Transmission mechanism

Abstract

The present application discloses a transmission mechanism, including an inner wheel, an eccentric shaft, a first flange body, an input shaft and at least one planetary gear. The eccentric portion is provided on the outer periphery of the eccentric shaft, and the inner wheel is arranged around the eccentric portion, so that the eccentric shaft can drive the inner wheel to rotate eccentrically. The first flange body is arranged side by side with the inner wheel, and has an inner cavity, and the wall of the inner cavity is provided with flange body inner teeth. The input shaft has an input shaft meshing portion, and the input shaft meshing portion has input shaft outer teeth, which are located in the inner cavity of the first flange body. At least one planetary gear is mounted on the eccentric shaft, is located in the inner cavity of the first flange body, and is arranged around the input shaft meshing portion. At least one planetary gear is meshed with the inner teeth of the flange body and with the outer teeth of the input shaft, so that the input shaft can drive the eccentric shaft to rotate through the at least one planetary gear. The transmission mechanism of the present application can provide a wide range of reduction ratios.

Description

Technical Field

[0001] The present application relates to a transmission mechanism, and more particularly, to a transmission mechanism capable of providing a large reduction ratio. Background Art

[0002] The driving mechanism in the traditional internal meshing transmission mechanism is directly connected to the eccentric shaft, so that the driving mechanism directly drives the eccentric shaft to rotate. Although the traditional internal meshing transmission mechanism has a simple structure, the bearing sleeved on the eccentric shaft wears quickly and has a short service life. Summary of the invention

[0003] The exemplary embodiment of the present application adds a level of speed change between the driving mechanism and the eccentric shaft, which can solve at least some of the above problems. For example, the present application provides a transmission mechanism, which includes an inner wheel, an eccentric shaft, a first flange body, an input shaft and at least one planetary gear. Among them, the outer periphery of the eccentric shaft is provided with an eccentric portion, and the inner wheel is arranged around the eccentric portion, so that the eccentric shaft can drive the inner wheel to rotate eccentrically. The first flange body is arranged side by side with the inner wheel, and it has an inner cavity, and the wall of the inner cavity is provided with flange body inner teeth. The input shaft has an input shaft meshing portion and a hollow portion, and the input shaft meshing portion has input shaft outer teeth, and the input shaft meshing portion passes through the eccentric shaft to reach the inner cavity of the first flange body. At least one planetary gear is mounted on the eccentric shaft, and at least one planetary gear is located in the inner cavity of the first flange body and is arranged around the input shaft meshing portion. Among them, at least one planetary gear is meshed with the inner teeth of the flange body and meshed with the outer teeth of the input shaft, so that the input shaft can drive the eccentric shaft to rotate through at least one planetary gear.

[0004] According to the transmission mechanism of the present application, the eccentric shaft, the input shaft and the first flange body have the same central axis.

[0005] According to the transmission mechanism of the present application, at least one planetary gear is rotatably mounted on an end face of the eccentric shaft, so that the rotation of the at least one planetary gear around the input shaft can drive the eccentric shaft to rotate.

[0006] According to the transmission mechanism of the present application, it also includes at least one planetary gear support, and at least one planetary gear is sleeved on the corresponding planetary gear support. At least one support mounting portion is provided on the eccentric shaft, and at least one planetary gear support is mounted in a corresponding one of the at least one support mounting portion, so that at least one planetary gear is mounted on the eccentric shaft.

[0007] According to the transmission mechanism of the present application, the eccentric shaft is a hollow shaft, the input shaft is accommodated in the eccentric shaft, and the input shaft meshing portion passes through the eccentric shaft to reach the inner cavity of the first flange body.

[0008] According to the transmission mechanism of the present application, the input shaft also has an input shaft support portion. The transmission mechanism also includes an input shaft support member, which is sleeved on the input shaft support portion and rotatably supports the input shaft in the eccentric shaft.

[0009] According to the transmission mechanism of the present application, the at least one planetary gear is three planetary gears, and the three planetary gears are evenly arranged around the input shaft.

[0010] According to the transmission mechanism of the present application, it also includes a second flange body and at least two transmission components. The second flange body and the first flange body are respectively arranged on opposite sides of the inner wheel. At least two transmission components pass through the inner wheel, the first flange body and the second flange body to connect the first flange body and the second flange body arranged on opposite sides of the inner wheel to each other.

[0011] According to the transmission mechanism of the present application, it also includes an outer wheel with outer wheel inner teeth. The inner wheel has inner wheel outer teeth, and the inner wheel outer teeth can mesh with the outer wheel inner teeth, so that the inner wheel can rotate in the outer wheel.

[0012] According to the transmission mechanism of the present application, the eccentric shaft, the input shaft and the first flange body have the same central axis.

[0013] The transmission mechanism of the present invention can provide a wide range of reduction ratios and also provides a large installation space for the planetary gears, so as to facilitate processing and manufacturing.

[0014] 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

[0015] 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:

[0016] Figure 1A It is a stereoscopic view of a transmission mechanism according to an embodiment of the present application viewed from right to left.

[0017] Figure 1B yes Figure 1A The transmission mechanism shown is a perspective view from left to right.

[0018] Figure 1C yes Figure 1A A cross-sectional view of the transmission mechanism shown.

[0019] Figure 2A yes Figure 1C The input shaft of the transmission is shown in a perspective view from right to left.

[0020] Figure 2B yes Figure 1C The input shaft of the transmission is shown in a perspective view from left to right.

[0021] Figure 2C yes Figure 1C A cross-sectional view of the input shaft of the transmission mechanism is shown.

[0022] Figure 3 yes Figure 1C An exploded view of the eccentric transmission device of the transmission mechanism shown.

[0023] Figure 4A yes Figure 1C The eccentric shaft of the transmission is shown in a perspective view from right to left.

[0024] Figure 4B yes Figure 1C A front view of the eccentric shaft of the transmission mechanism shown.

[0025] Figure 4C yes Figure 1C The eccentric shaft of the transmission mechanism shown is about Figure 4B Cross-sectional view of section AA.

[0026] Figure 5A yes Figure 1C The first flange body of the transmission mechanism is shown in a three-dimensional view viewed from right to left.

[0027] Figure 5B yes Figure 1C The first flange body of the transmission mechanism is shown in a three-dimensional view viewed from left to right.

[0028] Figure 5C yes Figure 1C An axial cross-sectional view of the first flange body of the transmission mechanism shown.

[0029] Fig. 6A yes Figure 1C The second flange body of the transmission mechanism is shown in a three-dimensional view viewed from left to right.

[0030] Figure 6B yes Figure 1C The second flange body of the transmission mechanism is shown in a three-dimensional view viewed from right to left.

[0031] Figure 6C yes Figure 1CAn axial cross-sectional view of the second flange body of the transmission mechanism shown.

[0032] Figure 7 yes Figure 1C A three-dimensional view of the first inner wheel or the second inner wheel of the transmission mechanism shown.

[0033] Figure 8 yes Figure 1C A three-dimensional view of the outer wheel of the transmission mechanism shown.

[0034] Fig. 9 yes Figure 1A An axial cross-sectional view of the transmission mechanism shown. DETAILED DESCRIPTION

[0035] 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 are used in this application, such as "left" and "right" and other directions or orientations 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 this 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.

[0036] Figure 1A It is a stereoscopic view of a transmission mechanism 100 viewed from right to left according to an embodiment of the present application. Figure 1B yes Figure 1A The transmission mechanism 100 is shown in a perspective view from left to right. 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-1CAs shown, the transmission mechanism 100 includes an outer wheel 102. The components carried or supported by the outer wheel 102 include a first flange body 104, a second flange body 106, a first inner wheel 131, a second inner wheel 132, an eccentric transmission device 152 and an input shaft 112. Among them, the eccentric transmission device 152 is sleeved on the input shaft 112. The first inner wheel 131 and the second inner wheel 132 are arranged side by side and sleeved on the eccentric transmission device 152. The first flange body 104 and the second flange body 106 are respectively arranged on both sides of the first inner wheel 131 and the second inner wheel 132, and are rigidly connected together through the transmission component 108. The transmission component 108 passes through the first flange body 104, the first inner wheel 131, the second inner wheel 132 and the second flange body 106 to maintain the first inner wheel 131 and the second inner wheel 132 between the first flange body 104 and the second flange body 106, so that the first inner wheel 131 and the second inner wheel 132 can transmit the movement of the first inner wheel 131 and the second inner wheel 132 to the first flange body 104 and the second flange body 106 through the transmission component 108, so that the first flange body 104 and the second flange body 106 rotate.

[0037] In the transmission mechanism 100 of the present application, relative motion can occur between the input shaft 112, the eccentric transmission device 152, the first inner wheel 131, the second inner wheel 132 and the outer wheel 102, so that power is output through the transmission mechanism 100, and the transmission mechanism 100 can achieve the purpose of deceleration. The power transmission relationship is roughly as follows:

[0038] The driving mechanism (not shown) is connected to the input shaft 112 to drive the input shaft 112 to rotate. The input shaft 112 is meshed with the eccentric transmission device 152, thereby driving the eccentric shaft 342 (see Figure 3 ) eccentrically rotates. Since the outer wheel 102 is fixed and the teeth of the outer wheel 102 and the first inner wheel 131 and the second inner wheel 132 are meshed, the rotation of the eccentric shaft 342 can drive the first inner wheel 131 and the second inner wheel 132 mounted thereon to translate and rotate. The first inner wheel 131 and the second inner wheel 132 drive the first flange body 104 and the second flange body 106 to rotate through the transmission component 108. The first flange body 104 and the second flange body 106 are connected to a driven device (not shown) to achieve speed change and torque output.

[0039] The specific structure of each component in the transmission mechanism 100 is described in detail below:

[0040] Figure 2A yes Figure 1C The input shaft 112 of the transmission 100 is shown in a perspective view from right to left. Figure 2B yes Figure 1CThe input shaft 112 of the transmission 100 is shown in a perspective view from left to right. Figure 2C yes Figure 1C The axial cross-sectional view of the input shaft 112 of the transmission mechanism 100 is shown to illustrate the specific structure of the input shaft 112. The input shaft 112 is generally composed of four parts connected to each other, which are: an input shaft cylindrical portion 232, an input shaft support portion 234, a contraction portion 236 and an input shaft meshing portion 238. Specifically, the input shaft 112 has a central axis X. The input shaft cylindrical portion 232 and the input shaft support portion 234 are generally cylindrical, and the outer diameter d1 of the input shaft cylindrical portion 232 is greater than the outer diameter d2 of the input shaft support portion 234. The input shaft support portion 234 is capable of supporting the input shaft support member 902 (see Fig. 9 ) inner wall. The input shaft cylindrical portion 232 and the input shaft support portion 234 form a step portion to limit the axial leftward movement of the input shaft support member 902. The contraction portion 236 is generally a truncated cone, which contracts along the input shaft support portion 234 toward the input shaft meshing portion 238. The input shaft meshing portion 238 is generally a cylinder. The outer circumferential surface of the free end of the input shaft meshing portion 238 is provided with input shaft external teeth 240 for engaging with the three planetary gears 321, 322, 323 in the eccentric transmission device 152 (see Figure 3 ) are meshed.

[0041] In addition, the input shaft 112 has an inner receiving portion 250 that penetrates the input shaft 112 along the central axis X, and a groove 252 is provided in the inner receiving portion 250. The inner receiving portion 250 is used to connect with a driving mechanism (not shown).

[0042] Figure 3 yes Figure 1C FIG. 1 is an exploded view of the eccentric transmission device 152 of the transmission mechanism 100 to illustrate the specific structure of each component in the eccentric transmission device 152. Figure 3 As shown, the eccentric transmission device 152 includes an eccentric shaft 342, planetary gears 321, 322, 323 and planetary gear supports 301, 302, 303. The specific structure of the eccentric shaft 342 will be combined with Figures 4A-4C This is described in detail below.

[0043] like Figure 3 As shown, the eccentric shaft 342 is substantially cylindrical and has a central axis Y. The eccentric shaft 342 has an inner cavity 331 disposed along the central axis Y and passing through the eccentric shaft 342 for receiving the input shaft 112 and the input shaft support 902 (see Fig. 9). The right end of the eccentric shaft 342 is provided with mounting parts 351, 352, 353 surrounding the inner cavity 331. The mounting parts 351, 352, 353 are evenly arranged along the circumference of the eccentric shaft 342, and are used to receive the planetary gear support members 301, 302, 303, so that each of the planetary gears 321, 322, 323 can be mounted on the right end face of the eccentric shaft 342 through a corresponding one of the planetary gear support members 301, 302, 303.

[0044] The structures of the three planetary gears 321, 322, and 323 are roughly the same. Specifically, the planetary gear 321 has a hollow portion 325 that runs through it, which is used to accommodate the planetary gear support 301, so that the planetary gear 321 is supported on the end face of the eccentric shaft 342. Similarly, the planetary gear 322 has a hollow portion 326 that runs through it, which is used to accommodate the planetary gear support 302, so that the planetary gear 322 is supported on the end face of the eccentric shaft 342. The planetary gear 323 has a hollow portion 327 that runs through it, which is used to accommodate the planetary gear support 303, so that the planetary gear 323 is supported on the end face of the eccentric shaft 342. The external teeth of the three planetary gears 321, 322, and 323 can all mesh with the input shaft external teeth 240 in the input shaft 112, and the external teeth of the three planetary gears 321, 322, and 323 can all mesh with the flange body internal teeth 511 of the first flange body 104 (see Figure 5A-5B ) are meshed.

[0045] Combine the following Figure 1C The driving process of the input shaft 112 driving the eccentric shaft 342 to rotate is described below. Figure 1C It can be seen that the input shaft 112 is disposed in the inner cavity 331 of the eccentric shaft 342 and is coaxially disposed with the eccentric shaft 342. The input shaft outer teeth 240 of the input shaft 112 pass through the eccentric shaft 342 to reach the inner cavity 541 of the first flange body 104 (see Figure 5A-5B). The three planetary gears 321, 322, 323 are arranged in the first flange body 104 and surround the input shaft 112. When the driving mechanism drives the input shaft 112 to rotate, the input shaft meshing portion 238 of the input shaft 112 meshes with the outer gear rings of the three planetary gears 321, 322, 323, thereby driving each of the three planetary gears 321, 322, 323 to rotate around its respective central axis (i.e., self-rotation). In addition, since the outer gear rings of the three planetary gears 321, 322, 323 are also meshed with the inner teeth 511 of the flange body of the first flange body 104, each of the three planetary gears 321, 322, 323 will rotate around the central axis Y of the eccentric shaft 342. In other words, the central axis of each of the three planetary gears 321, 322, 323 rotates (i.e., revolves) around the central axis Y of the eccentric shaft 342. The three planetary gears 321 , 322 , 323 are connected to the end of the eccentric shaft 342 through the three planetary gear supports 301 , 302 , 303 , so the revolution of the three planetary gears 321 , 322 , 323 drives the eccentric shaft 342 to rotate around the central axis Y thereof.

[0046] It should be noted that, although the planetary gears 321, 322, 323 in the present application are mounted on the eccentric shaft 342 through the planetary gear supports 301, 302, 303, those skilled in the art will appreciate that bearings may also be provided between the planetary gears 321, 322, 323 and the planetary gear supports 301, 302, 303, so as to reduce the friction generated when the planetary gears 321, 322, 323 rotate.

[0047] Figure 4A yes Figure 1C The eccentric shaft 342 of the transmission 100 is shown in a perspective view from right to left. Figure 4B yes Figure 1C A front view of the eccentric shaft 342 of the transmission mechanism 100 is shown. Figure 4C yes Figure 1C The eccentric shaft 342 of the transmission mechanism 100 is shown along Figure 4B The cross-sectional view of the AA line. Figures 4A-4C As shown, the eccentric shaft 342 is roughly a cylinder. The eccentric shaft 342 is provided with a first eccentric portion 401 and a second eccentric portion 402. The first eccentric portion 401 and the second eccentric portion 402 are symmetrically eccentrically arranged relative to the central axis Y, and the eccentricity is equal. Specifically, the first eccentric portion 401 and the second eccentric portion 402 are both circular rings eccentrically arranged relative to the central axis Y of the eccentric shaft 342. The outer peripheral surface 421 of the first eccentric portion 401 forms a circumferential surface with a diameter of D1. The outer peripheral surface 422 of the second eccentric portion 402 forms a circumferential surface with a diameter of D2. Wherein, D1=D2.

[0048] More specifically, the outer circumference 421 and the outer circumference 422 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 Y of the eccentric shaft 342. The distance e is greater than 0. The first inner wheel center axis N1 and the second inner wheel center axis N2 are symmetrically arranged about the center axis Y. In more detail, the outer circumference 421 of the first eccentric part 401 and the outer circumference 422 of the second eccentric part 402 are 180° out of phase. When the eccentric shaft 342 rotates around its center axis Y, the first inner wheel center axis N1 of the first eccentric part 401 and the second inner wheel center axis N2 of the second eccentric part 402 both rotate around the center axis Y.

[0049] The eccentric shaft 342 is also provided with a first flange bearing abutment portion 441. The first flange bearing abutment portion 441 is located on the right side of the first eccentric portion 401 and is used to support the first flange bearing 904 (see Fig. 9 ). The first eccentric portion 401 extends radially beyond the first flange bearing abutment portion 441 to form a step portion to limit the first flange bearing 904 from moving axially to the left. The eccentric shaft 342 is also provided with a second flange bearing abutment portion 442. The second flange bearing abutment portion 442 is located on the left side of the second eccentric portion 402 and is used to support the second flange bearing 906 (see Fig. 9 ) The second eccentric portion 402 extends radially beyond the second flange bearing abutment portion 442 to form a step portion to limit the second flange bearing 906 from moving axially to the right. In addition, the diameter of the left portion of the inner cavity 331 of the eccentric shaft 342 is greater than the diameter of the middle portion of the inner cavity 331 to form a step portion 443 for supporting the input shaft support member 902 (see Fig. 9 )'s outer wall and limits the input shaft support 902 from moving axially to the right.

[0050] Those skilled in the art may understand that, as another example, the right end of the eccentric shaft 342 in the present application may have a larger diameter, thereby providing a larger installation space for the planetary gear.

[0051] Figure 5A yes Figure 1C The first flange body 104 of the transmission mechanism 100 is shown in a perspective view viewed from right to left. Figure 5B yes Figure 1C The first flange body 104 of the transmission mechanism 100 is shown in a perspective view viewed from left to right. Figure 5C yes Figure 1CThe axial cross-sectional view of the first flange body 104 of the transmission mechanism 100 shown in FIG. Specifically, the first flange body 104 includes a first flange body 504 and a first flange body protrusion 506. The first flange body 504 is generally annular and has an inner cavity 541. The first flange body 104 has a central axis F1. The first flange body protrusion 506 extends radially from the first flange body 504. The first flange body protrusion 506 and the first flange body 504 form a stepped portion 508 for receiving the first outer wheel bearing 914 (see FIG. Fig. 9 ), and restrict the first outer wheel bearing 914 from moving axially to the right. Flange body teeth 511 are provided on at least a portion of the wall 528 of the inner cavity 541 close to the right. The flange body teeth 511 can mesh with the planetary gears 321, 322, 323. The portion of the wall 528 of the inner cavity 541 that is not provided with teeth is used to abut against the first flange body bearing 904 (see Fig. 9 The flange body teeth 511 can prevent the first flange body bearing 904 from moving axially to the right.

[0052] The first flange body 104 is also provided with twelve transmission component mounting holes 531 evenly arranged along the circumference of the first flange body 104. The twelve transmission component mounting holes 531 are all countersunk holes for receiving the transmission component 108 (see Figure 1A ).

[0053] Fig. 6A yes Figure 1C The second flange body 106 of the transmission mechanism 100 is shown in a perspective view viewed from left to right. Figure 6B yes Figure 1C The second flange body 106 of the transmission mechanism 100 is shown in a perspective view viewed from right to left. Figure 6C yes Figure 1C 1 is an axial cross-sectional view of the second flange body 106 of the transmission mechanism 100 shown in FIG. Specifically, the second flange body 106 includes a second flange body 604 and a second flange body protrusion 606. The second flange body 604 is generally annular and has an inner cavity 641. The second flange body 106 has a central axis F2. The second flange body protrusion 606 extends radially from the second flange body 604. The second flange body protrusion 606 and the second flange body 604 form a stepped portion 608 for receiving the second outer wheel bearing 916 (see FIG. 1 ). Fig. 9 ), and restrict the second outer wheel bearing 916 from moving axially to the left. A stepped portion 651 is provided on the wall of the inner cavity 641 for receiving the second flange bearing 906 (see Fig. 9 ), and restrict the second flange body bearing 906 from moving axially to the left.

[0054] The second flange body 106 is also provided with twelve transmission component mounting holes 631 evenly arranged along the circumference of the second flange body 106. The twelve transmission component mounting holes 631 are all countersunk holes for receiving the transmission component 108 (see Figure 1C ).

[0055] Figure 7 yes Figure 1C 1 is a perspective view of the first inner wheel 131 and the second inner wheel 132 of the transmission mechanism 100. Figure 7 As shown, the first inner wheel 131 and the second inner wheel 132 are roughly annular and have a certain thickness. The first inner wheel 131 and the second inner wheel 132 have central axes N1 and N2 respectively. The first inner wheel 131 and the second inner wheel 132 also have a receiving portion 704 radially penetrating the first inner wheel 131 and the second inner wheel 132 in the middle. The diameter of the wall 706 of the receiving portion 704 is roughly the same as the outer diameter of the inner wheel bearings 917 and 918, so that the first inner wheel 131 and the second inner wheel 132 can be mounted on the inner wheel bearings 917 and 918 arranged around the eccentric parts 401 and 402 (see Fig. 9 ). When the eccentric shaft 342 rotates, the eccentric parts 401, 402 of the eccentric shaft 342 can drive the first inner wheel 131 and the second inner wheel 132 to rotate eccentrically through the inner wheel bearings 917, 918. In other words, when the eccentric shaft 342 rotates, the eccentric shaft 342 can make the central axes N1, N2 of the first inner wheel 131 and the second inner wheel 132 rotate around the central axis X of the eccentric shaft 342 (that is, the first inner wheel 131 and the second inner wheel 132 can revolve around the central axis X of the eccentric shaft 342). The outer periphery of the first inner wheel 131 and the second inner wheel 132 has inner wheel outer teeth 702. The inner wheel outer teeth 702 are configured to be able to engage with the outer wheel inner teeth 802 of the outer wheel 102 (see Figure 8 ) are meshed. More specifically, when the first inner wheel 131 and the second inner wheel 132 move, at least a portion of the inner wheel outer teeth 702 can mesh with the outer wheel inner teeth 802 of the outer wheel 102. There is a difference in the number of teeth between the inner wheel outer teeth 702 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 inner wheel outer teeth 702 (that is, the difference in the number of teeth is an integer greater than zero). When the first inner wheel 131 and the second inner wheel 132 are driven by the eccentric shaft 342 to rotate eccentrically in the outer wheel 102, the meshing of the inner wheel outer teeth 702 and the outer wheel inner teeth 802 can cause the first inner wheel 131 and the second inner wheel 132 to rotate (that is, rotate). In this way, the eccentric shaft 342 can cause the first inner wheel 131 and the second inner wheel 132 to revolve and rotate in the outer wheel 102.

[0056] The first inner wheel 131 and the second inner wheel 132 further include twelve inner wheel holes 708 evenly arranged in the circumferential direction around the central axes N1 and N2, for accommodating the transmission component 108. There is a gap between the wall of the inner wheel hole 708 and the outer periphery of the transmission component 108, and it is configured that when the first inner wheel 131 and the second inner wheel 132 rotate eccentrically, the first flange body 104 and the second flange body 106 can be driven to rotate together through the transmission component 108.

[0057] It should be noted that the inner wheel outer teeth 702 and the outer wheel inner teeth 802 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.

[0058] Figure 8 yes Figure 1C FIG. 1 is a perspective view of the outer wheel 102 of the transmission mechanism 100. Figure 8 As shown, the outer wheel 102 is generally annular and has an outer wheel central axis S. The outer wheel 102 has a receiving portion 812, which is arranged through the outer wheel 102. The middle part of the wall of the receiving portion 812 is provided with outer wheel inner teeth 802, which can mesh with the inner wheel outer teeth 702 of the first inner wheel 131 and the second inner wheel 132.

[0059] The outer wheel 102 also has a first support portion 804 and a second support portion 806, which are respectively arranged on the left and right sides of the outer wheel inner teeth 802. The first support portion 804 is used to support the first outer wheel bearing 914 (see Fig. 9 The second support portion 806 is used to support the second outer wheel bearing 916 (see Fig. 9 ).

[0060] Fig. 9 yes Figure 1A The axial cross-sectional view of the transmission mechanism 100 is shown to illustrate the relative positional relationship and matching relationship of the components installed in the outer wheel 102. Among them, the central axis O of the input shaft 112, the central axis X of the eccentric shaft 342, 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 central axis S of the outer wheel 102.

[0061] The input shaft 112 is mounted to the eccentric shaft 342 through the input shaft support 902. Specifically, the input shaft support 902 is sleeved on the input shaft 112. The inner wall of the input shaft support 902 contacts the input shaft support portion 234 of the input shaft 112, and the outer wall of the input shaft support 902 contacts the step portion 443 of the eccentric shaft 342, so that the input shaft 112 can be set in the eccentric shaft 342 through the input shaft support 902. The input shaft outer teeth 240 of the input shaft 112 can pass through the inner cavity 331 of the eccentric shaft 342.

[0062] The three planetary gears 321, 322, 323 are mounted on the end of the eccentric shaft 342 through the planetary gear supports 301, 302, 303. Each of the three planetary gears 321, 322, 323 can mesh with the input shaft external teeth 240 of the input shaft 112.

[0063] The eccentric shaft 342 is installed in the first inner wheel 131 and the second inner wheel 132 through the first inner wheel bearing 917 and the second inner wheel bearing 918, respectively. Specifically, the first inner wheel bearing 917 and the second inner wheel bearing 918 are respectively sleeved on the first eccentric portion 401 and the second eccentric portion 402 of the eccentric shaft 342. The inner wall of the first inner wheel bearing 917 contacts the outer peripheral surface 421 of the first eccentric portion 401, and the outer wall of the first inner wheel bearing 917 contacts the wall 706 of the accommodating portion 704 of the first inner wheel 131, so that the first inner wheel 131 is sleeved on the first eccentric portion 401. When the eccentric shaft 342 rotates around the central axis X, the first inner wheel 131 can revolve around the central axis X, that is, the first inner wheel central axis N1 of the first inner wheel 131 rotates around the central axis X (that is, translates). The inner wall of the second inner wheel bearing 918 contacts the outer circumferential surface 422 of the second eccentric portion 402, and the outer wall of the second inner wheel bearing 918 contacts the wall 706 of the accommodating portion 704 of the second inner wheel 132, so that the second inner wheel 132 is sleeved on the second eccentric portion 402. When the eccentric shaft 342 rotates around the central axis X, the second inner wheel 132 revolves around the central axis X, that is, the second inner wheel central axis N2 of the second inner wheel 132 rotates around the central axis X (that is, translates).

[0064] Since the first inner wheel 131 and the second inner wheel 132 have the same structure and are symmetrically eccentrically arranged relative to the central axis X, when the eccentric shaft 342 drives the first inner wheel 131 and the second inner wheel 132 to rotate, the phase difference between the first inner wheel 131 and the second inner wheel 132 is always 180°, thereby ensuring that the first inner wheel 131 and the second inner wheel 132 can maintain dynamic balance as a whole during movement.

[0065] In addition, the first inner wheel 131 and the second inner wheel 132 are in meshing relationship with the outer wheel 102 at the same time. Specifically, when the eccentric shaft 342 drives the first inner wheel 131 and the second inner wheel 132 to revolve, since there is a difference in the number of teeth between the inner wheel outer teeth 702 and the outer wheel inner teeth 802, and the outer wheel 102 is fixed, the first inner wheel 131 and the second inner wheel 132 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 131 and the second inner wheel 132 realize self-rotation (i.e., eccentric rotation) while revolving.

[0066] The first flange body 104 and the second flange body 106 are respectively arranged on both sides of the first inner wheel 131 and the second inner wheel 132, and the first flange body 104 and the second flange body 106 are connected together through the transmission component 108. The first inner wheel 131 and the second inner wheel 132 drive the first flange body 104 and the second flange body 106 to rotate through the transmission component 108. The first flange body 104 is arranged on the right side of the inner wheel 131, and the second flange body 106 is arranged on the left side of the inner wheel 132.

[0067] Specifically, the first flange body 104 is mounted on the eccentric shaft 342 through the first flange body bearing 904, and is arranged in the outer wheel 102 through the first outer wheel bearing 914. The inner wall of the first flange body bearing 904 contacts the first flange body bearing abutment portion 441, and the outer wall of the first flange body bearing 904 contacts the inner wall 528 of the first flange body body 504. The inner wall of the first outer wheel bearing 914 abuts against the stepped portion 508 of the first flange body 104, and the outer wall of the first outer wheel bearing 914 contacts the first support portion 804 of the outer wheel 102. Similarly, the second flange body 106 is mounted on the eccentric shaft 342 through the second flange body bearing 906, and is arranged in the outer wheel 102 through the second outer wheel bearing 916. The inner wall of the second flange body bearing 906 contacts the second flange body bearing abutment portion 442, and the outer wall of the second flange body bearing 906 contacts the inner wall 628 of the second flange body body 604. The inner wall of the second outer wheel bearing 916 abuts against the stepped portion 608 of the second flange body 106, and the outer wall of the second outer wheel bearing 916 contacts the second supporting 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 916. Since the outer wheel 102 is fixed, the first flange body 104 and the second flange body 106 can rotate around the central axis X.

[0068] The first flange body 104 and the second flange body 106 are connected to each other through the transmission component 108, and the first inner wheel 131 and the second inner wheel 132 drive the first flange body 104 and the second flange body 106 to rotate around the central axis X through the transmission component 108. Specifically, the transmission component 108 includes a pin 925, a sleeve 927, a first fastener 922 and a second fastener 923. The pin 925 is roughly a cylinder, with a larger diameter in the middle and smaller diameters at both ends. The sleeve 927 is sleeved on the middle part of the pin 925 with a larger diameter, and is used to protect the pin 925 to avoid wear of the pin 925 when the transmission mechanism 100 is running. The two ends of the pin 925 with a smaller diameter are provided with threads, which are respectively used to connect with the first fastener 922 and the second fastener 923.

[0069] The middle portion with a larger diameter of the pin 925 and the sleeve 927 are accommodated in the inner wheel holes 708 of the first inner wheel 131 and the second inner wheel 132. The outer diameter of the sleeve 927 is configured to be smaller than the diameter of the inner wheel hole 708, so that the transmission component 108 is configured to be able to drive the first flange body 104 and the second flange body 106 to rotate. The two ends of the pin 925 are respectively accommodated in the transmission component mounting hole 531 of the first flange body 104 and the transmission component mounting hole 631 of the second flange body 106. As an example, the first fastener 922 and the second fastener 923 are bolts. The bolts can cooperate with the threads at both ends of the pin 925 to connect the first flange body 104 and the second flange body 106 together.

[0070] The three planetary gears 321 , 322 , 323 are completely accommodated in the inner cavity 541 of the first flange body 104 , and each of the three planetary gears 321 , 322 , 323 can mesh with the flange body inner teeth 511 on the first flange body 104 .

[0071] 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:

[0072] The driving mechanism (e.g., a motor, not shown) drives the input shaft 112 to rotate around the central axis X. The input shaft outer teeth 240 of the input shaft 112 mesh with the outer teeth of the three planetary gears 321, 322, 323, so that the three planetary gears 321, 322, 323 can rotate around their respective central axes (i.e., self-rotate). The outer teeth of the three planetary gears 321, 322, 323 mesh with the inner teeth 511 of the flange body 104, so that the three planetary gears 321, 322, 323 can rotate around the central axis X (i.e., revolve) while self-rotating. In this way, when the input shaft 112 rotates around the central axis X, the three planetary gears 321, 322, 323 can realize revolve while self-rotating. Since the three planetary gears 321, 322, 323 are rotatably connected to the eccentric shaft 342 through the three planetary gear supports 301, 302, 303, the revolution of the three planetary gears 321, 322, 323 will drive the corresponding three planetary gear supports 301, 302, 303 to rotate around the central axis X, thereby driving the eccentric shaft 342 to rotate around the central axis X. The eccentric shaft 342 drives the first inner wheel 131 and the second inner wheel 132 to revolve through the first inner wheel bearing 917 and the second inner wheel bearing 918 (i.e., the first inner wheel central axis N1 and the second inner wheel central axis N2 rotate around the central axis X). The inner wheel outer teeth 702 of the first inner wheel 131 and the second inner wheel 132 mesh with the outer wheel inner teeth 802 of the outer wheel 102, so that the first inner wheel 131 and the second inner wheel 132 can rotate (i.e., the first inner wheel 131 and the second inner wheel 132 can rotate around their respective central axes N1 and N2). In this way, the first inner wheel 131 and the second inner wheel 132 can achieve rotation while revolving.

[0073] When the first inner wheel 131 and the second inner wheel 132 revolve and rotate, the transmission component 108 (including the pin 925 and the sleeve 927) cooperates with the inner wheel holes 708 of the first inner wheel 131 and the second inner wheel 132, and the transmission component 108 transmits the rotation of the first inner wheel 131 and the second inner wheel 132 to the first flange body 104 and the second flange body 106, so that the first flange body 104 and the second flange body 106 rotate around the central axis X. The first flange body 104 and / or the second flange body 106 can be connected to a driven device (not shown). As a result, the torque of the driving mechanism can be output to the driven device through the transmission mechanism 100.

[0074] 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 914 and the second outer wheel bearing 916, the first flange body 104 and the second flange body 106 can only rotate around the central axis X (i.e., the outer wheel central axis S). This means that in the process of power being transmitted from the first inner wheel 131 and the second inner wheel 132 to the first flange body 104 and the second flange body 106, only the rotation of the first inner wheel 131 and the second inner wheel 132 can be transmitted to the first flange body 104 and the second flange body 106, but the revolution of the first inner wheel 131 and the second inner wheel 132 cannot be transmitted to the first flange body 104 and the second flange body 106.

[0075] Those skilled in the art will appreciate that, although the above embodiment includes three planetary gears 321 , 322 , and 323 , 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.

[0076] 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.

[0077] Those skilled in the art can also understand that, although twelve transmission components 108 are provided in the present embodiment, and twelve transmission component mounting holes 531 and twelve transmission component mounting holes 631 are correspondingly provided on the first flange body 104 and the second flange body 106, those skilled in the art can understand that at least two transmission components 108 are provided on the transmission mechanism 100, and a corresponding number of transmission component mounting holes 531 and transmission component mounting holes 631 are provided on the first flange body 104 and the second flange body 106, respectively.

[0078] Those skilled in the art can also understand that, although the transmission component mounting hole 531 and the transmission component mounting hole 631 in this embodiment are countersunk holes, those skilled in the art can understand that they can be through holes and other forms as long as they can cooperate with the transmission component 108.

[0079] In a conventional transmission mechanism, the input shaft is mounted in the eccentric shaft by means of internal meshing to drive the eccentric shaft to rotate. Therefore, the conventional transmission mechanism can only achieve a single-stage speed change between the inner wheel and the flange body.

[0080] In contrast, the transmission mechanism 100 of the present application can achieve two-stage speed change without changing the volume of the transmission mechanism 100. Specifically, the two-stage speed change includes a first-stage speed change and a second-stage speed change. The first-stage speed change is achieved by the input shaft 112 and the eccentric transmission device 152 (i.e., the eccentric shaft 342, the planetary gears 321, 322, 323 and the planetary gear supports 301, 302, 303), and the second-stage speed change is achieved by the first inner wheel 131 and the second inner wheel 132 being transmitted to the first flange body 104 and the second flange body 106. In the transmission mechanism 100 of the present application, an internal cavity 541 that penetrates the first flange body 104 is provided in the first flange body 104. The internal cavity 541 can accommodate the input shaft meshing portion 238 of the input shaft 112 and the three planetary gears 321, 322, 323, and a flange body inner tooth 511 is provided on the inner wall of the internal cavity 541. Such an arrangement makes it unnecessary to provide additional space in the transmission mechanism 100 to accommodate the components for implementing the first stage of speed change.

[0081] In addition, the transmission mechanism 100 of the present application also has good machinability. As an example, the transmission mechanism 100 can be used as a joint reducer of a robot in the field of robots. The overall size of the joint reducer is small, and the processing accuracy is very high. For example, in a certain model of robot joint reducer, the diameter size of the content cavity 331 in the eccentric shaft 342 is only 40mm. The transmission mechanism 100 of the present application uses the 40mm content cavity 331 to accommodate the input shaft 112, and the input shaft meshing portion 238 of the input shaft 112 is arranged in the content cavity 541 of the first flange body 104. Such an arrangement not only enables the diameter of the input shaft meshing portion 238 of the input shaft 112 to reach about 15-30mm, but also the diameter of the three planetary gears 321, 322, 323 can reach about 15-30mm. In this way, the size of the three planetary gears 321, 322, 323 will not be limited by the size of the content cavity 331 in the eccentric shaft 342. The three planetary gears 321 , 322 , 323 with larger sizes can ensure the machinability and precision requirements of the gears and improve the mechanical strength of the transmission mechanism 100 .

[0082] For the two-stage speed change realized by the transmission mechanism 100 of the present application, the speed ratio of the first stage is i1, and the speed ratio of the second stage is i2.

[0083] Specifically, the number of teeth of the input shaft outer teeth 240 of the input shaft 112 is C1, the number of teeth of the flange body inner teeth 511 meshing with the planetary gear is C2, the number of teeth of the inner wheel outer teeth 702 of the first inner wheel 131 and the second inner wheel 132 is C3, and the number of teeth of the outer wheel inner teeth 802 of the outer wheel 102 is C4. The first-stage speed ratio i1 satisfies:

[0084]

[0085] The second-stage speed ratio i2 satisfies:

[0086]

[0087] Therefore, the total speed ratio i of the transmission mechanism 100 satisfies:

[0088]

[0089] It should be noted that the total speed ratio i is a negative number, which means that the rotation direction of the first flange body 104 and the second flange body 106 is opposite to the rotation direction of the input shaft 112. The clockwise rotation of the input shaft 112 around the central axis X is taken as an example to explain that the rotation direction of the first flange body 104 and the second flange body 106 is opposite to the rotation direction of the input shaft 112:

[0090] When the input shaft 112 rotates clockwise, the three planetary gears 321, 322, 323 meshing with the outside of the input shaft 112 rotate counterclockwise. That is, the three planetary gears 321, 322, 323 rotate counterclockwise around their respective central axes. While the three planetary gears 321, 322, 323 rotate counterclockwise, they mesh with the inner teeth 511 of the flange body of the first flange body 104, so that the three planetary gears 321, 322, 323 rotate clockwise around the central axis X (that is, the central axes of the three planetary gears 321, 322, 323 can rotate clockwise around the central axis X). The three planetary gears 321, 322, 323 rotate clockwise around the central axis X, driving the eccentric shaft 342 to rotate clockwise. That is, the rotation direction of the eccentric shaft 342 is the same as the rotation direction of the input shaft 112, and the first-stage speed ratio i1 is a positive number.

[0091] The clockwise rotation of the eccentric shaft 342 drives the respective central axes of the first inner wheel 131 and the second inner wheel 132 to rotate clockwise around the central axis X (i.e., revolution). The first inner wheel 131 and the second inner wheel 132 rotate clockwise around the central axis X while meshing with the outer wheel 102, so that the first inner wheel 131 and the second inner wheel 132 rotate counterclockwise around their respective central axes (i.e., rotation). The rotation of the first inner wheel 131 and the second inner wheel 132 is transmitted to the first flange body 104 and the second flange body 106 through the transmission component 108, so that the first flange body 104 and the second flange body 106 rotate counterclockwise. In other words, the rotation direction of the first flange body 104 and the second flange body 106 is opposite to the rotation direction of the eccentric shaft 342, and the second-stage speed ratio i2 is a positive number. In this way, for the transmission mechanism 100, the rotation direction of the first flange body 104 and the second flange body 106 is opposite to the rotation direction of the eccentric shaft 342, and the total speed ratio i is a negative number.

[0092] As an example, when C1=15, C2=30, C3=59 and C4=60, i≈179.

[0093] In addition, compared with the traditional transmission mechanism, the transmission mechanism 100 of the present application has a longer service life. This is because in the traditional transmission mechanism, the input shaft directly drives the eccentric shaft to rotate, and the rotation speed of the eccentric shaft is fast, which causes the bearing sleeved on the eccentric shaft to wear quickly, thereby shortening the overall service life of the transmission mechanism. In the transmission mechanism 100 of the present application, the rotation of the input shaft 112 drives the eccentric shaft 342 to rotate after the first stage of speed change, so the rotation speed of the eccentric shaft 342 is slow, so that the inner wheel bearings 917, 918, the first flange bearing 904 and the second flange bearing 906 sleeved on the eccentric shaft 342 wear slowly. Therefore, the transmission mechanism 100 of the present application has a longer service life.

[0094] 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: Inner wheel (131,132); An eccentric shaft (342), wherein an eccentric portion (401, 402) is provided on the outer periphery of the eccentric shaft (342), and the inner wheels (131, 132) are arranged around the eccentric portions (401, 402), so that the eccentric shaft (342) can drive the inner wheels (131, 132) to rotate eccentrically; A first flange body (104), the first flange body (104) and the inner wheels (131, 132) are arranged side by side, the first flange body (104) has an inner cavity (541), and flange body teeth (511) are provided on a wall (528) of the inner cavity (541) of the first flange body (104); An input shaft (112), the input shaft (112) having an input shaft meshing portion (238), the input shaft meshing portion (238) having input shaft external teeth (240), and the input shaft meshing portion (238) is located in the inner cavity (541) of the first flange body (104); as well as at least one planetary gear (321, 322, 323), the at least one planetary gear (321, 322, 323) being mounted on the eccentric shaft (342), wherein the at least one planetary gear (321, 322, 323) is located in the inner cavity (541) of the first flange body (104) and is arranged around the input shaft meshing portion (238); The at least one planetary gear (321, 322, 323) meshes with the inner teeth (511) of the flange body and meshes with the outer teeth (240) of the input shaft, so that the input shaft (112) can drive the eccentric shaft (342) to rotate through the at least one planetary gear (321, 322, 323).

2. The transmission mechanism (100) according to claim 1, characterized in that: The eccentric shaft (342) and the input shaft (112) have the same central axis.

3. The transmission mechanism (100) according to claim 2, characterized in that: The at least one planetary gear (321, 322, 323) is rotatably mounted on an end surface of the eccentric shaft (342), so that the rotation of the at least one planetary gear (321, 322, 323) around the input shaft (112) can drive the eccentric shaft (342) to rotate.

4. The transmission mechanism (100) according to claim 3, characterized in that Also includes: At least one planetary gear support (301, 302, 303), the at least one planetary gear (321, 322, 323) being respectively sleeved on the at least one planetary gear support (301, 302, 303); At least one mounting portion (351, 352, 353) is provided on the eccentric shaft (342), and the at least one planetary gear support member (301, 302, 303) is mounted in a corresponding one of the at least one mounting portion (351, 352, 353), so that the at least one planetary gear (321, 322, 323) is mounted on the eccentric shaft (342).

5. The transmission mechanism (100) according to claim 1, characterized in that: The eccentric shaft (342) is a hollow shaft, the input shaft (112) is accommodated in the eccentric shaft (342), and the input shaft engaging portion (238) passes through the eccentric shaft (342) to reach the inner cavity (541) of the first flange body (104).

6. The transmission mechanism (100) according to claim 5, characterized in that: The input shaft (112) has an input shaft support portion (234); The transmission mechanism (100) further comprises an input shaft support member (902), wherein the input shaft support member (902) is sleeved on the input shaft support portion (234) and rotatably supports the input shaft (112) in the eccentric shaft (342).

7. The transmission mechanism (100) according to claim 2, characterized in that: The at least one planetary gear (321, 322, 323) is three planetary gears, and the three planetary gears are evenly arranged around the input shaft (112).

8. The transmission mechanism (100) according to claim 3, characterized in that Also includes: a second flange body (106), wherein the first flange body (104) and the second flange body (106) are respectively arranged on opposite sides of the inner wheel (131, 132); as well as At least two transmission components (108), the at least two transmission components (108) pass through the inner wheel (131, 132), the first flange body (104) and the second flange body (106), so as to connect the first flange body (104) and the second flange body (106) arranged on opposite sides of the inner wheel (131, 132) to each other.

9. The transmission mechanism (100) according to claim 1, characterized in that Also includes: An outer wheel (102), said outer wheel having inner teeth (802); The inner wheel (131, 132) has inner wheel outer teeth (702), and the inner wheel outer teeth (702) can mesh with the outer wheel inner teeth (802), so that the inner wheel (131, 132) can rotate in the outer wheel (102).

10. The transmission mechanism (100) according to claim 1, characterized in that: The eccentric shaft (342), the input shaft (112) and the first flange body (104) have the same central axis.

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