Power transmission mechanism and mechanical device

Abstract

The application relates to a power transmission mechanism and mechanical equipment, which comprises a power input assembly, a first clutch, a second clutch and a power output assembly. The power input assembly simultaneously drives a first driving part of the first clutch and a second driving part of the second clutch to rotate in different directions. When the output in the same direction as the first driving part is needed, the first driving part is controlled to be engaged with a first driven part, the first driving part can transmit the rotating torque to the first driven part, and the rotating torque is transmitted to an executing assembly through cooperation of a first linkage part and a second linkage part of the power output assembly. Conversely, the second driving part is controlled to be engaged with a second driven part, and the rotating torque is transmitted to the executing assembly through the power output assembly. The power transmission mechanism only needs to control the first driven part to be engaged with the first driving part or the second driven part to be engaged with the second driving part when the rotating direction is switched, the response speed is fast, and the transmission efficiency is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transmission structure, in particular to a power transmission mechanism and a mechanical device. BACKGROUND

[0002] In traditional mechanical devices, a motor is generally used as a power component to drive other components to move. When the rotation direction of the output needs to be switched, the motor is generally controlled to rotate forward or reverse. However, this way not only has slow response speed but also has large motor loss. SUMMARY

[0003] Therefore, it is necessary to provide a power transmission mechanism and a mechanical device with fast response speed and small loss.

[0004] A power transmission mechanism, comprising a power input assembly, a first clutch, a second clutch and a power output assembly, the first clutch comprising a first driving member and a first driven member, the first driving member being controllable to engage with the first driven member, the first driving member being connected to the power input assembly, the power input assembly being used to drive the first driving member to rotate; the second clutch comprising a second driving member and a second driven member, the second driving member being controllable to engage with the second driven member, the second driving member being connected to the power input assembly, the power input assembly being used to drive the second driving member to rotate, and the rotation direction of the second driving member being opposite to that of the first driving member; the power output assembly comprising a first linkage member and a second linkage member, the first linkage member being connected to the first driven member, the second linkage member being connected to the second driven member, and the first linkage member and the second linkage member being in transmission cooperation.

[0005] In one embodiment, the first clutch is a magnetorheological fluid clutch, and the second clutch is a magnetorheological fluid clutch.

[0006] In one embodiment, the power transmission mechanism further comprises a controller, the first clutch and the second clutch are both electrically connected to the controller, and the controller is used to control the current of the first clutch and / or the second clutch.

[0007] In one embodiment, the power output assembly further comprises an output shaft, the output shaft is arranged on the first linkage member, and the first linkage member can drive the output shaft to move synchronously.

[0008] In one embodiment, the power output assembly further comprises a linkage belt, the linkage belt is arranged on the first linkage member and the second linkage member to drive the first linkage member and the second linkage member to rotate synchronously.

[0009] In one of the embodiments, the power transmission mechanism further comprises a housing, the housing is provided with an output hole, the power input assembly, the first clutch, the second clutch and the power output assembly are arranged in the housing, and the output shaft extends out of the output hole.

[0010] In one of the embodiments, the power input assembly comprises a power source, a first transmission member and a second transmission member, the first transmission member is connected to the first driving member, the second transmission member is connected to the second driving member, the power source is used to drive the first transmission member to rotate, the first transmission member and the second transmission member are in transmission cooperation, and the rotation directions of the first transmission member and the second transmission member are opposite.

[0011] In one of the embodiments, the first transmission member and the second transmission member are gears, and the first transmission member and the second transmission member are in meshing cooperation; and / or

[0012] The first transmission member is connected to the first driving member through a shaft coupling, and the second transmission member is connected to the second driving member through a shaft coupling.

[0013] In one of the embodiments, the power transmission mechanism further comprises an auxiliary output assembly and an auxiliary clutch, the auxiliary clutch comprises an auxiliary driving member and an auxiliary driven member, the auxiliary driving member is controlled to be engaged with the auxiliary driven member, the power input assembly is used to drive the auxiliary driving member to rotate, the rotation direction of the auxiliary driving member is opposite to that of one of the first driving member and the second driving member, and the auxiliary output assembly is connected to the auxiliary driven member.

[0014] A mechanical device, comprising an execution assembly and the power transmission mechanism as described above, and the execution assembly is connected to the first linkage member or the second linkage member.

[0015] The power transmission mechanism and the mechanical equipment, the power input assembly simultaneously drives the first driving part of the first clutch and the second driving part of the second clutch to rotate in different directions. When the output in the same direction as the first driving part is required, the first driving part is controlled to engage with the first driven part, and then the first driving part can transmit the rotating torque to the first driven part, and the first driven part realizes the transmission of the rotating torque through the cooperation of the first linkage and the second linkage of the power output assembly. Conversely, when the output in the same direction as the second driving part is required, the second driving part is controlled to engage with the second driven part, and the rotating torque is transmitted through the cooperation of the first linkage and the second linkage of the power output assembly, and is further transmitted to the execution assembly, realizing the driving of the execution assembly. The power transmission mechanism does not need to change the rotating direction of the power input assembly in the process of switching the rotating direction, only needs to control the first driven part to engage with the first driving part or the second driven part to engage with the second driving part, the response speed is fast, the loss of the power input assembly is small, the transmission efficiency is high, the brake release time can be reduced, and the service life of the power input assembly can be prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The embodiments of the application illustrated in the drawings and their descriptions are used to explain the application and are not meant to limit the application.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0018] In addition, the drawings are not drawn in the ratio of 1:1, and the relative sizes of the various elements are only exemplarily drawn in the drawings, but not necessarily drawn in true proportion. In the drawings:

[0019] Figure 1 It is a structural schematic diagram of the power transmission mechanism in an embodiment;

[0020] Figure 2 It is a structural schematic diagram of the power transmission mechanism in an embodiment; Figure 1 It is a structural schematic diagram of the power transmission mechanism in an embodiment;

[0021] Figure 3 It is a structural schematic diagram of the power transmission mechanism in an embodiment; Figure 1 It is a sectional view of the power transmission mechanism shown in the figure.

[0022] Explanation of reference signs:

[0023] 10, power transmission mechanism; 100, power input assembly; 110, power source; 120, first transmission member; 130, second transmission member; 200, first clutch; 210, first driving member; 220, first driven member; 230, first coil; 300, second clutch; 310, second driving member; 320, second driven member; 330, second coil; 400, power output assembly; 410, first linkage member; 420, second linkage member; 430, output shaft; 440, linkage belt; 450, tension pulley; 500, housing; 510, output hole; 520, first assembly shell; 530, second assembly shell; 540, connecting shell. DETAILED DESCRIPTION

[0024] In order to make the above objectives, features and advantages of the present application more obvious and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, a lot of specific details are set forth in order to give a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0025] Referring to Figures 1 to 3 The power transmission mechanism 10 in an embodiment of the present application has fast response speed and small loss. The power transmission mechanism 10 comprises a power input assembly 100, a first clutch 200, a second clutch 300 and a power output assembly 400. The first clutch 200 comprises a first driving member 210 and a first driven member 220. The first driving member 210 is controlled to be engaged with the first driven member 220. The first driving member 210 is connected to the power input assembly 100, and the power input assembly 100 is used to drive the first driving member 210 to rotate. The second clutch 300 comprises a second driving member 310 and a second driven member 320. The second driving member 310 is controlled to be engaged with the second driven member 320. The second driving member 310 is connected to the power input assembly 100, and the power input assembly 100 is used to drive the second driving member 310 to rotate. The rotation direction of the second driving member 310 is opposite to that of the first driving member 210. The power output assembly 400 comprises a first linkage member 410 and a second linkage member 420. The first linkage member 410 is connected to the first driven member 220, and the second linkage member 420 is connected to the second driven member 320. The first linkage member 410 and the second linkage member 420 are transmission matched.

[0026] The power transmission mechanism 10, the power input assembly 100 drives the first driving part 210 of the first clutch 200 and the second driving part 310 of the second clutch 300 in different directions at the same time. When the power output assembly 400 needs to output in the same direction as the first driving part 210, the first driving part 210 is controlled to engage with the first driven part 220, and then the first driving part 210 can transmit the rotating torque to the first driven part 220, and the first driven part 220 transmits the rotating torque through the cooperation of the first linkage part 410 and the second linkage part 420 of the power output assembly 400. Conversely, when the output needs to be in the same direction as the second driving part 310, the second driving part 310 is controlled to engage with the second driven part 320, and the rotating torque is transmitted through the cooperation of the first linkage part 410 and the second linkage part 420 of the power output assembly 400. The power transmission mechanism 10 does not need to change the rotating direction of the power input assembly 100 during the switching of the rotating direction, only needs to control the first driven part 220 to engage with the first driving part 210 or the second driven part 320 to engage with the second driving part 310, the response speed is fast, the loss of the power input assembly 100 is small, the transmission efficiency is high, the brake release time can be reduced, and the service life of the power input assembly 100 can be prolonged.

[0027] In the embodiment, the first clutch 200 is a magnetorheological fluid clutch. The second clutch 300 is a magnetorheological fluid clutch. Specifically, the first clutch 200 further comprises a first coil 230, and the first driving part 210 and the first driven part 220 are filled with magnetorheological fluid. The second clutch 300 further comprises a second coil 330, and the second driving part 310 and the second driven part 320 are filled with magnetorheological fluid. When no current flows in the first coil 230, the magnetorheological fluid is in a liquid state, and at this time, the first clutch 200 is in a disengaged state; when the current flows in the first coil 230, the magnetorheological fluid undergoes a "solidification" reaction, the torque transmitted between the first driving part 210 and the first driven part 220 increases, the first driving part 210 drives the first driven part 220 to rotate through the magnetorheological fluid, and the engagement of the first clutch 200 is realized. The working principle of the second clutch 300 is the same as that of the first clutch 200.

[0028] In an embodiment, the power transmission mechanism 10 further comprises a controller, the first clutch 200 and the second clutch 300 are electrically connected to the controller, and the controller is used to control the current of the first clutch 200 and / or the second clutch 300. In the embodiment, the first coil 230 is electrically connected to the controller, and the second coil 330 is electrically connected to the controller.

[0029] In use, in one embodiment, the controller can only apply current to the first coil 230, so that the first driving element 210 engages with the first driven element 220, and the torque of the first driving element 210 is transmitted through the cooperation of the first linkage 410 and the second linkage 420. In another embodiment, the controller can only apply current to the second coil 330, so that the second driving element 310 engages with the second driven element 320, and the torque of the second driving element 310 is transmitted through the cooperation of the first linkage 410 and the second linkage 420. In other embodiments, when the controller applies current to the first coil 230 and the second coil 330 at the same time, and the current is equal or approximately equal, so that the torque output by the first driven element 220 of the first clutch 200 and the torque output by the second driven element 320 of the second clutch 300 are the same. Since the directions of rotation of the first driving element 210 and the second driving element 310 are opposite, the torques between the first driven element 220 and the second driven element 320 cancel each other out, and at this time the power output assembly 400 is in a stationary state. Specifically, when the controller controls the current of the first coil 230 to increase, the torque output by the first driven element 220 increases, and in turn the power output assembly 400 can output the torque of the first driving element 210; conversely, when the current of the second coil 330 is increased, the torque output by the second driven element 320 increases, and in turn the power output assembly 400 can output the torque of the second driving element 310.

[0030] In the above embodiments, since the first clutch 200 and the second clutch 300 control whether to engage through current, the response frequency of torque output is higher, the response speed is faster, and the purpose of instantaneous output can be achieved. At the same time, by controlling the current, the linearity of the final output torque is higher, the stability is better, and the error is smaller, and the unevenness and delay characteristics of traditional torque motor control are eliminated. When the first clutch 200 and the second clutch 300 apply the same or similar current to make the power output assembly 400 in a stationary state, at this time the inertia of the power output assembly 400 is very small, and as long as the current of one of the clutches is slightly increased, the power output assembly 400 can output a smaller torque, and the lower limit of the torque output is smaller, eliminating the dead zone of traditional direct driving by motor.

[0031] In other embodiments, the first clutch 200 can also be a magnetic powder clutch. In another embodiment, the first clutch 200 can also be a friction clutch, as long as it can achieve controlled engagement of the first driving element 210 and the first driven element 220.

[0032] In other embodiments, the second clutch 300 can also be a magnetic powder clutch. In another embodiment, the second clutch 300 can also be a friction clutch, as long as it can achieve controlled engagement of the second driving element 310 and the second driven element 320.

[0033] In an embodiment, the power output assembly 400 further comprises an output shaft 430, the output shaft 430 is arranged on the first linkage 410, the first linkage 410 can drive the output shaft 430 to move synchronously. Since the first linkage 410 is linked with the second linkage 420, the rotating torque of the first passive element 220 or the second passive element 320 can be effectively transmitted to the output shaft 430 to realize the purpose of rotating the output shaft 430 in different directions. In other embodiments, the output shaft 430 is arranged on the second linkage 420, and the second linkage 420 can drive the output shaft 430 to move synchronously.

[0034] In an embodiment, the power output assembly 400 further comprises a linkage belt 440, the linkage belt 440 is arranged on the first linkage 410 and the first linkage 410 to drive the first linkage 410 and the second linkage 420 to rotate synchronously. In this embodiment, the first linkage 410 and the second linkage 420 are in the form of wheels, and the linkage belt 440 further facilitates the synchronous rotation of the first linkage 410 and the second linkage 420. Specifically, the power output assembly 400 further comprises a tensioning wheel 450, the tensioning wheel 450 abuts against the linkage belt 440 to achieve the purpose of tensioning the linkage belt 440. In other embodiments, the tensioning wheel 450 can also be omitted.

[0035] In other embodiments, the first linkage 410 and the second linkage 420 can also be in the form of gears, and the first linkage 410 and the second linkage 420 are engaged to realize synchronous movement. Alternatively, the first linkage 410 and the second linkage 420 are in the form of worms, and the first linkage 410 and the second linkage 420 are connected through a worm gear, and the output shaft 430 is arranged on a worm or a worm gear. In another embodiment, the first linkage 410 and the second linkage 420 can also be connected through other transmission modes, as long as the stable output of the torque of the first passive element 220 or the second passive element 320 can be ensured.

[0036] In an embodiment, the power transmission mechanism 10 further comprises a housing 500, the housing 500 is provided with an output hole 510, the power input assembly 100, the first clutch 200, the second clutch 300 and the power output assembly 400 are arranged in the housing 500, and the output shaft 430 extends out of the output hole 510. The housing 500 can effectively protect the power input assembly 100, the first clutch 200, the second clutch 300 and the power output assembly 400, and make the power input assembly 100, the first clutch 200, the second clutch 300 and the power output assembly 400 form a module, which can be used as a power source component in mechanical equipment that needs power.

[0037] In the embodiment, the housing 500 comprises a first assembly shell 520, a second assembly shell 530 and a connecting shell 540, the first assembly shell 520 is connected to the second assembly shell 530 through the connecting shell 540, wherein the power input assembly 100 is arranged in the first assembly shell 520, the power output assembly 400 is arranged in the second assembly shell 530, and the first clutch 200 and the second clutch 300 are arranged in the connecting shell 540. Specifically, the connecting shell 540 is two, and the first clutch 200 and the second clutch 300 are arranged in the two connecting shells 540 respectively.

[0038] In other embodiments, the housing 500 can also be a single whole shell, and the power input assembly 100, the first clutch 200, the second clutch 300 and the power output assembly 400 are arranged in the housing 500.

[0039] In an embodiment, the power input assembly 100 comprises a power source 110, a first transmission member 120 and a second transmission member 130, the first transmission member 120 is connected to the first driving member 210, the second transmission member 130 is connected to the second driving member 310, the power source 110 is used to drive the first transmission member 120 to rotate, the first transmission member 120 and the second transmission member 130 are in transmission cooperation, and the rotation directions of the first transmission member 120 and the second transmission member 130 are opposite. Because the first transmission member 120 and the second transmission member 130 are in transmission cooperation, the first driving member 210 and the second driving member 310 can be driven to rotate in different directions at the same time by driving the first transmission member 120 and the second transmission member 130 through the power source 110.

[0040] In the embodiment, the first transmission member 120 and the second transmission member 130 are both gears, and the first transmission member 120 and the second transmission member 130 are engaged. In other embodiments, the first transmission member 120 and the second transmission member 130 can also be worm gear transmission structures, or other structures capable of realizing the synchronous rotation of the first driving member 210 and the second driving member 310 in different rotation directions.

[0041] Specifically, the first transmission member 120 is connected to the first driving member 210 through a shaft coupling 140, and the second transmission member 130 is connected to the second driving member 310 through the shaft coupling 140. The shaft coupling 140 further facilitates the connection of the first transmission member 120 and the first driving member 210, and the connection of the second transmission member 130 and the second driving member 310. In the embodiment, the shaft coupling 140 is a cross coupling shaft coupling. In other embodiments, the shaft coupling 140 can be omitted, and the first transmission member 120 can be directly connected to the first driving member 210. The second transmission member 130 can be directly connected to the second driving member 310.

[0042] In other embodiments, the power input assembly 100 can further include two power sources 110, respectively driving the first driving member 210 and the second driving member 310 to rotate in different directions.

[0043] In the embodiment, the power source 110 is an electric motor. In other embodiments, the power source 110 can also be other power components capable of realizing rotational output.

[0044] In an embodiment, the power transmission mechanism 10 further includes an auxiliary output assembly and an auxiliary clutch, the auxiliary clutch including an auxiliary driving member and an auxiliary driven member, the auxiliary driving member being controllable to engage with the auxiliary driven member, the power input assembly 100 being configured to drive the auxiliary driving member to rotate, the auxiliary driving member being opposite in rotational direction to one of the first driving member 210 and the second driving member 310, and the auxiliary output assembly being connected to the auxiliary driven member. Specifically, the auxiliary output assembly is in transmission cooperation with the first linkage member 410 and the second linkage member 420.

[0045] By setting the auxiliary clutch as a backup clutch, damage to the clutch consistent with the rotational direction of the auxiliary driving member can be avoided, and the output of the entire power transmission mechanism 10 can be affected. For example, when the rotational direction of the auxiliary driving member is consistent with that of the second driving member 310, the second driving member 310 and the second driven member 320 cannot effectively engage, the auxiliary driving member and the auxiliary driven member are started to engage, and the torque is effectively output to the output shaft 430 through the transmission cooperation of the auxiliary output assembly with the first linkage member 410 and the second linkage member 420. In other embodiments, the auxiliary clutch can also be two, and the rotational directions of the two auxiliary clutches are respectively consistent with those of the first clutch 200 and the second clutch 300. The two auxiliary clutches can respectively serve as backup clutches for the first clutch 200 and the second clutch 300.

[0046] Specifically, the auxiliary output assembly includes an auxiliary output member and an auxiliary shaft, the auxiliary shaft being arranged on the auxiliary output member, and the auxiliary output member being in transmission cooperation with the first linkage member 410 or the second linkage member 420, so that the rotational direction of the auxiliary shaft is opposite or the same as that of the output shaft 430.

[0047] In other embodiments, by setting the auxiliary output assembly, the auxiliary shaft can be facilitated to be increased, and in turn the output end can be facilitated to be increased. For example, when the rotational direction of the auxiliary shaft is opposite to that of the output shaft 430, and the rotational direction of the auxiliary driving member is consistent with that of the first driving member 210, the auxiliary driven member and the second driven member 320 are controlled to engage with the corresponding driving member, and in turn two different direction outputs can be realized.

[0048] In an embodiment, a mechanical device includes an execution assembly connected to the first linkage 410 or the second linkage 420 and the power transmission mechanism 10 in any of the above embodiments. The cooperation of the first linkage 410 and the second linkage 420 of the power output assembly 400 further realizes the transmission of the rotating torque, and further transmits to the execution assembly, realizing the driving of the execution assembly. For example, the mechanical device can be a mechanical arm or other mechanical structure requiring power.

[0049] Any combination of the above-described technical features of the embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the description.

[0050] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

[0051] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0052] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0053] In the present application, unless specifically defined otherwise, the terms "mounting", "connected", "connecting", "fixed", and "fixing" should be construed as broad terms, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0054] In the present application, unless specifically defined otherwise, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0055] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and are not the only implementation.

Claims

1. A power transmission mechanism, characterized in that, The power transmission mechanism includes: Power input components; The first clutch is a magnetorheological fluid clutch; the first clutch includes a first driving element and a first driven element, the first driving element is controlled to engage with the first driven element, the first driving element is connected to the power input component, and the power input component is used to drive the first driving element to rotate. The second clutch is a magnetorheological fluid clutch; the second clutch includes a second driving element and a second driven element, the second driving element is controlled to engage with the second driven element, the second driving element is connected to the power input component, the power input component is used to drive the second driving element to rotate, and the rotation direction of the second driving element is opposite to that of the first driving element; The controller is electrically connected to both the first clutch and the second clutch. The controller is used to control the current of the first clutch and the second clutch. The output torque of the first clutch is positively correlated with the current of the first clutch, and the output torque of the second clutch is positively correlated with the current of the second clutch. A power output assembly includes a first linkage and a second linkage. The first linkage is connected to the first driven member, and the second linkage is connected to the second driven member. The first linkage and the second linkage are in a transmission engagement. In the initial state, the controller applies the same current to the first clutch and the second clutch. When the controller controls the current of the first clutch to increase, the power output assembly outputs the torque of the first driving member. When the controller controls the current of the second clutch to increase, the power output assembly outputs the torque of the second driving member.

2. The power transmission mechanism according to claim 1, characterized in that, The power output assembly also includes an output shaft, which is mounted on the first linkage member, and the first linkage member can drive the output shaft to move synchronously.

3. The power transmission mechanism according to claim 2, characterized in that, The power output assembly also includes a linkage belt, which spans across the first linkage member and the second linkage member to drive the first linkage member and the second linkage member to rotate synchronously.

4. The power transmission mechanism according to claim 2, characterized in that, The first linkage and the second linkage are gear structures, and the first linkage and the second linkage mesh with each other.

5. The power transmission mechanism according to claim 2, characterized in that, The first linkage and the second linkage are worm gear structures, and the first linkage and the second linkage are connected by a worm wheel. The output shaft is disposed on the worm or the worm wheel.

6. The power transmission mechanism according to claim 2, characterized in that, It also includes a housing with an output hole. The power input component, the first clutch, the second clutch and the power output component are all disposed inside the housing, and the output shaft extends out from the output hole.

7. The power transmission mechanism according to claim 1, characterized in that, The power input component includes a power source, a first transmission component, and a second transmission component. The first transmission component is connected to the first driving component, and the second transmission component is connected to the second driving component. The power source is used to drive the first transmission component to rotate. The first transmission component and the second transmission component are in transmission cooperation, and the rotation directions of the first transmission component and the second transmission component are opposite.

8. The power transmission mechanism according to claim 7, characterized in that, Both the first transmission component and the second transmission component are gears, and the first transmission component meshes with the second transmission component; and / or The first transmission component is connected to the first driving component via a coupling, and the second transmission component is connected to the second driving component via a coupling.

9. The power transmission mechanism according to claim 1, characterized in that, It also includes an auxiliary output component and an auxiliary clutch, the auxiliary clutch including an auxiliary driving component and an auxiliary driven component, the auxiliary driving component being controllable to engage with the auxiliary driven component, the power input component being used to drive the auxiliary driving component to rotate, the auxiliary driving component rotating in the opposite direction to one of the first driving component and the second driving component, and the auxiliary output component being connected to the auxiliary driven component.

10. A mechanical device, characterized in that, The mechanical device includes an actuating component and a power transmission mechanism as described in any one of claims 1-9, wherein the actuating component is connected to the first linkage member or the second linkage member.

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