Transmission mechanism

Abstract

The present application discloses a transmission mechanism, which includes an outer wheel, a first inner wheel, a second inner wheel and a first flange body. The outer wheel has outer wheel inner teeth. The first inner wheel has a first row of first inner wheel teeth and a second row of first inner wheel teeth arranged side by side, the first inner wheel is eccentrically arranged in the outer wheel, and the first row of first inner wheel teeth can mesh with the outer wheel inner teeth. The second inner wheel has a first row of second inner wheel teeth, the second inner wheel is eccentrically arranged in the outer wheel, and the first row of second inner wheel teeth can mesh with the outer wheel inner teeth. The first flange body includes first flange body teeth, and the first flange body teeth can mesh with the second row of first inner wheel teeth. The transmission mechanism of the present application can achieve an ultra-large speed ratio without changing its volume, and the size of the inner wheel bearing between the inner wheel and the eccentric shaft is large, so that the service life of the inner wheel bearing is longer.

Description

Technical Field

[0001] The present application relates to a transmission mechanism, in particular to an internal gearing transmission mechanism. Background Art

[0002] Usually, the internal meshing transmission mechanism includes a flange, an inner wheel, an input shaft, an inner wheel bearing and a planetary carrier. The inner wheel bearing is arranged between the input shaft and the inner wheel. The inner wheel bearing needs to withstand a large radial force and rotate at high speed, so the inner wheel bearing is easy to wear and is the most easily damaged component in the internal meshing transmission. In addition, the speed ratio of the transmission mechanism is usually achieved by the mutual engagement of the inner wheel and the outer wheel, and the speed change and torque output need to be output through a pin sleeve mechanism or a cross linear bearing output mechanism. The speed ratio of a single-stage transmission is usually small (for example, the speed ratio is 30-300), and the application range is relatively limited. Summary of the invention

[0003] Exemplary embodiments of the present application can solve at least some of the above problems. For example, the present application provides a transmission mechanism. The transmission mechanism includes an outer wheel, a first inner wheel, a second inner wheel, a first flange body, a second flange body, an eccentric shaft and an inner wheel bearing. The inner edge of the outer wheel forms a receiving space, and the inner edge of the outer wheel is provided with outer wheel inner teeth, and the outer wheel has an outer wheel center axis. The outer edge of the first inner wheel is provided with a first row of first inner wheel teeth and a second row of first inner wheel teeth arranged side by side, the first row of first inner wheel teeth is accommodated in the receiving space of the outer wheel and can mesh with the outer wheel inner teeth, the first inner wheel has a first inner wheel center axis, the first inner wheel center axis is eccentrically arranged relative to the outer wheel center axis, and the first inner wheel can rotate eccentrically around the outer wheel center axis. The second inner wheel is arranged on the first side of the first inner wheel, and the outer edge of the second inner wheel is provided with a first row of second inner wheel teeth and a second row of second inner wheel teeth arranged side by side, the first row of second inner wheel teeth is accommodated in the accommodation space of the outer wheel and can mesh with the inner teeth of the outer wheel, the second inner wheel has a second inner wheel central axis, the second inner wheel central axis is eccentrically arranged relative to the outer wheel central axis, and the second inner wheel can rotate eccentrically around the outer wheel central axis. The first flange body is arranged on the second side of the first inner wheel opposite to the first side, the first flange body includes first flange body teeth, and the first flange body teeth can mesh with the second row of first inner wheel teeth. The second flange body and the first inner wheel are arranged on both sides of the second inner wheel respectively, the second flange body includes second flange body teeth, and the second flange body teeth can mesh with the second row of second inner wheel teeth, and the first flange body is rigidly connected to the second flange body so that the first flange body and the second flange body can rotate together.

[0004] According to the transmission mechanism of the present application, the outer wheel inner teeth of the outer wheel and the first row of first inner wheel teeth of the first inner wheel have a first tooth number difference, and the outer wheel inner teeth of the outer wheel and the first row of second inner wheel teeth of the second inner wheel also have a first tooth number difference.

[0005] According to the transmission mechanism of the present application, the first flange body teeth and the second row of first inner wheel teeth have a second tooth number difference, and the second flange body teeth and the second row of second inner wheel teeth have a second tooth number difference.

[0006] According to the transmission mechanism of the present application, the first row of first inner gear teeth and the second row of first inner gear teeth are arranged at the outer edge of the first inner gear with different diameters. The first row of second inner gear teeth and the second row of second inner gear teeth are arranged at the outer edge of the second inner gear with different diameters.

[0007] According to the transmission mechanism of the present application, the first row of first internal gear teeth and the second row of first internal gear teeth have different numbers of teeth. The first row of second internal gear teeth and the second row of second internal gear teeth have different numbers of teeth.

[0008] According to the transmission mechanism of the present application, it also includes an eccentric shaft and a connecting component. The eccentric shaft is a hollow shaft, and the outer periphery of the eccentric shaft is provided with a first eccentric portion and a second eccentric portion, the first inner wheel is arranged around the first eccentric portion, and the second inner wheel is arranged around the second eccentric portion. The connecting component is rigidly connected to the first flange body and the second flange body, and the connecting component passes through the hollow part of the eccentric shaft to rigidly connect the first flange body and the second flange body together.

[0009] According to the transmission mechanism of the present application, the connecting component includes a first connecting boss extending from the first flange body, a second connecting boss extending from the second flange body, and a fastener. The first connecting boss and the second connecting boss extend into the hollow portion of the eccentric shaft, and the fastener can connect the first connecting boss and the second connecting boss to each other.

[0010] According to the transmission mechanism of the present application, the connecting component further includes a positioning member, and the positioning member can position the first connecting boss and the second connecting boss relative to each other.

[0011] According to the transmission mechanism of the present application, the first connecting boss is formed integrally with the first flange body, and the second connecting boss is formed integrally with the second flange body.

[0012] According to the transmission mechanism of the present application, the first flange body teeth and the second flange body teeth are arranged in the accommodating space of the outer wheel.

[0013] By considering the following specific embodiments, drawings and claims, other features, advantages and embodiments of the present application can be set forth or become apparent. In addition, it should be understood that the above-mentioned summary of the invention and the following specific embodiments are exemplary and are intended to provide further explanations without limiting the scope of the present application for protection. However, the specific embodiments and specific examples only indicate preferred embodiments of the present application. For those skilled in the art, various changes and modifications within the spirit and scope of the present application will become apparent through the specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] These and other features and advantages of the present application may be better understood by reading the following detailed description with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout, wherein:

[0015] Figure 1A is a three-dimensional diagram of a transmission mechanism according to an embodiment of the present application viewed from front to back;

[0016] Figure 1B yes Figure 1A The transmission mechanism shown is a three-dimensional view viewed from the back to the front;

[0017] Figure 1C yes Figure 1A A cross-sectional view of the transmission mechanism shown;

[0018] Figure 2A yes Figure 1C An exploded view of the input transmission device of the transmission mechanism shown;

[0019] Figure 2B yes Figure 2A Schematic diagram of the input transmission device in the assembled state;

[0020] Figure 3A yes Figure 2A-2B An enlarged front view of the eccentric shaft is shown;

[0021] Figure 3B yes Figure 3A An enlarged axial cross-sectional view of the eccentric shaft shown;

[0022] Figure 4A yes Figure 1C A three-dimensional diagram of the first flange body of the transmission mechanism and the first connecting boss of the connecting component;

[0023] Figure 4B yes Figure 4A A front view of the first flange body and the first connecting boss shown;

[0024] Figure 4C yes Figure 4B The first flange body and the first connecting boss are shown along Figure 4B Section view of the AA section line;

[0025] Figure 5A yes Figure 1C A three-dimensional diagram of the second flange body of the transmission mechanism and the second connecting boss of the connecting component;

[0026] Figure 5B yes Figure 5A A front view of the second flange body and the second connecting boss shown;

[0027] Figure 5C yes Figure 5B The second flange body and the second connecting boss are shown along Figure 5B Sectional view of the middle BB section line;

[0028] Fig. 6A yes Figure 1C A perspective view of the first inner wheel of the transmission mechanism shown;

[0029] Figure 6B yes Fig. 6A An axial cross-sectional view of the first inner wheel shown;

[0030] Fig. 7A yes Figure 1C A perspective view of the second inner wheel of the transmission mechanism shown;

[0031] Figure 7B yes Fig. 7A An axial cross-section of the second inner wheel shown;

[0032] Fig. 8A yes Figure 1C A perspective view of the outer wheel of the transmission mechanism shown;

[0033] Figure 8B yes Fig. 8A A front view of the outer wheel is shown;

[0034] Figure 8C is an axial cross-sectional view of the outer wheel shown in 8A;

[0035] Fig. 9A yes Figure 1C An axial cross-sectional view of the transmission mechanism shown;

[0036] Fig. 9B yes Fig. 9A A radial cross-sectional view of the transmission mechanism shown. DETAILED DESCRIPTION

[0037] Various specific embodiments of the present application will be described below with reference to the accompanying drawings that form a part of this specification. It should be understood that although terms indicating directions, such as "front", "rear", "left", "right", "inside" and "outside" and other directions or orientations are used in this application to describe various example structural parts and elements of the present application, these terms are used here only for the purpose of convenience of explanation and are determined based on the example orientations shown in the accompanying drawings. Since the embodiments disclosed in the present application can be set in different directions, these terms indicating directions are only for illustration and should not be regarded as limitations. In the following drawings, the same figure numbers are used for the same parts and similar figure numbers are used for similar parts.

[0038] In the transmission mechanism 100 in the present application, relative motion can occur between the outer wheel 102, the first inner wheel 122, the second inner wheel 124 and the planetary carrier 101, so that power is output via the transmission mechanism 100, and the transmission mechanism 100 can achieve the purpose of deceleration. When deceleration is required, the first inner wheel 122 and the second inner wheel 124 move at high speed, while the outer wheel 102 or the planetary carrier 101 moves at low speed. When the outer wheel 102 is used as a torque output component (i.e., connected to the driven component), the planetary carrier 101 must be fixed. When the planetary carrier 101 is used as a torque output component, the outer wheel 102 must be fixed. For ease of description, the following description will be based on the example that the first inner wheel 122 and the second inner wheel 124 move at high speed, the outer wheel 102 is fixed, and the planetary carrier 101 moves at low speed as a torque output component.

[0039] Figure 1A is a three-dimensional diagram of a transmission mechanism 100 according to an embodiment of the present application viewed from the front to the back; Figure 1B yes Figure 1A The transmission mechanism 100 is shown in a perspective view from the rear to the front. Figure 1C yes Figure 1A FIG. 1 is a cross-sectional view of the transmission mechanism 100 to show more components of the transmission mechanism 100. Figures 1A-1C As shown, the transmission mechanism 100 includes an outer wheel 102. The components carried or supported by the outer wheel 102 include a planet carrier 101, a first inner wheel 122, a second inner wheel 124, and an input transmission device 132. The first inner wheel 122 and the second inner wheel 124 are arranged side by side and sleeved on the input transmission device 132. The first inner wheel 122 and the second inner wheel 124 are supported by the planet carrier 101 and clamped in the planet carrier 101.

[0040] Specifically, the planet carrier 101 includes a first flange body 104, a second flange body 106, and a connecting member 108. The first flange body 104 and the second flange body 106 are respectively arranged on both sides of the first inner wheel 122 and the second inner wheel 124, and are rigidly connected together by the connecting member 108 to hold the first inner wheel 122 and the second inner wheel 124 between the first flange body 104 and the second flange body 106. The first inner wheel 122 and the second inner wheel 124 are respectively engaged with the first flange body 104 and the second flange body 106, so that the first inner wheel 122 and the second inner wheel 124 can transmit the motion of the first inner wheel 122 and the second inner wheel 124 to the first flange body 104 and the second flange body 106, respectively, so that the first flange body 104 and the second flange body 106 rotate.

[0041] When the transmission mechanism 100 is running, its power transmission relationship is roughly as follows:

[0042] The input transmission device 132 is connected to a driving mechanism (not shown). The driving mechanism drives the input transmission device 132 to rotate. Since the outer wheel 102 is fixed and the teeth of the outer wheel 102 and the first inner wheel 122 and the second inner wheel 124 are meshed, the rotation of the input transmission device 132 can drive the first inner wheel 122 and the second inner wheel 124 mounted thereon to translate and rotate. The first inner wheel 122 and the second inner wheel 124 are meshed with the first flange body 104 and the second flange body 106, respectively, and drive the first flange body 104 and the second flange body 106 to rotate. The first flange body 104 and the second flange body 106 are connected to a driven device (not shown), thereby achieving speed change and torque output.

[0043] The specific structure of each component in the transmission mechanism 100 is described in detail below.

[0044] Figure 2A yes Figure 1C FIG. 1 is an exploded view of the input transmission device 132 of the transmission mechanism 100 to illustrate the specific structure of each component in the input transmission device 132. Figure 2A As shown, the input transmission device 132 includes an eccentric shaft 212 and a power input device 244 for driving the eccentric shaft 212 to rotate. The eccentric shaft 212 is a hollow shaft, which has a hollow portion 231 that passes through the eccentric shaft 212. The eccentric shaft 212 has a central axis X. The wall of the hollow portion 231 (i.e., the inner circumferential surface of the eccentric shaft 212) is provided with eccentric shaft internal teeth 233 for matching with the power input device 244, so that the power input device 244 can drive the eccentric shaft 212 to rotate.

[0045] More specifically, the power input device 244 includes three planetary gears 204, 206, 208 and an input shaft 202. The input shaft 202 is substantially cylindrical and has a central axis S. The input shaft 202 is provided with a first input shaft step portion 252, a meshing portion 256, a second input shaft step portion 254, and a driving portion 258 in sequence from left to right. The first input shaft step portion 252 is used to abut against the first input shaft bearing 932 (see Fig. 9A ), and restrict the first input shaft bearing 932 from moving axially to the right. The outer circumferential surface of the meshing portion 256 is provided with input shaft external teeth 272 for meshing with the outer gear rings 284, 286, 288 on the three planetary gears 204, 206, 208. The input shaft second step portion 254 is used to abut against the second input shaft bearing 934 (see Fig. 9A ), and restrict the second input shaft bearing 934 from moving axially to the left. The driving portion 258 is used to connect with a driving mechanism (not shown). The driving mechanism can drive the input shaft 202 to rotate around the central axis S.

[0046] The structures of the three planetary gears 204, 206, and 208 are substantially the same. The planetary gear 204 has a central axis M1. An outer gear ring 284 is provided on the outer circumference of the planetary gear 204. The outer gear ring 284 can mesh with the input shaft outer teeth 272 of the input shaft 202 and the eccentric shaft inner teeth 233 of the eccentric shaft 212 at the same time. The planetary gear 204 also has a hollow portion 264 that runs through it for accommodating the planetary gear support 952 (see Figures 9A-9B ), so that the planetary gear 204 is supported between the first flange body 104 and the second flange body 106. Similarly, the planetary gear 206 has a central axis M2. An outer gear ring 286 is provided on the outer circumference of the planetary gear 206, and the outer gear ring 286 can mesh with the input shaft outer teeth 272 of the input shaft 202 and the eccentric shaft inner teeth 233 of the eccentric shaft 212 at the same time. The planetary gear 206 also has a hollow portion 266 that runs through it for accommodating the planetary gear support member 952 (see Figures 9A-9B ), so that the planetary gear 206 is supported between the first flange body 104 and the second flange body 106. The planetary gear 208 has a central axis M3. An outer gear ring 288 is provided on the outer circumference of the planetary gear 208, and the outer gear ring 288 can mesh with the input shaft outer teeth 272 of the input shaft 202 and the eccentric shaft inner teeth 233 of the eccentric shaft 212 at the same time. The planetary gear 208 also has a hollow portion 268 that runs through it for accommodating the planetary gear support member 952 (see Figures 9A-9B ), so that the planetary gear 208 is supported between the first flange body 104 and the second flange body 106.

[0047] Figure 2B yes Figure 2AFIG. 1 is a schematic diagram of the input transmission device 132 in an assembled state to illustrate the assembly relationship of the various components. Figure 2B As shown, the input shaft 202, the planetary gear 204, the planetary gear 206 and the planetary gear 208 are all arranged in the hollow part 231 of the eccentric shaft 212. The central axis S of the input shaft 202 is arranged to coincide with the central axis X of the eccentric shaft 212. The three planetary gears 204, 206, 208 are arranged around the input shaft 202. The outer gear rings 284, 286, 288 of the three planetary gears 204, 206, 208 are meshed with the input shaft outer teeth 272 of the input shaft 202 and are also meshed with the eccentric shaft inner teeth 233 of the eccentric shaft 212. When the driving mechanism drives the input shaft 202 to rotate, the input shaft outer teeth 272 of the input shaft 202 drive the planetary gears 204, the planetary gears 206 and the planetary gears 208 to rotate (i.e., rotate) around their respective central axes. The outer gear rings 284 , 286 , 288 of the three planetary gears 204 , 206 , 208 mesh with the eccentric shaft inner teeth 233 of the eccentric shaft 212 , thereby driving the eccentric shaft 212 to rotate around the central axis X thereof.

[0048] Figure 3A yes Figure 2A-2B An enlarged front view of the eccentric shaft 212 is shown; Figure 3B yes Figure 3A The eccentric shaft 212 is shown in an enlarged axial cross-sectional view. Figure 2A As shown, the eccentric shaft 212 is a hollow shaft having a hollow portion 231. The eccentric shaft 212 has a central axis X, and the eccentric shaft 212 can rotate around the central axis X. An eccentric shaft inner tooth 233 is provided in the middle of the wall of the hollow portion 231, which is used to mesh with the outer gear rings 284, 286, 288 of the three planetary gears 204, 206, 208. The hollow portion 231 is also used to receive the first connecting boss 402 and the second connecting boss 502 of the connecting component 108 (see Fig. 9A ).

[0049] The eccentric shaft 212 is provided with a first eccentric portion 304 and a second eccentric portion 306. The first eccentric portion 304 and the second eccentric portion 306 are symmetrically arranged eccentrically relative to the central axis X, and the eccentricity is equal. Specifically, the first eccentric portion 304 and the second eccentric portion 306 are both annular in shape eccentrically arranged relative to the central axis X of the eccentric shaft 212. The outer peripheral surface 322 of the first eccentric portion 304 forms a circumferential surface with a radius of D1. The outer peripheral surface 324 of the second eccentric portion 306 forms a circumferential surface with a radius of D2. Wherein, D1=D2.

[0050] More specifically, the outer circumference 322 and the outer circumference 324 each have a first inner wheel center axis N1 and a second inner wheel center axis N2. The first inner wheel center axis N1 and the second inner wheel center axis N2 are both at a distance e from the center axis X of the eccentric shaft 212. The distance e is greater than 0. The first inner wheel center axis N1 and the second inner wheel center axis N2 are arranged symmetrically about the center axis X. In more detail, the outer circumference 322 of the first eccentric portion 304 and the outer circumference 324 of the second eccentric portion 306 are 180° out of phase. When the eccentric shaft 212 rotates around its center axis X, the first inner wheel center axis N1 of the first eccentric portion 304 and the second inner wheel center axis N2 of the second eccentric portion 306 both rotate around the center axis X.

[0051] The eccentric shaft 212 is also provided with a first flange bearing abutment portion 312. The first flange bearing abutment portion 312 is located on the right side of the first eccentric portion 304 and is used to abut against the first flange bearing 922 (see Fig. 9A ). The first eccentric portion 304 extends radially beyond the first flange bearing abutment portion 312 to limit the first flange bearing 922 from moving axially to the left. The eccentric shaft 212 is also provided with a second flange bearing abutment portion 314. The second flange bearing abutment portion 314 is located on the left side of the second eccentric portion 306 and is used to abut against the second flange bearing 924 (see Fig. 9A The second eccentric portion 306 extends radially beyond the second flange bearing abutment portion 314 to limit the second flange bearing 924 from moving axially to the right.

[0052] Figure 4A yes Figure 1C A three-dimensional view of the first flange body 104 of the transmission mechanism and the first connecting boss 402 of the connecting member 108; Figure 4B yes Figure 4A A front view of the first flange body 104 and the first connecting boss 402 is shown; Figure 4C yes Figure 4B The first flange body 104 and the first connecting boss 402 are shown along Figure 4B Section view along section line AA. Figures 4A-4C The first flange body 104 and the first connecting boss 402 are integrally formed.

[0053] Specifically, the first flange body 104 includes a first flange body 401 and a first flange body protrusion 432. The first flange body 104 has a central axis F1. The first flange body 401 is generally cylindrical, and the first flange body protrusion 432 is generally annular. The first flange body protrusion 432 extends axially to the left from the left surface of the first flange body 401. The outer wall 452 (i.e., the outer circumferential surface) of the first flange body protrusion 432 is used to contact the first outer wheel bearing 912 (see Fig. 9A ). The first flange body 401 radially exceeds the first flange body protrusion 432 to limit the first outer wheel bearing 912 from moving rightward in the axial direction. The inner wall 454 (i.e., the inner circumferential surface) of the first flange body protrusion 432 is used to contact the first flange body bearing 922 (see Fig. 9A The first flange body 401 is used to limit the first flange body bearing 922 from moving rightward along the axial direction.

[0054] The first flange protrusion 432 is provided with first flange teeth 406, which can engage with the second row of first inner wheel teeth 614 on the first inner wheel 122 (see Figure 6A-6B ) are meshed. As an example, the first flange body tooth 406 includes thirty-two teeth, and each tooth is composed of a needle roller 442 and a needle roller sleeve 444. Specifically, thirty-two mounting holes 441 are provided on the first flange body protrusion 432. The thirty-two mounting holes 441 are evenly arranged on the left surface of the first flange body protrusion 432 in the circumferential direction and extend axially to the right. The thirty-two mounting holes 441 are used to receive the needle roller 442. The needle roller 442 is inserted into the mounting hole 441. The length of the needle roller 442 is greater than the depth of the mounting hole 441, so that the needle roller sleeve 444 can be sleeved on the needle roller 442. The needle roller sleeve 444 can reduce the friction generated when the first flange body 104 is meshed with the first inner wheel 122.

[0055] The first connection boss 402 is disposed on the first flange body 104 and is formed integrally with the first flange body 104. Specifically, the first connection boss 402 is formed by extending axially from the left surface of the first flange body 401, and the first connection boss 402 is located inside the first flange body protrusion 432. The size of the first connection boss 402 is configured such that the outer diameter of the first connection boss 402 is smaller than the inner diameter of the eccentric shaft 212, so that the first connection boss 402 can extend into the hollow portion 231 of the eccentric shaft 212.

[0056] The first connecting boss 402 is provided with a receiving portion 409. The receiving portion 409 axially penetrates the first connecting boss 402 and the first flange body 104. A stepped portion 424 is provided on the wall of the receiving portion 409 for abutting against the second input shaft bearing 934 (see Fig. 9A ), and restricts the second input shaft bearing 934 from moving radially to the left.

[0057] The first connection boss 402 is also provided with three support member mounting holes (i.e., support member mounting portions) 405. Each of the three support member mounting holes 405 extends axially to the right from the left surface of the first connection boss 402 and is used to receive the planetary gear support member 952 (see Figures 9A-9B ). The three support member mounting holes 405 are evenly arranged around the accommodation portion 409 along the circumferential direction.

[0058] The first connecting boss 402 is also provided with three positioning holes 407 and three connecting holes 408. The positioning holes 407 extend axially to the right from the left surface of the first connecting boss 402 and are used to receive the positioning member 904 (see Fig. 9B ), so that the first flange body 104 and the second flange body 106 are positioned relative to each other. The connecting hole 408 passes through the first connecting boss 402 and the first flange body 104, and is used to receive the fastener 902 (see Fig. 9B ), so that the first flange body 104 and the second flange body 106 are rigidly connected together. Specifically, the three positioning holes 407 are evenly arranged along the circumferential direction, and are spaced apart from the three support member mounting holes 405 in the circumferential direction. The three positioning holes 407 and the three support member mounting holes 405 are evenly arranged around the accommodating portion 409 in the circumferential direction. The right end of the wall of the connecting hole 408 is provided with a stopper 422 for blocking the fastener 902 (see Fig. 9B The three connection holes 408 are evenly arranged in the circumferential direction and are spaced apart from the three support member mounting holes 405 in the circumferential direction. Each of the three connection holes 408 is arranged along the same radial direction as a corresponding one of the three positioning holes 407, and the three connection holes 408 are arranged farther from the central axis F1 than the positioning holes 407.

[0059] It should be noted that, although the first flange body 104 and the first connecting boss 402 are integrally formed in this embodiment, connecting the first connecting boss 402 to the first flange body 104 using a connector or by welding also falls within the protection scope of this application.

[0060] It should be noted that, although three connection holes 408 and three positioning holes 407 are used in this embodiment, their number and position can be changed, and any change in number and position also falls within the protection scope of this application. Figure 5A yes Figure 1C A three-dimensional view of the second flange body 106 of the transmission mechanism and the second connecting boss 502 of the connecting member 108; Figure 5B yes Figure 5A A front view of the second flange body 106 and the second connecting boss 502 is shown; Figure 5C yes Figure 5B The second flange body 106 and the second connecting boss 502 are shown along Figure 5B Section view along section line BB. Figures 5A-5C The second flange body 106 shown in FIG. 1 is integrally formed with the second connecting boss 502 .

[0061] Specifically, the second flange body 106 includes a second flange body 501 and a second flange body protrusion 532. The second flange body 106 has a central axis F2. The second flange body 501 is generally cylindrical, and the second flange body protrusion 532 is generally annular. The second flange body protrusion 532 extends axially to the right from the right surface of the second flange body 501. The outer circumferential surface 552 (i.e., the outer wall) of the second flange body protrusion 532 is used to contact the second outer wheel bearing 914 (see Fig. 9A ). The second flange body 501 radially exceeds the second flange body protrusion 532 to limit the second outer wheel bearing 914 from moving axially to the left. The inner circumferential surface 554 (i.e., the inner wall) of the second flange body protrusion 532 is used to contact the second flange body bearing 924 (see Fig. 9A The second flange body 501 is used to limit the second flange body bearing 924 from moving leftward along the axial direction.

[0062] The second flange protrusion 532 is provided with second flange teeth 506, which can engage with the second row of second inner wheel teeth 714 on the second inner wheel 124 (see Figure 7A-7B ) are meshed. As an example, the second flange body tooth 506 includes thirty-two teeth, and each tooth is composed of a needle roller 542 and a needle roller sleeve 544. Specifically, thirty-two mounting holes 541 are provided on the second flange body protrusion 532. The thirty-two mounting holes 541 are evenly arranged on the right surface of the second flange body protrusion 532 in the circumferential direction and extend axially to the left. The thirty-two mounting holes 541 are used to receive the needle roller 542. The needle roller 542 is inserted into the mounting hole 541. The length of the needle roller 542 is greater than the depth of the mounting hole 541, so that the needle roller sleeve 544 can be sleeved on the needle roller 542. The needle roller sleeve 544 can reduce the friction generated when the second flange body 106 is meshed with the second inner wheel 124.

[0063] The second connection boss 502 is disposed on the second flange body 106 and is formed integrally with the second flange body 106. Specifically, the second connection boss 502 is formed by extending axially from the right surface of the second flange body 501, and the second connection boss 502 is located inside the second flange body protrusion 532. The size of the second connection boss 502 is configured such that the outer diameter of the second connection boss 502 is smaller than the inner diameter of the eccentric shaft 212, so that the second connection boss 502 can extend into the hollow portion 231 of the eccentric shaft 212.

[0064] The second connecting boss 502 is provided with a receiving portion 509. The receiving portion 509 axially penetrates the second connecting boss 502 and the second flange body 106. The right end of the wall of the receiving portion 509 is provided with a stopper 524 for abutting against the first input shaft bearing 932 (see Fig. 9A), and restricts the first input shaft bearing 932 from moving radially to the right.

[0065] The second connecting boss 502 is also provided with three support member mounting holes (i.e., support member mounting portions) 505. Each of the three support member mounting holes 505 extends axially to the left from the right surface of the second connecting boss 502 and is used to receive the planetary gear support member 952 (see Figures 9A-9B ). The three support member mounting holes 505 are evenly arranged around the accommodation portion 509 along the circumferential direction.

[0066] In addition, the second connection boss 502 also includes three extension bosses 512. Each of the three extension bosses 512 extends axially to the right from the right surface of the second connection boss 502. The three extension bosses 512 are evenly arranged in the circumferential direction and are spaced apart from the three support member mounting holes 505 in the circumferential direction. Specifically, each of the three extension bosses 512 is provided with a positioning hole 507 and a connecting hole 508. The positioning hole 507 and the connecting hole 508 are both extended axially to the left from the right surface of the second connection boss 502. The positioning hole 507 is used to receive the positioning member 904 (see Fig. 9B ), so that the first flange body 104 and the second flange body 106 are positioned relative to each other. The connecting hole 508 is used to receive the fastener 902 (see Fig. 9B ), so that the first flange body 104 and the second flange body 106 are rigidly connected together. More specifically, the positioning hole 507 and the connecting hole 508 on each extended boss 512 are arranged along the same radial direction, and the connecting hole 508 is arranged farther away from the central axis F2 than the positioning hole 507. The wall of the connecting hole 508 is provided with a thread 558 for connecting with the fastener 902 (see Fig. 9B ) on the flange body 104, thereby connecting the first flange body 104 and the second flange body 106 together.

[0067] It should be noted that, although the second flange body 106 and the second connecting boss 502 are integrally formed in this embodiment, connecting the second connecting boss 502 to the second flange body 106 using a connecting piece or by welding also falls within the protection scope of this application.

[0068] It should be noted that, although three connection holes 508 and three positioning holes 507 are used in this embodiment, their number and positions may be set corresponding to the number and positions of the connection holes 408 and the positioning holes 407 .

[0069] Fig. 6A yes Figure 1C A perspective view of the first inner wheel 122 of the transmission mechanism shown; Figure 6B yes Fig. 6A The axial cross-sectional view of the first inner wheel 122 is shown. Figure 6A-6BAs shown, the first inner wheel 122 includes a first inner wheel first body 622. The first inner wheel first body 622 is generally annular and has a certain thickness. The diameter of its outer edge is the first inner wheel diameter. The first inner wheel first body 622 has a first inner wheel center axis N1, and a first row of first inner wheel teeth 612 is disposed on its outer edge. The first row of first inner wheel teeth 612 is configured to be able to mate with the outer wheel inner teeth 802 (see Figures 8A-8B ) are meshed. More specifically, when the first inner wheel 122 moves, at least a portion of the first row of first inner wheel teeth 612 can mesh with the outer wheel inner teeth 802 of the outer wheel 102. There is a first tooth number difference between the first row of first inner wheel teeth 612 and the outer wheel inner teeth 802. Among them, the number of teeth of the outer wheel inner teeth 802 is greater than the number of teeth of the first row of first inner wheel teeth 612 (that is, the first tooth number difference is an integer greater than zero). The first inner wheel 122 and the outer wheel 102 are configured such that when the first inner wheel first body 622 moves in the outer wheel 102, the first inner wheel first body 622 can achieve rotation and translation (that is, revolution and rotation).

[0070] The first inner wheel 122 also includes a first inner wheel second body 624. The first inner wheel second body 624 is roughly annular and has a certain thickness. The diameter of its outer edge is the inner wheel second diameter. The inner wheel second diameter is smaller than the first diameter. The first inner wheel second body 624 and the first inner wheel first body 622 can be integrally formed by casting or forging. The first inner wheel first body 622 and the first inner wheel second body 624 are arranged side by side in the direction of the first inner wheel center axis N1. A second row of first inner wheel teeth 614 is provided on the outer edge of the first inner wheel second body 624. The number of teeth of the second row of first inner wheel teeth 614 is smaller than the number of teeth of the first row of first inner wheel teeth 612. The second row of first inner wheel teeth 614 is arranged coaxially with the first row of first inner wheel teeth 612 (i.e., the first inner wheel center axis N1). The second row of first inner wheel teeth 614 is configured to be able to mate with the first flange body teeth 406 (see Figures 4A-4C More specifically, when the first inner wheel 122 moves, at least a portion of the second row of first inner wheel teeth 614 can mesh with the first flange body teeth 406. This allows the first flange body 104 to rotate around its central axis F1 when the first inner wheel second body 624 moves in translation and rotation (see Figure 4C There is a second difference in the number of teeth between the second row of first inner gear teeth 614 and the first flange body teeth 406. The number of teeth of the first flange body teeth 406 is greater than or equal to the number of teeth of the second row of first inner gear teeth 614 (ie, the second difference in the number of teeth is an integer greater than or equal to zero).

[0071] It should be noted that, although the first inner wheel first body 622 and the first inner wheel second body 624 are integrally formed by casting or forging in the embodiment of the present application, the first inner wheel first body 622 and the first inner wheel second body 624 are rigidly connected together by other means (such as using a connector) and also fall within the protection scope of the present application. The technical term "rigid connection" in the present application refers to a fixed connection with each other. In other words, the two rigidly connected parts do not produce relative movement with each other.

[0072] In addition, the first inner wheel 122 also has a receiving portion 632 in the middle thereof that radially penetrates the first inner wheel 122. The diameter of the wall 634 of the receiving portion 632 is the same as that of the first inner wheel bearing 942 (see Fig. 9A ) are substantially the same, so that the first inner wheel 122 can be mounted around the first eccentric portion 304 (see Figure 3B ) is disposed on the first inner wheel bearing 942. When the eccentric shaft 212 rotates, the first eccentric portion 304 of the eccentric shaft 212 can drive the first inner wheel 122 to rotate through the first inner wheel bearing 942. In other words, when the eccentric shaft 212 rotates, the eccentric shaft 212 can make the first inner wheel center axis N1 of the first inner wheel 122 rotate around the center axis X of the eccentric shaft 212 (that is, the first inner wheel 122 can revolve around the center axis X of the eccentric shaft 212).

[0073] It should be noted that, although in the above embodiment, the first row of first inner wheel teeth 612 and the second row of first inner wheel teeth 614 are external teeth, and the outer wheel inner teeth 802 and the first flange body teeth 406 are internal teeth, the present application does not intend to limit the meshing method between the first row of first inner wheel teeth 612 and the outer wheel inner teeth 802, and between the second row of first inner wheel teeth 614 and the first flange body teeth 406. Any form of meshing method falls within the protection scope of the present application.

[0074] It should also be noted that the first row of first inner gear teeth 612 and outer gear inner teeth 802, and the second row of first inner gear teeth 614 and first flange body teeth 406 that mesh with each other in the present application can be any type of tooth shape, for example, cycloid teeth, circular arc teeth, involute teeth or plane teeth, etc.

[0075] Fig. 7A yes Figure 1C A perspective view of the second inner wheel 124 of the transmission mechanism shown; Figure 7B yes Fig. 7A The axial cross-sectional view of the second inner wheel 124 is shown in FIG. Figure 7A-7BAs shown, the second inner wheel 124 includes a second inner wheel first body 722. The second inner wheel first body 722 is generally annular and has a certain thickness. The diameter of its outer edge is the inner wheel first diameter. The second inner wheel first body 722 has a second inner wheel center axis N2, and a first row of second inner wheel teeth 712 is disposed on its outer edge. The first row of second inner wheel teeth 712 is configured to be able to engage with the outer wheel inner teeth 802 (see Figures 8A-8B ) are meshed. More specifically, when the second inner wheel 124 moves, at least a portion of the first row of second inner wheel teeth 712 can mesh with the outer wheel inner teeth 802 of the outer wheel 102. The number of teeth of the first row of second inner wheel teeth 712 is the same as the number of teeth of the first row of first inner wheel teeth 612. There is also a first tooth number difference between the first row of second inner wheel teeth 712 and the outer wheel inner teeth 802. Among them, the number of teeth of the outer wheel inner teeth 802 is greater than the number of teeth of the first row of second inner wheel teeth 712 (that is, the first tooth number difference is an integer greater than zero). The second inner wheel 124 and the outer wheel 102 are configured such that when the first row of second inner wheel teeth 712 moves in the outer wheel 102, the first row of second inner wheel teeth 712 can achieve rotation and translation (that is, revolution and rotation).

[0076] The second inner wheel 124 also includes a second inner wheel second body 724. The second inner wheel second body 724 is roughly annular and has a certain thickness. The diameter of its outer edge is the second diameter of the inner wheel. The second diameter of the inner wheel is smaller than the first diameter. The second inner wheel second body 724 and the second inner wheel first body 722 can be integrally formed by casting or forging. The second inner wheel first body 722 and the second inner wheel second body 724 are arranged side by side in the direction of the second inner wheel center axis N2. A second row of second inner wheel teeth 714 is provided on the outer edge of the second inner wheel second body 724. The number of teeth of the second row of second inner wheel teeth 714 is smaller than the number of teeth of the first row of second inner wheel teeth 712. The second row of second inner wheel teeth 714 are arranged on the same central axis as the first row of second inner wheel teeth 712 (i.e., the second inner wheel center axis N2). The second row of second inner wheel teeth 714 is configured to be able to mate with the second flange body teeth 506 (see Figures 5A-5C More specifically, when the second inner wheel 124 moves, at least a portion of the second row of second inner wheel teeth 714 can mesh with the second flange body teeth 506. This enables the second flange body 106 to rotate around its central axis F2 when the second inner wheel second body 724 moves in translation and rotation (see Figure 5C ). The number of teeth of the second row of second inner gear teeth 714 is the same as the number of teeth of the second row of first inner gear teeth 614. There is also a second tooth number difference between the second row of second inner gear teeth 714 and the second flange body teeth 506. The number of teeth of the second flange body teeth 506 is greater than or equal to the number of teeth of the second row of second inner gear teeth 714 (i.e., the second tooth number difference is an integer greater than or equal to zero).

[0077] It should be noted that, although in the above embodiment, the second inner wheel first body 722 and the second inner wheel second body 724 are integrally formed by casting or forging, the second inner wheel first body 722 and the second inner wheel second body 724 are rigidly connected together by other means (such as using a connecting piece), which also falls within the protection scope of this application.

[0078] In addition, the middle of the second inner wheel 124 also has a receiving portion 732 that radially penetrates the second inner wheel 124. The diameter of the wall 734 of the receiving portion 732 is the same as the diameter of the second inner wheel bearing 944 (see Fig. 9B ) are substantially the same, so that the second inner wheel 124 can be mounted around the second eccentric portion 306 (see Figure 3B ) is disposed on the second inner wheel bearing 944. When the eccentric shaft 212 rotates, the second eccentric portion 306 of the eccentric shaft 212 can drive the second inner wheel 124 to rotate through the second inner wheel bearing 944. In other words, when the eccentric shaft 212 rotates, the eccentric shaft 212 can make the second inner wheel center axis N2 of the second inner wheel 124 rotate around the center axis X of the eccentric shaft 212 (that is, the second inner wheel 124 can revolve around the center axis X of the eccentric shaft 212).

[0079] It should be noted that, although in the above embodiment, the first row of second inner wheel teeth 712 and the second row of second inner wheel teeth 714 are external teeth, and the outer wheel inner teeth 802 and the second flange body teeth 506 are internal teeth, the present application does not intend to limit the meshing method between the first row of second inner wheel teeth 712 and the outer wheel inner teeth 802, and between the second row of second inner wheel teeth 714 and the second flange body teeth 507. Any form of meshing method falls within the protection scope of the present application.

[0080] It should also be noted that the first row of second inner gear teeth 712 and outer gear inner teeth 802, and the second row of second inner gear teeth 714 and second flange body teeth 507 that mesh with each other in the present application can be any type of tooth shape, for example, cycloid teeth, circular arc teeth, involute teeth or plane teeth, etc.

[0081] Fig. 8A yes Figure 1C A perspective view of the outer wheel 102 of the transmission mechanism shown; Figure 8B yes Fig. 8A A front view of the outer wheel 102 is shown; Figure 8C 8A is an axial cross-sectional view of the outer wheel 102. Figures 8A-8CAs shown, the outer wheel 102 is generally annular and has an outer wheel center axis O. The outer wheel 102 has a receiving space 812, which is set through the outer wheel 102. The middle part (i.e., the inner edge) of the wall of the receiving space 812 is provided with an outer wheel inner tooth 802, which can be engaged with the first row of first inner wheel teeth 612 and the first row of second inner wheel teeth 712. As an example, the outer wheel inner tooth 802 is composed of a needle roller 822. Specifically, the middle part of the wall of the receiving space 812 is provided with a needle roller groove, and the needle roller 822 is arranged in the needle roller groove.

[0082] The outer wheel 102 also has a support portion 804 and a support portion 806, which are respectively arranged on the left and right sides of the outer wheel inner gear 802. The support portion 804 is used to support the first outer wheel bearing 912 (see Fig. 9A ). The support portion 806 is used to support the second outer wheel bearing 914 (see Fig. 9A ).

[0083] It should be noted that the outer wheel inner teeth 802, the first row of first inner wheel teeth 612 and the first row of second inner wheel teeth 712 that mesh with each other in the present application can be any type of tooth shape, for example, cycloid teeth, arc teeth, involute teeth or plane teeth.

[0084] Fig. 9A yes Figure 1C An axial cross-sectional view of the transmission mechanism 100 is shown; Fig. 9B yes Fig. 9A The radial cross-sectional view of the transmission mechanism 100 is shown to illustrate the structure of each component in the transmission mechanism 100 and the positional relationship between the components. Figures 9A-9B As shown, the central axis X of the eccentric shaft 212 , the central axis S of the input shaft 202 , the central axis F1 of the first flange body 104 , and the central axis F2 of the second flange body 106 are coaxially arranged with the outer wheel central axis O of the outer wheel 102 .

[0085] The first eccentric portion 304 of the eccentric shaft 212 is provided with a first inner wheel bearing 942. The second eccentric portion 306 of the eccentric shaft 212 is provided with a second inner wheel bearing 944. Specifically, the inner wall of the first inner wheel bearing 942 contacts the circumferential surface 322 of the first eccentric portion 304 (refer to Figure 3B ), the outer wall of the first inner wheel bearing 942 contacts the wall 634 of the receiving portion 632 of the first inner wheel 122 (reference Figure 6A-6B ), so that the first inner wheel 122 is sleeved on the first inner wheel bearing 942. When the eccentric shaft 212 rotates around the outer wheel center axis O, the first inner wheel 122 revolves around the outer wheel center axis O, that is, the first inner wheel center axis N1 of the first inner wheel 122 rotates (i.e., translates) around the outer wheel center axis O. The inner wall of the second inner wheel bearing 944 contacts the circumferential surface 324 of the second eccentric portion 306 (refer to Figure 3B ), the outer wall of the second inner wheel bearing 944 contacts the wall 734 of the receiving portion 732 of the second inner wheel 124 (reference Figure 7A-7B ), so that the second inner wheel 124 is sleeved on the second inner wheel bearing 944. When the eccentric shaft 212 rotates around the outer wheel center axis O, the second inner wheel 124 revolves around the outer wheel center axis O, that is, the second inner wheel center axis N2 of the second inner wheel 124 rotates around the outer wheel center axis O (that is, translates).

[0086] Since the first inner wheel 122 and the second inner wheel 124 have the same structure and are symmetrically eccentrically arranged relative to the central axis O of the outer wheel, when the eccentric shaft 212 drives the first inner wheel 122 and the second inner wheel 124 to rotate, the phase difference between the first inner wheel 122 and the second inner wheel 124 is 180°, thereby ensuring that the first inner wheel 122 and the second inner wheel 124 can maintain overall dynamic balance during movement.

[0087] In addition, the first inner wheel 122 and the second inner wheel 124 are in meshing relationship with the outer wheel 102 at the same time. Specifically, when the eccentric shaft 212 drives the first inner wheel 122 and the second inner wheel 124 to revolve, since there is a first tooth number difference between the first row of first inner wheel teeth 612 and the outer wheel inner teeth 802, and between the first row of second inner wheel teeth 712 and the outer wheel inner teeth 802, and the outer wheel 102 is fixed, the first inner wheel 122 and the second inner wheel 124 can rotate around their respective central axes (i.e., the first inner wheel central axis N1 and the second inner wheel central axis N2). In other words, the first inner wheel 122 and the second inner wheel 124 realize self-rotation while revolving.

[0088] The first inner wheel 122 and the second inner wheel 124 are supported in the outer wheel 102 by the planet carrier 101. The planet carrier 101 includes a first flange body 104 and a second flange body 106. The first flange body 104 and the second flange body 106 are respectively arranged on both sides of the first inner wheel 122 and the second inner wheel 124. Specifically, the inner wall of the first outer wheel bearing 912 contacts the outer wall 452 of the first flange body 104, and the outer wall of the first outer wheel bearing 912 contacts the support portion 804 of the outer wheel 102, so that the first flange body 104 is installed on the outer wheel 102 through the first outer wheel bearing 912. The inner wall of the second outer wheel bearing 914 contacts the outer wall 552 of the second flange body 106, and the outer wall of the second outer wheel bearing 914 contacts the support portion 806 of the outer wheel 102, so that the second flange body 106 is installed on the outer wheel 102 through the second outer wheel bearing 914. Since the outer wheel 102 is fixed, the above installation method allows the first flange body 104 and the second flange body 106 to rotate around the outer wheel central axis O. In addition, the second row of first inner wheel teeth 614 of the first inner wheel 122 meshes with the first flange body teeth 406 on the first flange body 104. The second row of second inner wheel teeth 714 of the second inner wheel 124 meshes with the second flange body teeth 506 on the second flange body 106.

[0089] The eccentric shaft 212 is mounted on the first flange body 104 and the second flange body 106 respectively through the first flange body bearing 922 and the second flange body bearing 924. Specifically, the inner wall of the first flange body bearing 922 contacts the first flange body bearing abutment portion 312, and the outer wall of the first flange body bearing 922 contacts the inner wall 454 of the first flange body protrusion 432. The inner wall of the second flange body bearing 924 contacts the second flange body bearing abutment portion 314, and the outer wall of the second flange body bearing 924 contacts the inner wall 554 of the second flange body protrusion 532.

[0090] The first flange body 104 and the second flange body 106 are connected to each other through a connecting member 108. The connecting member 108 is accommodated in the hollow portion 231 of the eccentric shaft 212. Specifically, the connecting member 108 includes a first connecting boss 402 extending axially from the first flange body 104, a second connecting boss 502 extending axially from the second flange body 106, a fastener 902 and a positioning member 904. The fastener 902 is a bolt, and the bolt has a thread at least at its left end to match the thread 558 on the connecting hole 508 of the second connecting boss 502. The positioning member 904 is a pin, which can be inserted into the positioning hole 407 and the positioning hole 507. The first connecting boss 402 and the second connecting boss 502 in the connecting member 108 pass through the hollow portion 231 and abut against each other. The connecting hole 408 on the first connecting boss 402 is aligned with the connecting hole 508 on the second connecting boss 502. The positioning hole 407 on the first connecting boss 402 is aligned with the positioning hole 507 on the second connecting boss 502. The two ends of the positioning member 904 are respectively inserted into the positioning hole 407 and the positioning hole 507, so that the first connecting boss 402 and the second connecting boss 502 are positioned with each other, so that the first flange body 104 and the second flange body 106 are positioned with each other. The fastener 902 passes through the connecting hole 408 on the first connecting boss 402 and is inserted into the connecting hole 508 on the second connecting boss 502. The thread on the fastener 902 is matched with the thread 558 on the wall of the connecting hole 508 until the shoulder of the fastener 902 abuts against the stopper 422 on the connecting hole 408, so that the first flange body 104 and the second flange body 106 are rigidly connected together. The connecting component 108 (that is, the first connecting boss 402 and the second connecting boss 502) is accommodated in the hollow portion 231 of the eccentric shaft 212.

[0091] In addition, the power input device 244 is also accommodated in the hollow portion 231 of the eccentric shaft 212. Specifically, each of the three support member mounting holes 405 on the first connecting boss 402 is aligned with a corresponding one of the three support member mounting holes 505 on the second connecting boss 502, for mounting the planetary gear support member 952. After the extended bosses 512 of the first connecting boss 402 and the second connecting boss 502 abut against each other, three recesses 933 are formed between the first connecting boss 402 and the second connecting boss 502, respectively for accommodating the three planetary gears 204, 206, 208. The three planetary gear supports 952 respectively penetrate the hollow portion 264 of the planetary gear 204, the hollow portion 266 of the planetary gear 206, and the hollow portion 268 of the planetary gear 208, and are inserted into the corresponding pair of support member mounting holes 405 and support member mounting holes 505. In this way, the three planetary gears 204, 206, 208 are installed between the first connecting boss 402 and the second connecting boss 502, and each of the three planetary gears 204, 206, 208 can rotate (i.e., self-rotate) around its respective central axis (i.e., central axis M1, central axis M2, and central axis M3). The outer ring gear on each of the three planetary gears 204, 206, 208 can mesh with the eccentric shaft inner teeth 233 of the eccentric shaft 212.

[0092] The input shaft 202 is mounted to the first flange body 104 and the second flange body 106 through the first input shaft bearing 932 and the second input shaft bearing 934. Specifically, the input shaft 202 passes through the receiving portion 409 of the first flange body 104 and enters the receiving portion 509 of the second flange body 106. The inner wall of the first input shaft bearing 932 contacts the input shaft first step portion 252 of the input shaft 202, and the outer wall of the first input shaft bearing 932 contacts the wall of the receiving portion 509 in the second flange body 106 and contacts the stopper 524, so that the first input shaft bearing 932 does not move radially to the right. The inner wall of the second input shaft bearing 934 contacts the input shaft second step portion 254 of the input shaft 202, and the outer wall of the second input shaft bearing 934 contacts the wall of the receiving portion 409 of the first flange body 104 and contacts the step portion 424, so that the second input shaft bearing 934 does not move radially to the left. The input shaft external teeth 272 of the input shaft 202 are capable of meshing with the external ring gears on each of the three planetary gears 204 , 206 , 208 .

[0093] The following describes in detail the process of torque transmission when the transmission mechanism 100 is in operation by taking the outer wheel 102 being fixed (that is, the outer wheel 102 does not undergo translational motion and rotation) as an example:

[0094] The driving mechanism (e.g., a motor, not shown) drives the input shaft 202 to rotate around the outer wheel center axis O. The input shaft outer teeth 272 of the input shaft 202 mesh with the outer gear rings 284, 286, 288 of the three planetary gears 204, 206, 208, so that the three planetary gears 204, 206, 208 can rotate (i.e., self-rotate) around their respective center axes (i.e., center axis M1, center axis M2, and center axis M3). The outer gear rings 284, 286, 288 of the three planetary gears 204, 206, 208 mesh with the eccentric shaft inner teeth 233 of the eccentric shaft 212, so as to drive the eccentric shaft 212 to rotate around the outer wheel center axis O. The eccentric shaft 212 drives the first inner wheel 122 and the second inner wheel 124 to translate (i.e., the first inner wheel center axis N1 and the second inner wheel center axis N2 rotate around the outer wheel center axis O) through the first inner wheel bearing 942 and the second inner wheel bearing 944. The first row of first inner wheel teeth 612 of the first inner wheel 122 and the first row of second inner wheel teeth 712 of the second inner wheel 124 mesh with the outer wheel inner teeth 802 of the outer wheel 102, so that the first inner wheel 122 and the second inner wheel 124 can rotate (that is, the first inner wheel 122 and the second inner wheel 124 can rotate around their respective first inner wheel center axis N1 and second inner wheel center axis N2). In this way, the first inner wheel 122 and the second inner wheel 124 can achieve self-rotation while revolving.

[0095] The first inner wheel 122 drives the first flange body 104 to rotate around the outer wheel center axis O by meshing with the first flange body teeth 406 through the second row of first inner wheel teeth 614. The second inner wheel 124 drives the second flange body 106 to rotate around the outer wheel center axis O by meshing with the second flange body teeth 506 through the second row of second inner wheel teeth 714. The first flange body 104 and / or the second flange body 106 can be connected to a driven device (not shown). Thus, the torque of the driving mechanism can be output to the driven device through the transmission mechanism 100.

[0096] It should be noted that, since the first flange body 104 and the second flange body 106 are mounted on the outer wheel 102 through the first outer wheel bearing 912 and the second outer wheel bearing 914, the first flange body 104 and the second flange body 106 can only rotate around the outer wheel central axis O. This makes it possible for only the rotation (i.e., rotation) of the first inner wheel 122 and the second inner wheel 124 to be transmitted to the first flange body 104 and the second flange body 106, while the translation (i.e., revolution) of the first inner wheel 122 and the second inner wheel 124 is not transmitted to the first flange body 104 and the second flange body 106.

[0097] It should also be noted that, since the first flange body 104 and the second flange body teeth 506 are rigidly connected by the connecting component 108, the first flange body 104, the second flange body teeth 506 and the connecting component 108 rotate together around the outer wheel center axis O. Since the three planetary gears 204, 206, 208 are all installed on the connecting component 108 through the three planetary gear supports 952, the center axes M1, M2, M3 of the three planetary gears 204, 206, 208 can rotate (i.e., revolve) around the outer wheel center axis O. In this way, when the input shaft 202 rotates around the outer wheel center axis O, the three planetary gears 204, 206, 208 can achieve self-rotation while revolving.

[0098] Those skilled in the art will appreciate that, although the above embodiment includes three planetary gears 204 , 206 , and 208 , the number of planetary gears is not limited to three, and at least one planetary gear falls within the protection scope of the present application.

[0099] Those skilled in the art can also understand that, although the positioning member 904 and the fastener 902 are arranged on the same connecting boss in the embodiment of the present application, the positioning member 904 and the fastener 902 are independently arranged on different connecting bosses and also fall within the protection scope of the present application.

[0100] Those skilled in the art can also understand that, although the three planetary gears 204 , 206 , 208 in the present application are fixed on the connecting component 108 , the three planetary gears 204 , 206 , 208 can also be directly fixed on at least one of the first flange body 104 and the second flange body teeth 506 .

[0101] Those skilled in the art can also understand that the number of inner wheels is not limited to the two shown in the embodiment of the present application, and several inner wheels can be configured to maintain overall dynamic balance during eccentric rotation.

[0102] In addition, although the transmission mechanism 100 of the present application sets the first inner wheel 122 and the second inner wheel 124 to mesh with the first flange body 104 and the second flange body 106 respectively, so that the first inner wheel 122 and the second inner wheel 124 can both output torque. However, those skilled in the art can understand that, since the first flange body 104 and the second flange body 106 are connected together by the connecting member 108, the first inner wheel 122 may not mesh with the first flange body 104, or the second inner wheel 124 may not mesh with the second flange body 106, but the connecting member 108 is used to make the second flange body 106 drive the first flange body 104 to rotate, or the first flange body 104 drives the second flange body 106 to rotate.

[0103] Compared with the traditional transmission mechanism, the transmission mechanism 100 of the present application has at least the following beneficial effects:

[0104] First, the transmission mechanism 100 of the present application drives the first inner wheel 122 and the second inner wheel 124 to rotate respectively by means of tooth meshing, thereby reducing the pin sleeve output structure and increasing the size of the inner wheel bearing. This can increase the service life of the inner wheel bearing. At the same time, since the efficiency of machining teeth is much higher than the efficiency of machining the pin sleeve output hole, it is more convenient for mass production and reduces manufacturing costs.

[0105] Specifically, in a conventional transmission mechanism, the pin usually plays a role in transmitting torque between the inner wheel and the flange body and in connecting the flange body. The pin is arranged through the inner wheel to transmit the power of the inner wheel to the flange body. The size (e.g., diameter) of the pin needs to be set large to transmit torque while ensuring the rigidity of the planet carrier.

[0106] In contrast, in the transmission mechanism 100 of the present application, meshing teeth (i.e., the first row of first inner wheel teeth 612, the first row of second inner wheel teeth 712, the second row of first inner wheel teeth 614, and the second row of second inner wheel teeth 714) are used as torque transmission components between the first inner wheel 122 and the second inner wheel 124 and the first flange body 104 and the second flange body 106, while the connecting component 108 is used as the connecting component between the first flange body 104 and the second flange body 106. The meshing teeth are all arranged at the circumferential edges of the first inner wheel 122 and the second inner wheel 124 (i.e., the meshing teeth are arranged away from the outer wheel center axis O). Such a transmission method eliminates the pins in the transmission mechanism, thereby saving space for setting the pins. Therefore, the size of the inner wheel bearing (i.e., the first inner wheel bearing 942 and the second inner wheel bearing 944) can be made larger without changing the size of the outer wheel 102 and the same torque is transmitted from the first inner wheel 122 and the second inner wheel 124 to the first flange body 104 and the second flange body 106 respectively. The larger inner wheel bearing can bear a larger basic rated dynamic load, which makes the larger inner wheel bearing have a longer service life.

[0107] On the other hand, conventional transmission mechanisms usually use pins as both the torque transmission component between the inner wheel and the flange body and the connecting component between the flange body. A through hole is provided on the inner wheel for accommodating the pin. The pin passes through the inner wheel, and both ends of the pin are connected to the flange bodies on both sides of the inner wheel. The pin and the through hole on the inner wheel are configured so that when the inner wheel revolves and rotates, the rotation of the inner wheel can drive the pin to rotate, and the pin only transmits the rotation of the inner wheel to the flange body. This places high demands on the machining accuracy and assembly accuracy of the pin and the through hole on the inner wheel. Secondly, the pin that bears the torque transmission function will be subjected to the radial force exerted on it by the inner wheel. If the pin is deformed, it will affect the transmission torque of the transmission mechanism. Therefore, the rigidity requirements for the material are also high.

[0108] Second, the transmission mechanism 100 of the present application is connected to each other through the connecting member 108, and the connecting member 108 is accommodated in the hollow portion 231 of the eccentric shaft 212. Such an arrangement can increase the size of the inner wheel bearing, which can increase the service life of the inner wheel bearing, thereby increasing the service life of the transmission mechanism 100.

[0109] Specifically, in a conventional transmission mechanism, the pin usually plays a role in transmitting torque between the inner wheel and the flange body and in connecting the flange bodies, so the pin must be arranged to penetrate the inner wheel.

[0110] In contrast, in the present application, meshing teeth (i.e., the first row of first inner wheel teeth 612, the first row of second inner wheel teeth 712, the second row of first inner wheel teeth 614, and the second row of second inner wheel teeth 714) are used as torque transmission components between the first inner wheel 122 and the second inner wheel 124 and the first flange body 104 and the second flange body 106, while the connecting component 108 is used as the connecting component between the first flange body 104 and the second flange body 106. Therefore, the position of the connecting component 108 is no longer limited, and it can be set on the outside of the eccentric shaft 212 or on the inside of the eccentric shaft 212. The connecting component 108 of the present application is set in the hollow portion 231 of the eccentric shaft 212, which allows the size of the inner wheel bearing to be made larger. The larger inner wheel bearing can bear a larger basic rated dynamic load, which makes the larger inner wheel bearing have a longer service life.

[0111] In addition, in the present application, the first flange body 104 and the second flange body 106 are pressed against each other through the connecting boss of the connecting component 108, and then fixed by the fastener 902 and the positioning member 904, which greatly enhances the torsional rigidity of the planet carrier 101. Specifically, the rigidity of the first flange body 104 and the second flange body 106 pressed against each other through the connecting boss is much better than the first flange body 104 and the second flange body 106 that are only connected together but not pressed against each other. This is because the contact area is formed between the first flange body 104 and the second flange body 106 pressed against each other, and there is a force acting on each other in the axial direction, and it is easier to form a whole through the connecting component 108. When the first flange body 104 and / or the second flange body 106 output torque outward (for example, connected to the driven device), the first flange body 104 and the second flange body 106 need to be twisted, and the first flange body 104 and the second flange body 106 pressed against each other can prevent the first flange body 104 and the second flange body 106 from twisting, thereby increasing the torsional rigidity of the planet carrier 101. This can not only improve the output torque of the transmission mechanism 100, but also improve the angular transmission error accuracy. For the field of robots measured in microns, improving the angular transmission error accuracy can greatly improve the positioning accuracy of the robot itself.

[0112] Third, the transmission mechanism 100 of the present application can drive the eccentric shaft 212 through the planetary gears (eg, the three planetary gears 204 , 206 , 208 ) when the eccentric shaft 212 cannot be directly connected to the driving mechanism (not shown).

[0113] Specifically, in a conventional transmission mechanism, the eccentric shaft is usually directly connected to the driving mechanism, so that the driving mechanism can drive the eccentric shaft to rotate. However, in the embodiment shown in the present application, since the connecting part 108 of the first flange body 104 and the second flange body 106 is arranged in the eccentric shaft 212, and the first flange body 104 and the second flange body 106 are meshed with the outer wheel 102, the two ends of the eccentric shaft 212 are blocked by the first flange body 104 and the second flange body 106 respectively, and cannot be connected to the driving mechanism. Secondly, when the transmission mechanism 100 is running, the eccentric shaft 212 rotates at a first speed, and the first flange body 104 and the second flange body 106 rotate at a second speed. The first speed is different from the second speed, so the eccentric shaft 212 cannot be directly connected to the driving mechanism, which will cause the connection part of the eccentric shaft 212 and the driving mechanism to collide with the first flange body 104 and / or the second flange body 106, causing the transmission mechanism 100 to be unable to operate.

[0114] In contrast, the planetary gear in the transmission mechanism 100 of the present application can solve the above problems. Specifically, the input shaft 202 and the planetary gear are both arranged in the eccentric shaft 212. The input shaft 202 is connected to the driving mechanism. The input shaft 202 is provided with an input shaft outer tooth 272 (see Figure 2A ). An eccentric shaft internal tooth 233 is provided inside the eccentric shaft 212. The outer gear ring of the planetary gear (e.g., the outer gear ring 284, 286, 288) is meshed with the eccentric shaft internal tooth 233 and the input shaft external tooth 272 at the same time, so that the rotation of the input shaft 202 can drive the eccentric shaft 212 to rotate through the planetary gear. This solves the technical problem that the eccentric shaft 212 cannot be connected to the driving mechanism.

[0115] On the other hand, the planetary gear is supported between the first flange body 104 and the second flange body 106 by the planetary gear support 952, and the central axis of the planetary gear (i.e., the central axis M1, M2, M3) can rotate at the second speed together with the first flange body 104 and the second flange body 106. In this way, the revolution of the planetary gear can overcome the problem of the inconsistent rotation speed of the eccentric shaft 212 and the first flange body 104 and the second flange body 106, and the self-rotation of the planetary gear can transfer the power of the input shaft 202 to the eccentric shaft 212, so that the eccentric shaft 212 rotates.

[0116] On the other hand, the input transmission device 132 (i.e., the input shaft 202, the planetary gears and the eccentric shaft 212) in the present application can achieve the first-stage speed change. Specifically, the number of teeth of the input shaft outer teeth 272 of the input shaft 202 is C1, the number of teeth of the eccentric shaft inner teeth 233 of the eccentric shaft 212 is C2, and the first-stage speed ratio i1 satisfies:

[0117]

[0118] Fourthly, the transmission mechanism 100 of the present application can provide a transmission mechanism with a relatively large speed ratio.

[0119] Specifically, the eccentric shaft in the conventional transmission mechanism is directly connected to the driving mechanism (not shown), so that the driving mechanism directly drives the eccentric shaft to rotate. In this way, the conventional transmission mechanism can only achieve one-stage speed change between the inner wheel and the flange body.

[0120] In contrast, the transmission mechanism 100 of the present application can achieve at least two levels of speed change. The first level of speed change is provided by the input transmission device 132 as described above. The first level speed ratio i1 satisfies The second speed change is generated by the power of the first inner wheel 122 being transmitted to the first flange body 104 (or the power of the second inner wheel 124 being transmitted to the second flange body 106). The following description will be made by taking the power of the first inner wheel 122 being transmitted to the first flange body 104 as an example.

[0121] The relative motion between the first inner wheel 122 and the outer wheel 102 is specifically described as follows: the eccentric shaft 212 drives the first inner wheel 122 to revolve. The first row of first inner wheel teeth 612 of the first inner wheel 122 and the outer wheel inner teeth 802 of the outer wheel 102 have a first tooth number difference, and because the outer wheel 102 is fixed, the first inner wheel 122 can rotate while revolving. The rotation direction of the first inner wheel 122 is opposite to the revolution direction of the first inner wheel 122 (i.e., the rotation direction of the eccentric shaft 212).

[0122] The relative motion between the first inner wheel 122 and the first flange body 104 is specifically described as follows: the second row of first inner wheel teeth 614 of the first inner wheel 122 and the first flange body teeth 406 of the first flange body 104 have a second tooth number difference. The revolution of the first inner wheel 122 will drive the first flange body 104 to rotate through the meshing of the second tooth number difference, and its rotation direction is the same as the revolution direction of the first inner wheel 122 (that is, the rotation direction of the eccentric shaft 212). At the same time, the self-rotation of the first inner wheel 122 will also drive the first flange body 104 to rotate at the same speed and direction through the meshing between the second row of first inner wheel teeth 614 and the first flange body teeth 406 of the first flange body 104, that is, the same as the self-rotation direction of the first inner wheel 122, but opposite to the rotation direction of the eccentric shaft 212.

[0123] In this way, the revolution of the first inner wheel 122 and the rotation of the first inner wheel 122 will make the absolute speed of the first flange body 104 the difference between the speeds in two different rotation directions, making the final speed lower, thereby achieving a larger speed ratio deceleration.

[0124] The second speed ratio i2 is described below by taking the first tooth number difference between the first row of first inner wheel teeth 612 of the first inner wheel 122 and the outer wheel inner teeth 802 of the outer wheel 102 as 1, and the second tooth number difference between the second row of first inner wheel teeth 614 of the first inner wheel 122 and the first flange body teeth 406 of the first flange body 104 as 1 as an example:

[0125] The number of teeth of the first row of first inner gear teeth 612 is Z1, and the number of teeth of the outer gear inner gear 802 is Z2, wherein Z2-Z1=1. The speed ratio of the first row of speed change is i21. i21 satisfies:

[0126]

[0127] The number of teeth of the second row of first inner gear teeth 614 is Z3, and the number of teeth of the first flange body teeth 406 is Z4, wherein Z4-Z3=1. The speed ratio of the second row of speed change is i22. i22 satisfies:

[0128]

[0129] The second-stage speed ratio i2 of the transmission mechanism 100 is:

[0130]

[0131] For the second stage speed change, a wider range of speed ratios can be achieved. As an example, when Z1=60, Z2=61, Z3=50 and Z4=51, i2=340. As another example, when Z1=199, Z2=200, Z3=197 and Z4=198, i2=39402.

[0132] The total speed ratio i of the transmission mechanism 100 satisfies:

[0133] i=i1×i2.

[0134] The range of the overall speed ratio i of the transmission mechanism 100 can be very large.

[0135] As an example, when C1=15, C2=75, Z1=60, Z2=61, Z3=50 and Z4=51, i=1700. As another example, when C1=15, C2=75, Z1=199, Z2=200, Z3=197 and Z4=198, i=197010.

[0136] Fifth, the transmission mechanism 100 of the present application has a compact structure and a simple outer contour. Specifically, the eccentric shaft 212, the first inner wheel 122, the second inner wheel 124, the first connecting boss 402, the second connecting boss 502, the first flange body teeth 406 of the first flange body 104, and the second flange body teeth 506 of the second flange body 106 in the transmission mechanism 100 are all arranged in the accommodating space 812 of the outer wheel 102. In this way, each of the above components can be supported by the outer wheel 102 to ensure stable operation. In addition, only the outer wheel 102, the first flange body 104 and the second flange body 106 can be seen from the outside of the transmission mechanism 100, so that the outer contour is simple and beautiful.

[0137] Although only some features of the present application have been illustrated and described herein, various modifications and changes may be made to those skilled in the art. Therefore, it should be understood that the appended claims are intended to cover all the above modifications and changes that fall within the spirit and scope of the present application.

Claims

1. A transmission mechanism (100), characterized in that include: An outer wheel (102), the inner edge of the outer wheel (102) forming a receiving space (812), and the inner edge of the outer wheel (102) is provided with outer wheel inner teeth (802), and the outer wheel (102) has an outer wheel central axis (O); A first inner wheel (122), wherein a first row of first inner wheel teeth (612) and a second row of first inner wheel teeth (614) arranged side by side are provided on an outer edge of the first inner wheel (122), wherein the first row of first inner wheel teeth (612) are accommodated in an accommodation space of the outer wheel (102) and are capable of meshing with the outer wheel inner teeth (802), wherein the first inner wheel (122) has a first inner wheel center axis (N1), wherein the first inner wheel center axis (N1) is eccentrically arranged relative to the outer wheel center axis (O), and the first inner wheel (122) is capable of eccentrically rotating around the outer wheel center axis (O); a second inner wheel (124), the second inner wheel (124) being arranged on a first side of the first inner wheel (122), the outer edge of the second inner wheel (124) being provided with a first row of second inner wheel teeth (712) and a second row of second inner wheel teeth (714) arranged side by side, the first row of second inner wheel teeth (712) being accommodated in the accommodation space of the outer wheel (102) and being capable of meshing with the outer wheel inner teeth (802), the second inner wheel (124) having a second inner wheel central axis (N2), the second inner wheel central axis (N2) being eccentrically arranged relative to the outer wheel central axis (O), and the second inner wheel (124) being capable of eccentrically rotating around the outer wheel central axis (O); a first flange body (104), the first flange body (104) being arranged on a second side of the first inner wheel (122) opposite to the first side, the first flange body (104) comprising first flange body teeth (406), the first flange body teeth (406) being capable of meshing with the second row of first inner wheel teeth (614); and A second flange body (106), wherein the second flange body (106) and the first inner wheel (122) are respectively arranged on both sides of the second inner wheel (124), the second flange body (106) comprises second flange body teeth (506), and the second flange body teeth (506) can be meshed with the second row of second inner wheel teeth (714), and the first flange body (104) and the second flange body (106) are rigidly connected so that the first flange body (104) and the second flange body (106) can rotate together.

2. The transmission mechanism (100) according to claim 1, characterized in that: The outer wheel inner teeth (802) of the outer wheel (102) and the first row of first inner wheel teeth (612) of the first inner wheel (122) have a first tooth number difference, and the outer wheel inner teeth (802) of the outer wheel (102) and the first row of second inner wheel teeth (712) of the second inner wheel (124) also have a first tooth number difference.

3. The transmission mechanism (100) according to claim 1, characterized in that: The first flange body teeth (406) and the second row of first inner gear teeth (614) have a second tooth number difference, and the second flange body teeth (506) and the second row of second inner gear teeth (714) have a second tooth number difference.

4. The transmission mechanism (100) according to claim 1, characterized in that: The first row of first inner wheel teeth (612) and the second row of first inner wheel teeth (614) are arranged at outer edges of the first inner wheel (122) having different diameters; The first row of second inner gear teeth (712) and the second row of second inner gear teeth (714) are arranged at outer edges of the second inner gear (124) having different diameters.

5. The transmission mechanism (100) according to claim 1, characterized in that: The first row of first inner gear teeth (612) and the second row of first inner gear teeth (614) have different numbers of teeth; The first row of second inner gear teeth (712) and the second row of second inner gear teeth (714) have different numbers of teeth.

6. The transmission mechanism (100) according to claim 1, characterized in that Also includes: an eccentric shaft (212), wherein the eccentric shaft (212) is a hollow shaft, a first eccentric portion (304) and a second eccentric portion (306) are provided on the outer periphery of the eccentric shaft (212), the first inner wheel (122) is arranged around the first eccentric portion (304), and the second inner wheel (124) is arranged around the second eccentric portion (306); and A connecting component (108), wherein the connecting component (108) is rigidly connected to the first flange body (104) and the second flange body (106), and the connecting component (108) passes through the hollow portion of the eccentric shaft (212) to rigidly connect the first flange body (104) and the second flange body (106) together.

7. The transmission mechanism (100) according to claim 6, characterized in that: The connecting component (108) comprises a first connecting boss (402) extending from the first flange body (104), a second connecting boss (502) extending from the second flange body (106), and a fastener (902); The first connecting boss (402) and the second connecting boss (502) extend into the hollow portion of the eccentric shaft (212), and the fastener (902) is capable of connecting the first connecting boss (402) and the second connecting boss (502) to each other.

8. The transmission mechanism (100) according to claim 7, characterized in that: The connecting component (108) further comprises a positioning member (904), wherein the positioning member (904) is capable of positioning the first connecting boss (402) and the second connecting boss (502) relative to each other.

9. The transmission mechanism (100) according to claim 7, characterized in that: The first connecting boss (402) is formed integrally with the first flange body (104), and the second connecting boss (502) is formed integrally with the second flange body (106).

10. The transmission mechanism (100) according to claim 1, characterized in that: The first flange body teeth (406) and the second flange body teeth (506) are arranged in the accommodating space (812) of the outer wheel (102).

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