Bidirectional counter driving clutch torque difference motor and actuator

Abstract

The utility model provides a kind of bidirectional counter drive clutch torsion difference motor and actuator, low friction coefficient wear pad is equipped on the rotating shaft of the rotor assembly of the motor matched with worm gear in the prior art, high friction coefficient wear pad is equipped in the rear end cover of motor, or high friction coefficient wear pad is equipped on the rotating shaft of the rotor assembly of the motor, low friction coefficient wear pad is equipped in the rear end cover of motor, when the rotating shaft is subjected to opposite direction counter driving force and occurs axial movement, realize the function of bidirectional counter driving torsion difference by the friction coefficient difference of low friction coefficient wear pad and high friction coefficient wear pad, realize the function of bidirectional counter driving torsion difference holding force by combining worm gear and clutch gear train, solve the technical problem that existing technology needs to install a set of independent clutch on the basis of actuator or speed reduction mechanism "motor+worm gear+clutch gear train" to adjust reverse torque, resulting in the technical problem that actuator or speed reduction mechanism has large volume, high cost and complex assembly process.

Description

Technical Field

[0001] This utility model relates to the field of actuator motor technology, and in particular to a bidirectional reverse-drive clutch torque differential motor and actuator. Background Technology

[0002] In the fields of modern industrial automation and precision transmission, the need for actuators or reduction mechanisms to maintain bidirectional reverse torque difference is becoming increasingly urgent. Specifically, actuators are required to maintain low torque characteristics when reverse-drive in one rotational direction (such as the CW direction) to quickly respond to external impact loads, while possessing high locking torque when reverse-drive in another direction (such as the CCW direction) to achieve a self-locking function. In other words, actuators or reduction mechanisms are required to achieve a bidirectional reverse torque difference self-locking function.

[0003] In the existing technology, in order to achieve the function of maintaining the difference in bidirectional reverse drive torque, it is usually necessary to add an independent clutch to the existing actuator or reduction mechanism "motor + worm gear + clutch gear system" to adjust the reverse torque. However, this technical solution will result in defects such as increased size of the actuator or reduction mechanism, high production cost, and complex assembly process, making it difficult to meet the modern industry's combined requirements for compactness, economy, and simplicity. Utility Model Content

[0004] The purpose of this application is to provide a bidirectional reverse-drive clutch torque difference motor and actuator to solve the technical problems in the prior art where, in order to achieve the function of maintaining bidirectional reverse-drive torque difference, an additional independent clutch needs to be added to the existing "motor + worm gear + clutch gear system" of the actuator or reduction mechanism to adjust the reverse torque, resulting in increased size, high production cost and complex assembly process of the actuator or reduction mechanism.

[0005] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0006] On one hand, this application provides a bidirectional reverse-drive clutch torque differential motor, including a motor, the motor including a housing and a stator assembly and a rotor assembly disposed in the housing, a front cover and a rear cover respectively connected to both ends of the housing, a first bearing disposed in the front cover and a second bearing disposed in the rear cover, the rotor assembly shaft passing through the stator assembly, one end of the shaft being rotatably connected to the front cover through the first bearing and the other end being rotatably connected to the rear cover through the second bearing, and also including a low friction coefficient wear-resistant pad and a high friction coefficient wear-resistant pad;

[0007] The low-friction coefficient wear-resistant pad is sleeved on the rotating shaft and located at the end of the first bearing near the stator assembly; the high-friction coefficient wear-resistant pad is disposed inside the rear end cover and located at the end of the second bearing away from the stator assembly.

[0008] Alternatively, the high-friction coefficient wear-resistant pad may be sleeved on the rotating shaft and located at the end of the first bearing near the stator assembly, while the low-friction coefficient wear-resistant pad may be disposed inside the rear end cover and located at the end of the second bearing away from the stator assembly.

[0009] In the bidirectional reverse-drive clutch torque difference motor described in this application embodiment, the low-friction coefficient wear-resistant pad is a graphite pad.

[0010] In the bidirectional reverse-drive clutch torque difference motor described in this application embodiment, the high friction coefficient wear-resistant pad is a polyurethane pad.

[0011] In the bidirectional reverse-drive clutch torque differential motor described in this application embodiment, an intermediate annular filler is provided between the second bearing and the high friction coefficient wear-resistant pad / low friction coefficient wear-resistant pad.

[0012] On the other hand, this application embodiment also provides a bidirectional reverse-drive clutch torque differential actuator, including the above-mentioned bidirectional reverse-drive clutch torque differential motor, and also including a worm, a double worm gear, a clutch gear and a terminal output gear;

[0013] The worm is fixedly connected to the rotating shaft, the first gear ring of the double worm wheel meshes with the worm to form a worm wheel-worm gear transmission pair, the second gear ring of the double worm wheel is connected to the clutch gear, and the terminal output gear meshes with the clutch gear;

[0014] Let the lead angle of the worm gear be α, then α satisfies α≥5°.

[0015] In the bidirectional reverse-drive clutch torque differential actuator described in this application embodiment, the second gear ring of the double worm gear is connected to the clutch gear through a spur gear set. The number of spur gears on the spur gear set is defined as N, and N satisfies N≥1.

[0016] When N≥2, the number of teeth of the different spur gears is not the same.

[0017] In the bidirectional reverse-drive clutch torque differential actuator described in this application embodiment, the clutch gear includes an external gear, a C-shaped spring, an internal gear, and a fixed sleeve;

[0018] The external gear is provided with a connecting sleeve, the C-shaped spring is fitted into the connecting sleeve, the internal gear is provided with a guide post, the guide post is provided with a protrusion, the internal gear is fitted into the C-shaped spring through the guide post, and the protrusion is located at the opening of the C-shaped spring. The fixing sleeve is provided with a through hole, the fixing sleeve is sleeved on the outside of the connecting sleeve and fixedly connected to the external gear, and the gear ring of the internal gear passes through the through hole.

[0019] In the bidirectional reverse-drive clutch torque differential actuator described in this application embodiment, the C-shaped spring is made of metal, and the external gear and the internal gear are made of plastic.

[0020] The bidirectional reverse-drive clutch torque differential actuator described in this application embodiment also includes a housing, and the worm, double worm gear, spur gear set, clutch gear and the terminal output gear are all disposed within the housing.

[0021] Compared with the prior art, the embodiments of this application have the following beneficial effects:

[0022] As can be seen from the above technical solution, the bidirectional reverse-drive clutch torque differential motor provided in this application, by setting low-friction coefficient wear-resistant pads and high-friction coefficient wear-resistant pads inside the motor, causes the motor shaft to move axially when the motor is subjected to external reverse-drive force. Reverse-drive forces in different directions (clockwise or counterclockwise) cause the motor shaft to move in opposite directions. When the low-friction coefficient wear-resistant pad contacts the first bearing or shaft, the low friction coefficient of the low-friction coefficient wear-resistant pad ensures that the motor's holding torque on the worm gear is unaffected. When the high-friction coefficient wear-resistant pad contacts the first bearing or shaft, the high friction coefficient of the high-friction coefficient wear-resistant pad increases the motor's holding torque on the worm gear, thus achieving the bidirectional reverse-drive torque differential function, i.e., this application... The bidirectional reverse-drive clutch torque differential motor provided in this embodiment only requires adding a low-friction coefficient wear-resistant pad and a high-friction coefficient wear-resistant pad to the existing motor. Combined with the worm gear and clutch gear system, it eliminates the need for an additional clutch. This achieves the bidirectional reverse-drive torque differential holding force function without increasing the size of the actuator or reduction mechanism, significantly increasing production costs, or requiring complex assembly processes. It solves the technical problem in existing technologies where achieving the bidirectional reverse-drive torque differential holding force function requires adding an independent clutch to the existing actuator or reduction mechanism ("motor + worm gear + clutch gear system") to adjust the reverse torque, resulting in increased actuator or reduction mechanism size, high production costs, and complex assembly processes. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The drawings are not intended to be drawn to scale, and for clarity, not every component will be labeled in each drawing. The drawings described below are merely some embodiments of this application. Those skilled in the art can obtain other drawings based on these drawings without creative effort. Wherein:

[0024] Figure 1 This is a schematic diagram of the bidirectional reverse-drive clutch torque difference motor according to an embodiment of this application.

[0025] Figure 2 This is a schematic diagram of the bidirectional reverse-drive clutch torque differential actuator according to an embodiment of this application.

[0026] Figure 3 This is a schematic diagram of the clutch gear in an embodiment of this application.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1-Bidirectional reverse-drive clutch torque differential motor; 2-Housing; 3-Stator assembly; 4-Front end cover; 5-Rear end cover; 6-First bearing; 7-Second bearing; 8-Shaft; 9-Low friction coefficient wear-resistant pad; 10-High friction coefficient wear-resistant pad; 11-Intermediate annular filler; 12-Worm; 13-Double worm gear; 14-Clutch gear; 15-Terminal output gear; 16-Spur gear set; 17-External gear; 18-C-shaped spring; 19-Internal gear; 20-Fixed sleeve; 21-Connecting sleeve; 22-Guide post; 23-Protrusion; 24-Through hole. Detailed Implementation

[0029] Because existing actuators or reduction mechanisms need to achieve bidirectional reverse drive torque difference holding force function, an additional independent clutch needs to be added to the existing actuator or reduction mechanism "motor + worm gear + clutch gear system" to adjust the reverse torque. This results in technical problems such as increased size, high production cost, and complex assembly process of the actuator or reduction mechanism.

[0030] In view of this, this application provides a bidirectional reverse-drive clutch torque differential motor. The concept involves setting low-friction coefficient wear-resistant pads and high-friction coefficient wear-resistant pads inside the motor. When the motor is subjected to an external reverse-drive force, the motor shaft will axially rotate. Reverse-drive forces in different directions (clockwise or counterclockwise) cause the motor shaft to rotate in opposite directions. When the low-friction coefficient wear-resistant pad contacts the first bearing or the shaft, the low friction coefficient of the low-friction pad ensures that the holding torque of the motor on the worm gear is unaffected. When the high-friction coefficient wear-resistant pad contacts the first bearing or the shaft, the high friction coefficient of the high-friction pad increases the holding torque of the motor on the worm gear, thus achieving the bidirectional reverse-drive torque differential function. The bidirectional reverse-drive clutch torque differential motor provided in the example only requires adding a low-friction coefficient wear-resistant pad and a high-friction coefficient wear-resistant pad to the existing motor. Combined with the worm gear and clutch gear system, it eliminates the need for an additional clutch. This achieves the function of maintaining bidirectional reverse-drive torque differential without increasing the size of the actuator or reduction mechanism, without significantly increasing production costs, and without complex assembly processes. It solves the technical problems in the prior art where achieving the bidirectional reverse-drive torque differential holding function requires adding an additional independent clutch to the existing actuator or reduction mechanism ("motor + worm gear + clutch gear system") to adjust the reverse torque, resulting in increased size, high production costs, and complex assembly processes for the actuator or reduction mechanism.

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0032] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0034] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0036] On the one hand, such as Figure 1 As shown, this application provides a bidirectional reverse-drive clutch torque differential motor. The bidirectional reverse-drive clutch torque differential motor 1 includes a motor, which includes a housing 2 and a stator assembly 3 and a rotor assembly disposed within the housing 2. A front cover 4 and a rear cover 5 are respectively connected to both ends of the housing 2. A first bearing 6 is disposed within the front cover 4, and a second bearing 7 is disposed within the rear cover 5. The rotor assembly's rotating shaft 8 passes through the stator assembly 3. One end of the rotating shaft 8 is rotatably connected to the front cover 4 via the first bearing 6, and the other end is rotatably connected to the rear cover 5 via the second bearing 7. It also includes a low-friction coefficient wear-resistant pad 9 and a high-friction... The wear-resistant pad 10 has a high coefficient of friction. The low coefficient of friction wear-resistant pad 9 is sleeved on the rotating shaft 8 and located at the end of the first bearing 6 near the stator assembly 3. The high coefficient of friction wear-resistant pad 10 is disposed inside the rear end cover 5 and located at the end of the second bearing 7 away from the stator assembly 3. Alternatively, the high coefficient of friction wear-resistant pad 10 is sleeved on the rotating shaft 8 and located at the end of the first bearing 6 near the stator assembly 3, while the low coefficient of friction wear-resistant pad 9 is disposed inside the rear end cover 5 and located at the end of the second bearing 7 away from the stator assembly 3.

[0037] It should be noted that in this application, the low-friction coefficient wear-resistant pad 9 and the high-friction coefficient wear-resistant pad 10 refer to a wear-resistant pad with a low friction coefficient and a wear-resistant pad with a high friction coefficient, respectively. The terms "low friction coefficient" and "high friction coefficient" are relative to the two pads themselves.

[0038] In this application, the "or" indicates that the positions of the low-friction coefficient wear-resistant pad 9 and the high-friction coefficient wear-resistant pad 10 can be interchanged. In a first arrangement, the low-friction coefficient wear-resistant pad 9 is sleeved on the rotating shaft 8, located at the end of the first bearing 6 near the stator assembly 3, i.e., the low-friction coefficient wear-resistant pad 9 is located between the first bearing 6 and the stator assembly 3. The high-friction coefficient wear-resistant pad 10 is disposed inside the rear end cover 5, located at the end of the second bearing 7 away from the stator assembly 3. It should be noted that when the rotating shaft 8 is not subjected to a counter-driving force, the low-friction coefficient wear-resistant pad 9 does not contact the first bearing 6, and the high-friction coefficient wear-resistant pad 10 does not contact the rotating shaft 8. When the rotating shaft 8 is subjected to a counter-driving force in a certain direction, the rotating shaft 8 moves axially towards the... When the front cover 4 moves, the rotating shaft 8 drives the low-friction coefficient wear-resistant pad 9 to contact the first bearing 6. Because the low-friction coefficient wear-resistant pad 9 has a low friction coefficient, the friction between the low-friction coefficient wear-resistant pad 9 and the first bearing 6 is small. Therefore, the holding torque of the bidirectional reverse drive clutch torque difference motor 1 on the external worm gear is small at this time. When the rotating shaft 8 is subjected to a reverse drive force in another direction, and the rotating shaft 8 moves axially toward the rear cover 5, the rotating shaft 8 contacts the high-friction coefficient wear-resistant pad 10. Because the high-friction coefficient wear-resistant pad 10 has a high friction coefficient, the friction between the rotating shaft 8 and the high-friction coefficient wear-resistant pad 10 is large. Therefore, the holding torque of the bidirectional reverse drive clutch torque difference motor 1 on the external worm gear is large at this time, thus realizing the bidirectional reverse drive torque difference function. Combined with the existing worm gear and clutch gear system, the function of bidirectional reverse drive torque difference holding force can be realized. It should be further explained that, in the first arrangement, since the end of the rotating shaft 8 is usually rounded, the contact area between the rotating shaft 8 and the high friction coefficient wear-resistant pad 10 is small. Therefore, the high friction coefficient wear-resistant pad 10 is a polyurethane pad. Since the low friction coefficient wear-resistant pad 9 has a large contact area with the first bearing 6, the low friction coefficient wear-resistant pad 9 is a wear-resistant pad with self-lubricating function or good surface roughness, such as a graphite pad, PET polyester pad, or PEEK pad. In this application, the low friction coefficient wear-resistant pad 9 is preferably a graphite pad.In a second arrangement, the low-friction coefficient wear-resistant pad 9 and the high-friction coefficient wear-resistant pad 10 are positioned such that the low-friction coefficient wear-resistant pad 9 is disposed within the rear end cover 5 and located at the end of the second bearing 7 furthest from the stator assembly 3; the high-friction coefficient wear-resistant pad 10 is sleeved on the rotating shaft 8 and located at the end of the first bearing 6 near the stator assembly 3. Specifically, the high-friction coefficient wear-resistant pad 10 is positioned between the first bearing 6 and the stator assembly 3. It should be noted that when the rotating shaft 8 is not subjected to a counter-driving force, the high-friction coefficient wear-resistant pad 10 does not contact the first bearing 6, and the low-friction coefficient wear-resistant pad 9 does not contact the rotating shaft 8. When the rotating shaft 8 is subjected to a counter-driving force in a certain direction, and the rotating shaft 8 moves axially toward the front end cover 4, the rotating shaft 8 drives the high-friction coefficient wear-resistant pad 10... Wear-resistant pad 10 contacts the first bearing 6. Due to the high coefficient of friction of the wear-resistant pad 10, the friction between the high coefficient of friction wear-resistant pad 10 and the first bearing 6 is large. Therefore, the holding torque of the bidirectional reverse drive clutch torque difference motor 1 on the external worm gear is large at this time. When the rotating shaft 8 is subjected to a reverse drive force in another direction, and the rotating shaft 8 moves axially towards the rear end cover 5, the rotating shaft 8 contacts the low coefficient of friction wear-resistant pad 9. Due to the low coefficient of friction of the wear-resistant pad 9, the friction between the low coefficient of friction wear-resistant pad 9 and the rotating shaft 8 is small. Therefore, the holding torque of the bidirectional reverse drive clutch torque difference motor 1 on the external worm gear is small at this time, thus realizing the bidirectional reverse drive torque difference function. Combined with the existing worm gear and clutch gear system, the function of bidirectional reverse drive torque difference holding force can be realized. It should be further explained that, in the second arrangement, since the end of the rotating shaft 8 is usually rounded, the contact area between the rotating shaft 8 and the low-friction coefficient wear-resistant pad 9 is small. Therefore, the low-friction coefficient wear-resistant pad 9 can be a graphite pad, PET polyester pad, PEEK pad, or other wear-resistant pads with self-lubricating function or good surface roughness. In this application, a graphite pad is preferred. Since the high-friction coefficient wear-resistant pad 10 has a large contact area with the first bearing 6, the high-friction coefficient wear-resistant pad 10 is not limited to polyurethane pads, but can also use other wear-resistant pads with a higher coefficient of friction than the low-friction coefficient wear-resistant pad 9, such as thermoplastic elastomer materials TPU, TPE, etc. At the same time, during the process of the rotating shaft 8 moving axially towards the rear end cover 5, the low-friction coefficient wear-resistant pad 9 or the high-friction coefficient wear-resistant pad 10 can also make the rotating shaft 8 and the rear end cover 5 form a soft contact, which plays a role in vibration absorption and noise reduction.

[0039] Preferably, an intermediate annular filler 11 is provided between the second bearing 7 and the high friction coefficient wear-resistant pad 10 / low friction coefficient wear-resistant pad 9. The intermediate annular filler 11 can be red steel paper, annular plastic pad, annular metal pad, etc.

[0040] Specifically, when the low-friction coefficient wear-resistant pad 9 and the high-friction coefficient wear-resistant pad 10 are arranged in the first configuration, the intermediate annular filler 11 is located between the second bearing 7 and the high-friction coefficient wear-resistant pad 10. When the low-friction coefficient wear-resistant pad 9 and the high-friction coefficient wear-resistant pad 10 are arranged in the second configuration, the intermediate annular filler 11 is located between the second bearing 7 and the low-friction coefficient wear-resistant pad 9. By setting the intermediate annular filler 11, it serves to fill the space and prevent the second bearing 7 from being squeezed and moved backward.

[0041] On the other hand, such as Figure 2 and Figure 3 As shown in the embodiment of this application, a bidirectional reverse-drive clutch torque differential actuator is also provided, including the aforementioned bidirectional reverse-drive clutch torque differential motor 1, and further including a worm 12, a double worm gear 13, a clutch gear 14, and a terminal output gear 15. The worm 12 is fixedly connected to the rotating shaft 8. The first gear ring of the double worm gear 13 meshes with the worm 12 to form a worm gear 12 transmission pair. The second gear ring of the double worm gear 13 is connected to the clutch gear 14 for transmission. The terminal output gear 15 meshes with the clutch gear 14. The lead angle of the worm 12 is defined as α, and α satisfies α≥5°.

[0042] Specifically, the second gear ring of the double worm gear 13 is connected to the clutch gear 14 via the spur gear set 16. The number of spur gears on the spur gear set 16 is defined as N, where N≥1 and N is a natural number. When N≥2, the number of teeth on different spur gears is different, and different spur gears are fitted onto the same rotating shaft. The clutch gear 14 includes an external gear 17, a C-shaped spring 18, an internal gear 19, and a fixed sleeve 20. A connecting sleeve 21 is provided on the external gear 17, and the C-shaped spring 18 is engaged with it. Inside the connecting sleeve 21, the internal gear 19 is provided with a guide post 22, and the guide post 22 is provided with a protrusion 23. The internal gear 19 is fitted into the C-shaped spring piece 18 through the guide post 22, and the protrusion 23 is located at the opening of the C-shaped spring piece 18. The fixing sleeve 20 is provided with a through hole 24. The fixing sleeve 20 is sleeved on the outside of the connecting sleeve 21 and is fixedly connected to the external gear 17. The gear ring of the internal gear 19 passes through the through hole 24. It should be noted that the external gear 17 and the... All internal gears 19 are mounted on the same rotating shaft. Specifically, the internal gears 19 are fixedly mounted on a rotating shaft by means of splines or interference fits. The C-shaped spring piece 18 is embedded in the connecting sleeve 21 of the external gear 17. The internal gear 19 is inserted into the C-shaped spring piece 18 through the guide post 22, and the protrusion 23 is engaged with the opening of the C-shaped spring piece 18, so that the external gear 17, the C-shaped spring piece 18, and the internal gear 19 form an integral part. When an external force is applied and transmitted to the internal gear 19... Then, the internal gear 19 applies a pushing force to the C-shaped spring 18. When the pushing force is less than the static friction between the C-shaped spring 18 and the connecting sleeve 21 of the external gear 17, the internal gear 19 drives the external gear 17 to rotate, realizing the transmission function of the internal and external gears. When the pushing force is greater than the static friction between the C-shaped spring 18 and the connecting sleeve 21 of the external gear 17, the C-shaped spring 18 and the external gear 17 rotate relative to each other, so as to realize the clutch protection function of the clutch gear 14.

[0043] It should be noted that, under normal circumstances, for a worm gear to achieve a self-locking function, the lead angle of the worm 12 needs to be less than 5°. The lead angle α of the worm 12 affects the transmission efficiency of the worm gear; that is, increasing the lead angle α of the worm 12 increases the transmission efficiency of the worm gear. Therefore, this application sets the lead angle of the worm 12 to be greater than 5°. Combined with the bidirectional reverse drive torque difference function of the bidirectional reverse drive clutch torque difference motor 1 (when the low friction coefficient wear-resistant pad 9 contacts the first bearing 6 / shaft 8, it maintains low torque; when the high friction coefficient wear-resistant pad 10 contacts the shaft 8 / first bearing 6, it increases torque through friction), it not only achieves the function of maintaining the bidirectional reverse drive torque difference (that is, it achieves the bidirectional reverse drive torque difference self-locking of the actuator or reduction mechanism), but also effectively improves the transmission efficiency of the worm gear.

[0044] Preferably, the C-shaped spring 18 is made of metal, such as 65Mn or 60Si2MN, while the external gear 17 and the internal gear 19 are both made of plastic, such as PA46+GF30, PEEK, or PA6T. By making the external gear 17 a plastic material, the noise generated when the clutch gear 14 engages or disengages is effectively reduced.

[0045] In some embodiments, a housing (not shown) is also included, in which the worm gear 12, the double worm wheel 13, the spur gear set 16, the clutch gear 14, and the terminal output gear 15 are all disposed.

[0046] Specifically, the bidirectional reverse-drive clutch torque differential motor 1 is located outside the housing, with one end of its rotating shaft 8 located inside the housing and fixedly connected to the worm gear 12 located inside the housing. The double worm gear 13, spur gear set 16, and clutch gear 14 are each rotatably connected to the housing via a rotating shaft. The terminal output gear 15 is fixedly sleeved 20 and connected to the output shaft of the actuator or reduction mechanism. This output shaft is rotatably connected to the housing. It should be noted that the connection methods of the double worm gear 13, spur gear set 16, clutch gear 14, and terminal output gear 15 to the housing are all existing conventional technical means. This application does not change the specific connection methods of the double worm gear 13, spur gear set 16, clutch gear 14, and terminal output gear 15 to the housing, so they will not be described in detail here.

[0047] In summary, the bidirectional reverse-drive clutch torque differential motor and actuator provided in this application, by setting low-friction coefficient wear-resistant pads and high-friction coefficient wear-resistant pads inside the motor, causes axial movement of the motor shaft when the motor is subjected to external reverse-drive force. Reverse-drive forces in different directions (clockwise or counterclockwise) cause the motor shaft to move in opposite directions. When the low-friction coefficient wear-resistant pad contacts the first bearing or shaft, its low friction coefficient ensures that the motor's holding torque on the worm gear remains unaffected. When the high-friction coefficient wear-resistant pad contacts the first bearing or shaft, its high friction coefficient increases the motor's holding torque on the worm gear, thus achieving the bidirectional reverse-drive torque differential function. The bidirectional reverse-drive clutch torque differential motor provided in the example only requires adding a low-friction coefficient wear-resistant pad and a high-friction coefficient wear-resistant pad to the existing motor. Combined with the worm gear and clutch gear system, it eliminates the need for an additional clutch. This achieves the function of maintaining bidirectional reverse-drive torque differential without increasing the size of the actuator or reduction mechanism, without significantly increasing production costs, and without complex assembly processes. It solves the technical problems in the prior art where achieving the bidirectional reverse-drive torque differential holding function requires adding an additional independent clutch to the existing actuator or reduction mechanism ("motor + worm gear + clutch gear system") to adjust the reverse torque, resulting in increased size, high production costs, and complex assembly processes for the actuator or reduction mechanism.

[0048] The bidirectional reverse-drive clutch torque differential motor and actuator provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A bidirectional reverse-drive clutch torque differential motor, comprising a motor, the motor including a housing and a stator assembly and a rotor assembly disposed within the housing, a front cover and a rear cover respectively connected to both ends of the housing, a first bearing disposed within the front cover, a second bearing disposed within the rear cover, a rotor assembly shaft passing through the stator assembly, one end of the rotor shaft being rotatably connected to the front cover via the first bearing, and the other end being rotatably connected to the rear cover via the second bearing, characterized in that... It also includes wear-resistant pads with low coefficient of friction and wear-resistant pads with high coefficient of friction; The low-friction coefficient wear-resistant pad is sleeved on the rotating shaft and located at the end of the first bearing near the stator assembly; the high-friction coefficient wear-resistant pad is disposed inside the rear end cover and located at the end of the second bearing away from the stator assembly. Alternatively, the high-friction coefficient wear-resistant pad may be sleeved on the rotating shaft and located at the end of the first bearing near the stator assembly, while the low-friction coefficient wear-resistant pad may be disposed inside the rear end cover and located at the end of the second bearing away from the stator assembly.

2. The bidirectional reverse-drive clutch torque differential motor as described in claim 1, characterized in that, The low-friction coefficient wear-resistant pad is a graphite pad.

3. The bidirectional reverse-drive clutch torque differential motor as described in claim 1, characterized in that, The high-friction coefficient wear-resistant pad is a polyurethane pad.

4. The bidirectional reverse-drive clutch torque differential motor as described in claim 1, characterized in that, An intermediate annular filler is provided between the second bearing and the high-friction coefficient wear-resistant pad / low-friction coefficient wear-resistant pad.

5. A bidirectional reverse-drive clutch torque differential actuator, comprising the bidirectional reverse-drive clutch torque differential motor as described in any one of claims 1-4, characterized in that, It also includes worm gears, double worm wheels, clutch gears, and terminal output gears; The worm is fixedly connected to the rotating shaft, the first gear ring of the double worm wheel meshes with the worm to form a worm wheel-worm gear transmission pair, the second gear ring of the double worm wheel is connected to the clutch gear, and the terminal output gear meshes with the clutch gear; Let the lead angle of the worm gear be α, then α satisfies α≥5°.

6. The bidirectional reverse-drive clutch torque differential actuator as described in claim 5, characterized in that, The second gear ring of the double worm gear is connected to the clutch gear through a spur gear set. The number of spur gears on the spur gear set is defined as N, then N satisfies N≥1; When N≥2, the number of teeth of the different spur gears is not the same.

7. The bidirectional reverse-drive clutch torque differential actuator as described in claim 6, characterized in that, The clutch gear includes an external gear, a C-shaped spring, an internal gear, and a fixed sleeve; The external gear is provided with a connecting sleeve, the C-shaped spring is fitted into the connecting sleeve, the internal gear is provided with a guide post, the guide post is provided with a protrusion, the internal gear is fitted into the C-shaped spring through the guide post, and the protrusion is located at the opening of the C-shaped spring. The fixing sleeve is provided with a through hole, the fixing sleeve is sleeved on the outside of the connecting sleeve and fixedly connected to the external gear, and the gear ring of the internal gear passes through the through hole.

8. The bidirectional reverse-drive clutch torque differential actuator as described in claim 7, characterized in that, The C-shaped spring is made of metal, while the external gear and the internal gear are made of plastic.

9. The bidirectional reverse-drive clutch torque differential actuator as described in claim 6, characterized in that, It also includes a housing, and the worm, double worm gear, spur gear set, clutch gear and the terminal output gear are all disposed inside the housing.

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