Double-flow transmission mechanism with randomly adjustable turning radius

Abstract

The utility model discloses a double-flow transmission mechanism with randomly adjustable turning radius, which comprises two groups of differential transmission components which are symmetrically arranged, and each differential transmission component consists of a shell structure and a gear mechanism. In addition, the device further comprises a driving motor A, a driving motor B and a split-flow transmission mechanism, the driving motor A is in power connection with the shell mechanism, the driving motor B is connected with the split-flow transmission mechanism, and the split-flow transmission mechanism is connected with the two gear mechanisms. The shunting transmission mechanism is composed of a spline shaft, a spline sleeve, a locking head, a locking groove, a supporting spring and an electric telescopic cylinder. The spline shaft is connected with the driving motor B. The locking head is in sliding fit with the spline sleeve, the supporting spring stabilizes the position of the locking head, and the electric telescopic cylinder is used for adjusting the position of the spline sleeve. By means of the mechanism, the crawler can accurately adjust the turning radius according to actual requirements, the problems that in the prior art, the turning radius cannot be adjusted, and steering is inaccurate are solved, and maneuverability, flexibility and stability under complex working conditions are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of tracked traveling equipment technology, specifically a dual-flow transmission mechanism with an arbitrarily adjustable turning radius. Background Technology

[0002] In the steering systems of tracked vehicles (such as tracked robots and tracked monitoring equipment), traditional dual-flow transmission mechanisms primarily rely on differential transmission to achieve the speed difference between the left and right tracks, thereby enabling steering. However, existing dual-flow transmission mechanisms often cannot flexibly adjust the turning radius during the steering process of tracked vehicles. Existing differential transmission components typically rely on a single electric motor or drive unit, using simple forward and reverse control to change the direction of travel of the tracked vehicle. While this method can achieve basic steering functionality, it has significant limitations in precisely controlling the turning radius.

[0003] Specifically, in existing dual-flow transmission mechanisms, the drive motors typically control the driving power of the left and right tracks separately, and the adjustment of their speed and steering state is mainly concentrated in two simple steering modes: "left" or "right." While this structure can achieve basic steering, it often fails to provide sufficient flexibility and controllability when fine-tuning the turning radius is required according to actual operational needs. Especially in situations requiring zero-radius turns or precise steering under different terrain and load conditions, existing technologies cannot meet these complex operational requirements. Utility Model Content

[0004] In view of the above-mentioned shortcomings in the existing technology, the purpose of this utility model is to provide a dual-flow transmission mechanism with an adjustable turning radius, which has significant technical advantages in improving the steering performance, flexibility and operation accuracy of tracked vehicles, and can effectively solve the problems of non-adjustable turning radius and inaccurate steering in the existing technology.

[0005] The technical solution adopted by this utility model to achieve the above-mentioned objective is: a dual-flow transmission mechanism with arbitrarily adjustable turning radius, comprising two sets of symmetrically arranged differential transmission components, wherein the differential transmission components include a housing structure and a gear mechanism assembled in the housing structure.

[0006] It also includes drive motor A, drive motor B, and a split transmission mechanism that maintains a symmetrical layout. Drive motor A is poweredly connected to the housing structure in the two sets of differential transmission components, drive motor B is poweredly connected to the two sets of split transmission mechanisms, and the two sets of split transmission mechanisms are poweredly connected to the gear mechanisms in the two sets of differential transmission components, respectively.

[0007] The diversion transmission mechanism includes a splined shaft, a splined sleeve, a locking connector, a locking groove, a support spring, and an electric telescopic cylinder. The splined shaft is powered by a drive motor B. The splined sleeve is slidably inserted into the splined shaft and coaxially arranged with the input end of the gear mechanism. The locking connector is slidably inserted into the splined sleeve. The two ends of the support spring abut against the locking sleeve and the splined sleeve, respectively. The locking groove is fixed to the input end of the gear mechanism and is nested and locked with the locking connector. The movable end of the electric telescopic cylinder is matched and connected to the splined sleeve.

[0008] Based on the above technical solution, in order to ensure that the differential transmission assembly, drive motor A, drive motor B and the split transmission mechanism can be stably installed and operate in coordination, and at the same time improve the operating stability of the dual-flow transmission mechanism, it also includes multiple sets of side-by-side partitions and a protective cover fixed to the periphery of the partitions.

[0009] Based on the above technical solution, in order to ensure that the power of the drive motor A can be stably transmitted to the housing structure in the two sets of differential transmission components and drive the two sets of differential transmission components to run in opposite directions, the following technical solution is provided.

[0010] A drive bevel gear A is fixedly connected to the output shaft of the drive motor A. Two sets of coaxially arranged drive half shafts are rotatably mounted on the partition plate. The ends of the drive half shafts are all fixedly connected to a transmission bevel gear A that meshes with the drive bevel gear A. The two sets of transmission bevel gears A are arranged symmetrically. A transmission spur gear is provided on the housing structure. A drive spur gear that meshes with the transmission spur gear is fixedly connected to the drive half shaft.

[0011] In the above technical solution, in order to ensure that the power of the drive motor B can be stably transmitted to the spline shafts of the two sets of flow transmission mechanisms and drive the two sets of spline shafts to always keep synchronous operation, the following technical solution is provided.

[0012] A connecting shaft is fixed between the splined shafts in the two-component flow transmission mechanism. The connecting shaft is rotatably mounted on the partition plate. A drive bevel gear B is fixedly connected to the output shaft of the drive motor B. A transmission bevel gear B that meshes with the drive bevel gear B is fixedly connected to the connecting shaft.

[0013] In the above technical solution, in order to ensure that the components in the diversion transmission mechanism can operate stably and to realize the on / off adjustment of power transmission, the following technical solution is provided.

[0014] A guide shaft is fixedly connected to the spline sleeve. Limiting sliders are uniformly fixed to the outer wall of the guide shaft. A guide sleeve that is slidably inserted into the guide shaft is fixedly connected to the locking joint. A limiting through groove that is slidably inserted into the limiting slider is opened on the side wall of the guide sleeve. The support spring is arranged around the guide sleeve.

[0015] The movable end of the electric telescopic cylinder is fixedly connected to a connecting seat, which is rotatably mounted to the periphery of the spline sleeve.

[0016] In the above technical solution, in order to ensure that the locking groove in the diversion transmission mechanism can connect the power to the input end of the gear mechanism and to ensure that the gear mechanism can achieve the differential transmission effect, the following technical solution is provided.

[0017] The gear mechanism includes a first-stage sun gear, a first-stage planetary gear, a second-stage sun gear, and a second-stage planetary gear rotatably mounted in the housing structure. The first-stage sun gear is coaxially fixed to the locking groove. The first-stage planetary gear and the second-stage planetary gear each include multiple sets distributed in a circular array. The first-stage sun gear and the second-stage sun gear mesh with the first-stage planetary gear and the second-stage planetary gear, respectively. The first-stage planetary gear and the second-stage planetary gear maintain meshing.

[0018] Based on the above technical solutions, in order to ensure that the power output of the secondary sun gear can drive the tracked traveling equipment to operate stably, the following technical solutions are provided.

[0019] A small reduction gear is coaxially fixed to the secondary sun gear, and a large reduction gear that meshes with the small reduction gear is rotatably mounted on the partition plate.

[0020] The beneficial effects of this utility model are:

[0021] 1. Achieve arbitrary adjustment of turning radius: By precisely controlling the speed and direction of drive motors A and B, and combining this with the power transmission on / off adjustment of the split-drive mechanism, the tracked vehicle can adjust its turning radius according to different needs. By independently controlling the power of each track, especially when power to one track is cut off, the system can achieve zero-radius turning, thus significantly improving the tracked vehicle's maneuverability and flexibility, particularly in turning in confined spaces or operating in complex environments.

[0022] 2. Improved steering precision and controllability: This solution employs a combination of two symmetrically arranged differential transmission components and a split-drive mechanism, enabling the tracked vehicle to achieve smoother and more precise steering under various operating conditions. Through the coordination of the electric telescopic cylinder, locking joint, spline sleeve, and support spring, the on / off state of power transmission can be effectively adjusted, avoiding the steering inaccuracy problems caused by unstable power transmission in traditional technologies, thereby improving steering precision and controllability.

[0023] 3. Enhanced system stability and reliability: The design of the spline sleeve, locking joint, and guide components ensures the efficient coordinated operation of the flow divider and differential transmission components. Compared with existing technologies, this solution reduces friction and instability factors between components, thereby improving system stability and long-term operational reliability.

[0024] 4. Enhanced adaptability and operational flexibility: This dual-flow transmission mechanism boasts high adaptability, enabling dynamic adjustments based on varying load conditions, terrain changes, and operational requirements. This allows tracked vehicles to maintain excellent steering performance under diverse working conditions, such as varying slopes and uneven ground friction, thus meeting more complex operational needs.

[0025] In summary, this solution has significant technical advantages in improving the steering performance, flexibility, and operational precision of tracked vehicles. It can effectively solve problems such as the inability to adjust the turning radius and the inaccuracy of steering in existing technologies, and has important practical application value. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of this utility model;

[0027] Figure 2 This is a schematic diagram of the structure of this utility model after removing the protective outer cover;

[0028] Figure 3 for Figure 2 A structural diagram from another perspective;

[0029] Figure 4 A schematic diagram of the structure of the differential transmission assembly, drive motor A, drive motor B, and shunt transmission mechanism.

[0030] Figure 5 A schematic diagram of the structure for the combination of the flow splitter mechanism and the differential transmission assembly;

[0031] Figure 6 This is a structural diagram of a portion of the flow splitter mechanism in a disassembled state.

[0032] Figure 7 This is a structural diagram of the differential transmission assembly in its disassembled state.

[0033] In the diagram: 1 Differential transmission assembly, 11 Housing structure, 111 Transmission spur gear, 12 Gear mechanism, 121 First-stage sun gear, 122 First-stage planetary gear, 123 Second-stage sun gear, 124 Second-stage planetary gear, 125 Reduction pinion, 126 Reduction gear, 2 Drive motor A, 21 Drive bevel gear A, 22 Drive half shaft, 23 Transmission bevel gear A, 24 Drive spur gear, 3 Drive motor B, 31 Drive bevel gear B, 4 Divider transmission mechanism, 41 Splined shaft, 411 Connecting shaft, 412 Transmission bevel gear B, 42 Splined sleeve, 421 Guide shaft, 422 Limiting slider, 43 Locking connector, 431 Guide sleeve, 432 Limiting through slot, 44 Locking slot, 45 Support spring, 46 Electric telescopic cylinder, 461 Connecting seat, 51 Partition plate, 52 Protective cover, 53 Horizontal plate, 54 Side plate. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] Please see Figure 1-7 The dual-flow transmission mechanism with arbitrarily adjustable turning radius includes two sets of symmetrically arranged differential transmission components 1. The differential transmission component 1 includes a housing structure 11 and a gear mechanism 12 assembled in the housing structure 11.

[0036] It also includes drive motor A2, drive motor B3 and a split transmission mechanism 4 that maintains a symmetrical layout. Drive motor A2 is powered to the housing structure 11 in the two sets of differential transmission components 1, drive motor B3 is powered to the two sets of split transmission mechanisms 4, and the two sets of split transmission mechanisms 4 are powered to the gear mechanism 12 in the two sets of differential transmission components 1 respectively.

[0037] The diverter transmission mechanism 4 includes a splined shaft 41, a splined sleeve 42, a locking connector 43, a locking groove 44, a support spring 45, and an electric telescopic cylinder 46. The splined shaft 41 is powered by the drive motor B3. The splined sleeve 42 is slidably inserted into the splined shaft 41 and coaxially arranged with the input end of the gear mechanism 12. The locking connector 43 is slidably inserted into the splined sleeve 42. The two ends of the support spring 45 abut against the locking sleeve and the splined sleeve 42 respectively. The locking groove 44 is fixed to the input end of the gear mechanism 12 and is nested and locked with the locking connector 43. The movable end of the electric telescopic cylinder 46 is matched and connected to the splined sleeve 42.

[0038] When the drive motor A2 is running, it can drive the housing structure 11 in the two sets of differential transmission components 1 to rotate in opposite directions at the same speed, so that the output ends of the two sets of differential transmission components 1 output reverse power to drive the tracked traveling equipment to perform a turn-around operation. By controlling the forward and reverse rotation of the drive motor A2, the turn-around of the tracked vehicle in both left and right directions can be controlled.

[0039] The drive motor B3 drives the gear mechanism 12 in the two sets of differential transmission components 1 through the two sets of split transmission mechanisms 4 that are matched with it. When the electric telescopic cylinder 46 drives the spline sleeve 42 and the locking joint 43 to retract as a whole, the locking joint 43 is separated from the locking groove 44, thereby cutting off the power transmission of the drive motor B3 to the differential transmission component 1 on that side, and thus stopping the track on that side. The split transmission mechanism 4 on the other side can continue to transmit the power of the drive motor B3 to the corresponding differential transmission component 1, and make the track on the corresponding side continue to move forward, so as to achieve zero-radius turning of the tracked vehicle towards the stationary track side. When both sets of split transmission mechanisms 4 are locked with the gear mechanism 12 on the corresponding side, and the drive motor B3 is controlled to rotate forward and backward, the tracked vehicle can move forward and backward.

[0040] When the speed and direction of drive motor A2 and drive motor B3 are adjusted simultaneously, and the power transmission on / off state of the two-group flow transmission mechanism 4 is adjusted independently, the turning radius of the tracked vehicle can be arbitrarily adjusted under the cooperation of differential transmission component 1.

[0041] To ensure that the differential transmission assembly 1, drive motor A2, drive motor B3 and flow splitting transmission mechanism 4 can be stably installed and operate in coordination, and to improve the operational stability of the dual-flow transmission mechanism, multiple sets of side-by-side partitions 51 and a protective cover 52 fixed to the periphery of the partitions 51 are also included.

[0042] The housing structure 11 of the differential transmission assembly 1 is rotatably mounted on the partition 51. A horizontal plate 53 is fixed between the two sets of partitions 51 in the middle position. The drive motor A2 and drive motor B3 are fixedly mounted on the horizontal plate 53. The spline shaft 41 in the diversion transmission mechanism 4 is rotatably mounted on the partition 51. The electric telescopic cylinder 46 is fixedly mounted on the partition 51.

[0043] The protective cover 52 can effectively protect the differential transmission assembly 1, drive motor A2, drive motor B3, and split transmission mechanism 4 by enclosing them.

[0044] To ensure that the power of the drive motor A2 can be stably transmitted to the housing structure 11 in the two sets of differential transmission components 1 and drive the two sets of differential transmission components 1 to rotate in opposite directions, the following technical solution is provided.

[0045] A drive bevel gear A21 is fixedly connected to the output shaft of the drive motor A2. Two sets of coaxially arranged drive half shafts 22 are rotatably mounted on the partition plate 51. The ends of the drive half shafts 22 are fixedly connected to transmission bevel gears A23 that mesh with the drive bevel gears A21. The two sets of transmission bevel gears A23 are symmetrically arranged. A transmission spur gear 111 is provided on the housing structure 11. A drive spur gear 24 that meshes with the transmission spur gear 111 is fixedly connected to the drive half shafts 22.

[0046] A side plate 54 is fixed between the two sets of partitions 51 in the middle position. The drive bevel gear A21 is rotatably mounted on the side plate 54, while the drive half shaft 22 is rotatably mounted on the multiple sets of partitions 51. When the drive motor A2 drives the drive bevel gear A21 to run, it can drive the two sets of drive half shafts 22 to run stably through the transmission bevel gear A23. Since the two sets of transmission bevel gears are symmetrically arranged, the rotation directions of the two sets of drive half shafts 22 are always opposite. Through the combination of the drive spur gear 24 and the transmission spur gear 111, the housing structure 11 in the two sets of differential components can be driven to run in opposite directions.

[0047] To ensure that the power of the drive motor B3 can be stably transmitted to the splined shafts 41 of the two-group flow transmission mechanism 4, and to drive the two sets of splined shafts 41 to always keep in synchronous operation, the following technical solution is provided.

[0048] A connecting shaft 411 is fixed between the splined shafts 41 in the two-group flow transmission mechanism 4. The connecting shaft 411 is rotatably mounted on the partition plate 51. A drive bevel gear B31 is fixed on the output shaft of the drive motor B3. A transmission bevel gear B412 that meshes with the drive bevel gear B31 is fixed on the connecting shaft 411.

[0049] When the drive motor B3 is running, it can drive the connecting shaft 411 to run stably through the combination of the drive bevel gear B31 and the transmission bevel gear B412, thereby driving the spline shaft 41 fixed to both ends of the connecting shaft 411 to run stably, so as to stably transmit the power of the drive motor B3 to the two-group flow transmission mechanism 4 and keep them running synchronously.

[0050] To ensure the stable operation of each component in the diversion transmission mechanism 4 and to achieve the on / off adjustment of power transmission, the following technical solution is provided.

[0051] A guide shaft 421 is fixedly connected to the spline sleeve 42. Limiting sliders 422 are uniformly fixed to the outer wall of the guide shaft 421. A guide sleeve 431 is fixedly connected to the locking joint 43 and is slidably inserted into the guide shaft 421. A limiting through groove 432 is provided on the side wall of the guide sleeve 431 and is slidably inserted into the limiting slider 422. A support spring 45 is arranged around the guide sleeve 431.

[0052] The movable end of the electric telescopic cylinder 46 is fixedly connected to a connecting seat 461, which is rotatably mounted to the periphery of the spline sleeve 42.

[0053] The combination of guide shaft 421 and guide sleeve 431 can ensure that the locking joint 43 slides stably along the spline sleeve 42 within a small range under the action of support spring 45. The combination of limit slider 422 and limit through groove 432 can limit the specific sliding stroke of locking joint 43, realize the synchronous rotation of locking joint 43 with spline sleeve 42, and prevent locking joint 43 and its guide sleeve 431 from falling off the guide shaft 421.

[0054] The connection seat 461 ensures that the movement of the spline sleeve 42 during the extension and retraction of the electric telescopic cylinder 46 will not interfere with the normal rotation of the spline sleeve 42. When the electric telescopic cylinder 46 pushes the spline sleeve 42 and the locking joint 43 together into the locking groove 44 and achieves the nesting and locking of the locking joint 43 and the locking groove 44, the support spring 45 provides a buffering effect and can push the locking joint 43 into the locking groove 44 so that the teeth of the two are aligned and locked, thereby achieving stable power transmission to the corresponding side gear mechanism 12.

[0055] To ensure that the locking groove 44 in the split transmission mechanism 4 can connect the power to the input end of the gear mechanism 12 and to ensure that the gear mechanism 12 can achieve the differential transmission effect, the following technical solution is provided.

[0056] The gear mechanism 12 includes a primary sun gear 121, a primary planetary gear 122, a secondary sun gear 123, and a secondary planetary gear 124 rotatably mounted in the housing structure 11. The primary sun gear 121 is coaxially fixed to the locking groove 44. The primary planetary gear 122 and the secondary planetary gear 124 each include multiple sets distributed in a ring array. The primary sun gear 121 and the secondary sun gear 123 mesh with the primary planetary gear 122 and the secondary planetary gear 124, respectively. The primary planetary gear 122 and the secondary planetary gear 124 remain meshed.

[0057] The power of the drive motor B3 can drive the first-stage sun gear 121 to rotate through the split transmission mechanism 4, and then transmit the power to the second-stage sun gear 123 through the first-stage planetary gear 122 and the second-stage planetary gear 124. The second-stage sun gear 123 serves as the output end of the gear mechanism 12 to drive the tracked traveling device.

[0058] When the drive motor A2 drives the housing structure 11 to operate, it can drive the gear mechanism 12 assembled in the housing structure 11 to operate as a whole with the housing structure 11, and the secondary sun gear 123, which is the output end, drives the tracked traveling device to operate.

[0059] When both drive motor A2 and drive motor B3 are running, the differential transmission assembly 1 receives power from both drive motor A2 and drive motor B3, and then outputs the power through the secondary sun gear 123 to achieve differential operation of the differential transmission assembly 1, enabling the tracked traveling device to turn around a specific turning radius.

[0060] To ensure that the power output of the secondary sun gear 123 can drive the tracked traveling equipment to operate stably, the following technical solution is provided.

[0061] A small reduction gear 125 is coaxially fixed to the secondary sun gear 123, and a large reduction gear 126 that meshes with the small reduction gear 125 is rotatably mounted on the partition plate 51.

[0062] The large reduction gear 126 is coaxially connected to the travel wheel of the tracked traveling device. The power of the secondary sun gear 123 can achieve speed reduction and torque increase through the combination of the small reduction gear 125 and the large reduction gear 126. The large reduction gear 126 drives the travel wheel of the tracked traveling device to run stably.

[0063] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0064] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A double flow transmission mechanism with an arbitrarily adjustable turning radius, characterized in that: Including two groups of symmetrical layout differential transmission assembly (1), the differential transmission assembly (1) includes a housing structure (11) and a gear mechanism (12) assembled in the housing structure (11); It also includes drive motor A (2), drive motor B (3) and split transmission mechanism (4) maintaining symmetrical layout, the drive motor A (2) is power connected with the housing structure (11) in the two groups of differential transmission assembly (1), the drive motor B (3) is power connected with the two groups of split transmission mechanism (4), and the two groups of split transmission mechanism (4) are power connected with the gear mechanism (12) in the two groups of differential transmission assembly (1) respectively; The split transmission mechanism (4) includes spline shaft (41), spline sleeve (42), lock joint (43), lock slot (44), supporting spring (45), electric telescopic cylinder (46), the spline shaft (41) is power connected with the drive motor B (3), the spline sleeve (42) is slidably inserted into the spline shaft (41) and is coaxially arranged with the input end of the gear mechanism (12), the lock joint (43) is slidably inserted into the spline sleeve (42), the supporting spring (45) is respectively abutted with lock sleeve and spline sleeve (42) at both ends, the lock slot (44) is fixedly connected to the input end of the gear mechanism (12) and is nested with the lock joint (43), and the movable end of the electric telescopic cylinder (46) is connected with the spline sleeve (42).

2. The turning radius infinitely variable two-stream transmission mechanism according to claim 1, characterized in that: It also includes a plurality of groups of parallelly arranged partition plates (51) and protective covers (52) fixedly connected to the periphery of the partition plates (51).

3. The turning radius infinitely variable two-stream transmission mechanism according to claim 2, characterized in that: The output shaft of the drive motor A (2) is fixedly connected with a drive bevel gear A (21), two groups of coaxially arranged drive half shafts (22) are rotatably installed on the partition plate (51), the end of the drive half shaft (22) is fixedly connected with a transmission bevel gear A (23) engaged with the drive bevel gear A (21), and the two groups of transmission bevel gears A (23) are symmetrically arranged, the housing structure (11) is provided with a transmission straight gear (111), and the drive half shaft (22) is fixedly connected with a drive straight gear (24) engaged with the transmission straight gear (111).

4. The turning radius infinitely variable two-stream transmission mechanism according to claim 2, characterized in that: The connecting shaft (411) is rotatably installed on the partition plate (51), the output shaft of the drive motor B (3) is fixedly connected with a drive bevel gear B (31), and the connecting shaft (411) is fixedly connected with a transmission bevel gear B (412) engaged with the drive bevel gear B (31).

5. The turning radius infinitely variable two-stream transmission mechanism according to claim 4, characterized in that: The spline sleeve (42) is fixedly connected with a guide shaft (421), the outer wall of the guide shaft (421) is uniformly fixedly connected with a limiting slider (422), the lock joint (43) is fixedly connected with a guide sleeve (431) slidably inserted into the guide shaft (421), the side wall of the guide sleeve (431) is provided with a limiting slot (432) slidably inserted into the limiting slider (422), and the supporting spring (45) is arranged at the periphery of the guide sleeve (431). The movable end of the electric telescopic cylinder (46) is fixedly connected with a connecting seat (461), which is rotatably installed to the periphery of the spline sleeve (42).

6. The turning radius infinitely variable two-stream transmission mechanism according to claim 5, characterized in that: The gear mechanism (12) comprises a primary sun gear (121), a primary planetary gear (122), a secondary sun gear (123) and a secondary planetary gear (124) rotatably installed in the shell structure (11). The primary sun gear (121) is coaxially fixed to the lock groove (44). The primary planetary gear (122) and the secondary planetary gear (124) each comprise a plurality of groups arranged in an annular array. The primary sun gear (121) and the secondary sun gear (123) are respectively engaged with the primary planetary gear (122) and the secondary planetary gear (124). The primary planetary gear (122) and the secondary planetary gear (124) are kept in engagement.

7. The turning radius infinitely variable two-stream transmission mechanism according to claim 6, characterized in that: A speed reduction pinion (125) is coaxially fixed to the secondary sun gear (123). A speed reduction gear (126) engaged with the speed reduction pinion (125) is rotatably installed on the partition plate (51).

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