positioning of the feed motion; the power input module 1 is fixedly installed on the fixed bracket 3 to ensure the stability of the power input process and avoid power transmission deviation due to vibration; the output end of the power input module 1 is connected to the input gear 4 through the first transmission connector 2 to realize the efficient transmission of power from the power input module 1 to the gear transmission group.

[0029] Furthermore, the first planetary gear system includes a second synchronous internal gear ring 11, at least three evenly distributed synchronous planetary gears 12, a common planetary carrier 13, and a synchronous sun gear 20. The second synchronous internal gear ring 11 rotates synchronously with the shaft 19, introducing the rotational motion of the shaft 19 into the first planetary gear system, serving as a passive power input component of the first planetary system. The synchronous planetary gears 12 are evenly distributed on the common planetary carrier 13, used to realize power transmission and differential motion between the synchronous sun gear 20 and the second synchronous internal gear ring 11, ensuring the smoothness of the first planetary system's transmission. The synchronous sun gear 20 receives the power transmitted by the gear transmission set, serving as an active power input component of the first planetary gear system, and cooperates with the second synchronous internal gear ring 11, the synchronous planetary gears 12, and the common planetary carrier 13 to achieve differential motion. The second planetary gear system includes a shared planet carrier 13, at least three evenly distributed offset planetary gears 15, an offset internal gear ring 14, and an offset sun gear 16. The offset planetary gears 15 are evenly distributed on the shared planet carrier 13, symmetrically arranged with the synchronous planetary gears 12, and are used to realize power transmission and differential motion between the offset sun gear 16 and the offset internal gear ring 14. The offset internal gear ring 14 outputs the differential combined power of the two planetary gear systems and is a key component for power transmission to the feed execution module 18. The offset sun gear 16 receives the power transmitted by the gear transmission group, serving as the active power input component of the second planetary gear system, and cooperates with the offset internal gear ring 14, offset planetary gears 15, and shared planet carrier 13 to achieve differential motion. The transmission ratios of the first and second planetary gear systems are exactly the same, ensuring that the two differential motions can cooperate with each other, achieving complete decoupling of the rotational motion and feed motion of the shaft 19.

[0030] Furthermore, the misaligned sun gear 16 and the synchronous sun gear 20 have the same number of teeth, ensuring the synchronicity of the two active power inputs; the synchronous planetary gear 12 and the misaligned planetary gear 15 have the same number of teeth, and the second synchronous internal gear ring 11 and the misaligned internal gear ring 14 have the same number of internal teeth, ensuring the parameter symmetry of the two planetary gear systems, providing a structural basis for the cancellation and synthesis of the differential motion of the two systems, and ensuring the reliability of the decoupling effect.

[0031] Furthermore, the second synchronous internal gear ring 11 is fixedly installed on the inner wall of the rotating shaft 19 and rotates synchronously with the rotating shaft 19 to ensure that the rotational motion of the rotating shaft 19 can be accurately transmitted to the first planetary gear system; the misaligned internal gear ring 14 is connected to the feed execution module 18 through the second transmission connector 17 to transmit the differential combined power of the dual planetary system to the feed execution module 18 to drive the feed action.

[0032] In this embodiment, the feed execution module 18 is a lead screw and nut assembly, preferably a ball screw pair with a precision grade of C3, which has a transmission efficiency of ≥92% and a positioning accuracy of ±0.003mm, enabling high-precision and high-efficiency linear feed. The lead screw is connected to the second transmission connector 17 to receive the rotational power transmitted by the misaligned internal gear ring 14. The nut is fixedly connected to the feed execution component to convert the rotational motion of the lead screw into linear feed motion, thereby driving the execution component to complete precise feed.

[0033] In this embodiment, the second transmission connector 17 is a direct coupling, a bevel gear transmission assembly, or a cylindrical gear transmission assembly. It can be selected independently from the first transmission connector 2. It is used to convert the rotational motion of the misaligned internal gear ring 14 into axial or radial feed according to the feed direction requirements, and adapts to the feed requirements of different equipment such as automatic variable diameter boring tools and core-pulling friction stir welding heads.

[0034] Specifically, when the power input module 1 is de-energized and locked, its output end cannot rotate, thereby causing the gear transmission group, the misaligned sun gear 16, and the synchronous sun gear 20 to remain stationary. At this time, the rotating shaft 19 rotates at any speed, and the second synchronous internal gear ring 11 rotates synchronously with the rotating shaft 19, causing the two sets of planetary gear systems to generate symmetrical differential motion. The two differential motions cancel each other out at the misaligned internal gear ring 14, so that the misaligned internal gear ring 14 remains stationary, and the feed execution module 18 does not generate any feed motion, further confirming the complete decoupling characteristics of the rotating shaft 19's rotational motion and the feed execution module 18's feed motion.

[0035] In this embodiment, when the power input module 1 is de-energized and locked, its output end cannot rotate, thereby causing the input gear 4 connected to it via the first transmission connector 2 to remain stationary. Subsequently, the associated first misaligned gear 5, first synchronous internal gear ring 6, second misaligned gear 7, first synchronous gear 8, third misaligned gear 9, and second synchronous gear 10 all remain synchronously stationary, ultimately resulting in the misaligned sun gear 16 and synchronous sun gear 20 having no active input speed and remaining stationary. At this time, the rotating shaft 19 is driven by external power to perform high-speed rotational motion. The second synchronous internal gear ring 11, fixedly installed on the inner wall of the rotating shaft 19, rotates synchronously with the rotating shaft 19, introducing the rotational motion of the rotating shaft 19 into the first planetary gear system. Since the first planetary gear system and the second planetary gear system have identical parameters, share the same common planet carrier 13, and the misaligned sun gear 16 and synchronous sun gear 20 have the same number of teeth, the synchronous planet gear 12 and misaligned planet gear 15 have the same number of teeth, and the second synchronous internal gear ring 11 and misaligned internal gear ring 14 have the same number of internal teeth, the two planetary gear systems form a symmetrical differential structure. The second synchronous internal gear ring 11 drives the synchronous planetary gears 12 in the first planetary gear system to rotate around the synchronous sun gear 20, and simultaneously drives the common planetary carrier 13 to generate a driven motion. This driven motion is synchronously transmitted to the misaligned planetary gears 15 in the second planetary gear system. Since the misaligned sun gear 16 is stationary, the misaligned planetary gears 15 drive the misaligned internal gear ring 14 to generate a reverse motion. The two motions cancel each other out at the misaligned internal gear ring 14, ultimately keeping the misaligned internal gear ring 14 absolutely stationary. The misaligned internal gear ring 14 has no rotational motion output, and the feed execution module 18 connected to it through the second transmission connector 17 cannot obtain power, so it does not generate any feed action. At this time, the rotational motion of the shaft 19 and the feed motion of the feed execution module 18 are completely independent, fully demonstrating the decoupling characteristics. During this process, the fixed bracket 3 always provides rigid support for the fixed components such as the power input module 1, ensuring the overall operational stability of the mechanism.

[0036] When a feed action is required, the power input module 1 is activated, outputting rotary power with precisely controllable speed and angle. This power is transmitted to the input gear 4 via the first transmission connector 2, achieving stable power transfer and transmission. The input gear 4 meshes with the external teeth of the first misaligned gear 5, driving the first misaligned gear 5 to rotate. Since the first misaligned gear 5 and the first synchronous internal gear ring 6 are coaxially arranged, they rotate synchronously, forming two symmetrical power streams: one power stream is transmitted through the first misaligned gear 5 to the second misaligned gear 7, which then meshes with the third misaligned gear 9 to rotate, ultimately driving the misaligned sun gear 16, which is coaxially fixed with the third misaligned gear 9, to rotate; the other power stream is transmitted through the first synchronous internal gear ring 6 to the first synchronous gear 8, which then meshes with the second synchronous gear 10 to rotate, ultimately driving the synchronous sun gear 20, which is coaxially fixed with the second synchronous gear 10, to rotate. Since the corresponding gears have the same number of teeth, the misaligned sun gear 16 and the synchronous sun gear 20 rotate at the same speed and in the same direction. At this time, the first planetary gear system and the second planetary gear system simultaneously generate differential motion: the synchronous sun gear 20 rotates actively, and combined with the rotational motion of the second synchronous internal gear ring 11 along the shaft 19, it drives the synchronous planetary gear 12 to perform planetary motion, thereby driving the common planetary carrier 13 to generate a specific speed; at the same time, the misaligned sun gear 16 rotates actively, and combined with the entrainment motion of the common planetary carrier 13, it drives the misaligned planetary gear 15 to perform planetary motion, ultimately driving the misaligned internal gear ring 14 to generate a rotational motion proportional to the speed of the power input module 1. This motion is independent of the rotational speed of the shaft 19, achieving complete decoupling between rotation and feed. The rotational power of the misaligned internal gear ring 14 is transmitted to the feed execution module 18 via the second transmission connector 17. The lead screw of the feed execution module 18 receives the rotational power and rotates. The nut is fixedly connected to the feed execution component, converting the rotational motion of the lead screw into linear feed motion. Depending on the selection of the second transmission connector 17, precise axial or radial feed is achieved to meet the feed requirements of different equipment.

[0037] When the feed execution module 18 moves to the predetermined feed position, the power input module 1 is de-energized and locked again, and its output end stops rotating. This causes the input gear 4 and all subsequent gear transmission components, the misaligned sun gear 16, and the synchronous sun gear 20 to immediately come to a stop. At this time, the first planetary gear system and the second planetary gear system return to their symmetrical cancellation state, and the misaligned internal gear ring 14 quickly stops rotating. The power interruption transmitted to the feed execution module 18 via the second transmission connector 17 causes the feed execution module 18 to immediately terminate the feed action and maintain the current positioning accuracy. During this process, the rotating shaft 19 can continue to be driven by external power to rotate at high speed, and its rotation state will not have any impact on the positioning accuracy of the feed execution module 18, further confirming the complete decoupling characteristics of the mechanism.

[0038] In summary, the entire mechanism achieves complete decoupling between the rotary motion of the shaft 19 and the feed motion of the feed execution module 18 through symmetrical power splitting of the gear transmission group and differential synthesis of the double planetary gear system, relying on the coordinated cooperation of each component. It also has the advantages of high feed accuracy and strong adaptability. All components involved in the motion maintain functional coordination throughout the process, which is in line with the functional settings of each component in the embodiment.

[0039] The above specific embodiments are merely several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A fully decoupled automatic feed mechanism for a rotating shaft based on a double-symmetric planetary differential, characterized in that, include: It includes a power input module (1), a first transmission connector (2), a fixed bracket (3), a gear transmission group, a first planetary gear system, a second planetary gear system, a second transmission connector (17), a feed execution module (18), and a rotating shaft (19). The fixed bracket (3) is used for fixed installation on the equipment frame; The first planetary gear system and the second planetary gear system have the same parameters and share the same common planet carrier (13). The rotational motion of the shaft (19) is completely decoupled from the feed motion of the feed execution module (18); When the power input module (1) inputs power, the feed execution module (18) generates feed motion.

2. The fully decoupled automatic feed mechanism for the rotating shaft based on double-symmetric planetary differential as described in claim 1, characterized in that, The first transmission connector (2) is a direct coupling, a bevel gear transmission assembly or a cylindrical gear transmission assembly, used to realize axial or radial transmission.

3. The fully decoupled automatic feed mechanism for the rotating shaft based on double-symmetric planetary differential as described in claim 2, characterized in that, The gear transmission assembly includes an input gear (4), a first misaligned gear (5), a first synchronous internal gear ring (6), a second misaligned gear (7), a first synchronous gear (8), a third misaligned gear (9), and a second synchronous gear (10). The input gear (4) meshes with the external teeth of the first misaligned gear (5). The first misaligned gear (5) is coaxially arranged with the first synchronous internal gear ring (6). The first misaligned gear (5) meshes with the third misaligned gear (9) through the second misaligned gear (7). The first synchronous internal gear ring (6) meshes with the second synchronous gear (10) through the first synchronous gear (8).

4. The fully decoupled automatic feed mechanism for the rotating shaft based on double-symmetric planetary differential as described in claim 3, characterized in that, The power input module (1) is a controllable power input source. The power input module (1) is fixedly installed on the fixed bracket (3). The output end of the power input module (1) is connected to the input gear (4) through the first transmission connector (2).

5. The fully decoupled automatic feed mechanism for the rotating shaft based on double-symmetric planetary differential as described in claim 4, characterized in that, The first planetary gear system includes a second synchronous internal gear ring (11), at least three evenly distributed synchronous planetary gears (12), a common planet carrier (13), and a synchronous sun gear (20); the second planetary gear system includes a common planet carrier (13), at least three evenly distributed staggered planetary gears (15), a staggered internal gear ring (14), and a staggered sun gear (16); the transmission ratios of the first planetary gear system and the second planetary gear system are exactly the same.

6. The fully decoupled automatic feed mechanism for the rotating shaft based on double-symmetric planetary differential as described in claim 5, characterized in that, The number of teeth of the misaligned sun gear (16) is exactly the same as that of the synchronous sun gear (20); the number of teeth of the synchronous planetary gear (12) is exactly the same as that of the misaligned planetary gear (15); the number of teeth of the second synchronous internal gear ring (11) is exactly the same as that of the misaligned internal gear ring (14).

7. The fully decoupled automatic feed mechanism for the rotating shaft based on double-symmetric planetary differential as described in claim 6, characterized in that, The second synchronous internal gear ring (11) is fixedly installed on the inner wall of the rotating shaft (19) and rotates synchronously with the rotating shaft (19); the misaligned internal gear ring (14) is connected to the feed execution module (18) through the second transmission connector (17).

8. The fully decoupled automatic feed mechanism for the rotating shaft based on double-symmetric planetary differential as described in claim 7, characterized in that, The feed execution module (18) is a lead screw and nut assembly, with the lead screw being connected to the second transmission connector (17) and the nut being fixedly connected to the feed execution component.

9. The fully decoupled automatic feed mechanism for the rotating shaft based on double-symmetric planetary differential as described in claim 8, characterized in that, The second transmission connector (17) is a direct coupling, a bevel gear transmission assembly or a cylindrical gear transmission assembly, used to realize axial feed or radial feed.

10. The fully decoupled automatic feed mechanism for the rotating shaft based on double-symmetric planetary differential as described in claim 9, characterized in that, When the power input module (1) is de-energized and locked, the shaft (19) rotates at any speed, the misaligned internal gear ring (14) remains stationary, and the feed execution module (18) does not generate any feed motion.

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