Transmission mechanism

Abstract

The present application discloses a transmission mechanism, comprising an outer wheel, an inner wheel, an eccentric shaft, a first flange body, a rotating shaft and at least one planetary gear device. The inner wheel is arranged in the outer wheel and can mesh with the outer wheel. The eccentric shaft can rotate around the central axis, and the outer periphery of the eccentric shaft is provided with an eccentric portion, an eccentric shaft outer tooth and a first support portion, and the inner wheel is arranged around the eccentric portion so that the rotation of the eccentric shaft can drive the inner wheel to rotate eccentrically or the eccentric rotation of the inner wheel can drive the eccentric shaft to rotate. The first flange body is arranged side by side with the inner wheel, and the first flange body is arranged around the first support portion. The rotating shaft has rotating shaft outer teeth. At least one planetary gear device is supported by the first flange body, and the outer periphery of each of the at least one planetary gear device is provided with a first row of planetary teeth and a second row of planetary teeth, the first row of planetary teeth mesh with the rotating shaft outer teeth, and the second row of planetary teeth mesh with the eccentric shaft outer teeth. The transmission mechanism of the present application can provide a wide range of speed ratios and reduce production costs.

Description

Technical Field

[0001] The present application relates to a transmission mechanism, and more specifically, to an internal meshing transmission mechanism. Background Art

[0002] In the conventional internal meshing transmission mechanism, the rotating shaft is arranged in the eccentric shaft, so that the rotating shaft directly drives the eccentric shaft to rotate through the meshing of the external teeth of the rotating shaft and the internal teeth of the eccentric shaft. Although this driving method has a simple structure, it is inconvenient to machine the internal teeth of the eccentric shaft, especially for transmission mechanisms of smaller size, because the space of the hollow cavity in the eccentric shaft is small, so it is difficult to machine the internal teeth of the eccentric shaft. 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, including an outer wheel, an inner wheel, an eccentric shaft, a first flange body, a rotating shaft and at least one planetary gear device. The inner wheel is arranged in the outer wheel, and the inner wheel can mesh with the outer wheel. The eccentric shaft can rotate around the central axis, and the outer periphery of the eccentric shaft is provided with an eccentric portion, an eccentric shaft outer tooth and a first support portion, and the inner wheel is arranged around the eccentric portion so that the rotation of the eccentric shaft can drive the inner wheel to rotate eccentrically or the eccentric rotation of the inner wheel can drive the eccentric shaft to rotate. The first flange body is arranged side by side with the inner wheel, and the first flange body is arranged around the first support portion. The rotating shaft has a rotating shaft outer tooth. The at least one planetary gear device is supported by the first flange body, and the outer periphery of each of the at least one planetary gear device is provided with a first row of planetary teeth and a second row of planetary teeth, the first row of planetary teeth meshes with the rotating shaft outer tooth, and the second row of planetary teeth meshes with the eccentric shaft outer tooth.

[0004] According to the above-mentioned transmission mechanism, the transmission mechanism is configured so that when power is input through the rotating shaft, the rotation of the eccentric shaft can drive the eccentric rotation of the inner wheel, and output power through the first flange body or the outer wheel; or the transmission mechanism is configured so that when power is input through the first flange body or the outer wheel, the eccentric rotation of the inner wheel can drive the rotation of the eccentric shaft, and output power through the rotating shaft.

[0005] According to the above transmission mechanism, the first flange body includes at least one supporting hole, and the at least one planetary gear device can be rotatably supported on the first flange body through the at least one supporting hole.

[0006] According to the above transmission mechanism, a second support portion is provided on the outer periphery of the eccentric shaft. At least two inner wheel through holes are provided on the inner wheel. The transmission mechanism also includes a second flange body and at least two connecting transmission components. The first flange body and the second flange body are respectively arranged on opposite sides of the inner wheel, and the second flange body is arranged around the second support portion. Each of the at least two connecting transmission components passes through a corresponding one of the at least two inner wheel through holes on the inner wheel, and connects the first flange body and the second flange body arranged on opposite sides of the inner wheel to each other. Wherein, the eccentric portion of the eccentric shaft is arranged between the first flange body and the second flange body.

[0007] According to the above transmission mechanism, each of the at least one planetary gear device further includes a planetary gear support, a first planetary gear and a second planetary gear, wherein the first planetary gear and the second planetary gear are connected via the planetary gear support. The first row of planetary gears and the second row of planetary gears are respectively arranged on the first planetary gear and the second planetary gear.

[0008] According to the above transmission mechanism, the first row of planetary gears and the second row of planetary gears are arranged on both sides of the supporting hole.

[0009] According to the above transmission mechanism, the first flange body includes at least one gear accommodating portion, and the at least one gear accommodating portion is arranged around a corresponding one of the at least one supporting hole to accommodate the second planetary gear.

[0010] According to the above transmission mechanism, the first planetary gear and the second planetary gear are arranged at both ends of the planetary gear supporting part.

[0011] According to the transmission mechanism, the first row of planetary gears and the second row of planetary gears are arranged on the same side of the first flange body, and the second row of planetary gears is closer to the first flange body than the first row of planetary gears. The first flange body includes an eccentric shaft accommodating portion that penetrates the first flange body. The eccentric shaft passes through the eccentric shaft accommodating portion, so that the eccentric shaft outer teeth, the first row of planetary gears, and the second row of planetary gears are arranged on the same side of the first flange body.

[0012] The transmission mechanism of the present invention transmits power between the rotating shaft and the eccentric shaft through at least one planetary gear device, and external teeth are arranged on at least one planetary gear device, the rotating shaft and the eccentric shaft, thereby reducing production costs while providing a wider range of speed ratios.

[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 viewed from right to left of an embodiment of a transmission mechanism according to the present application;

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

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

[0018] Figure 2A yes Figure 1C A perspective view of the rotation axis of the transmission mechanism shown looking from right to left;

[0019] Figure 2B yes Figure 2A An axial cross-sectional view of the rotating shaft shown;

[0020] Figure 3A yes Figure 1C A perspective view of the eccentric shaft of the transmission mechanism shown looking from right to left;

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

[0022] Figure 4A yes Figure 1C An exploded view of the planetary gear device of the transmission mechanism shown is viewed from right to left;

[0023] Figure 4B yes Figure 1C An axial cross-sectional view of the planetary gear device of the transmission mechanism shown;

[0024] Figure 5A yes Figure 1CA three-dimensional view of the first flange body of the transmission mechanism shown in FIG. 1 as viewed from right to left;

[0025] Figure 5B yes Figure 5A The first flange body is shown in a three-dimensional view viewed from left to right;

[0026] Figure 5C yes Figure 5A An axial cross-sectional view of the first flange body shown;

[0027] Fig. 6A yes Figure 1C The second flange body of the transmission mechanism shown is a three-dimensional view viewed from right to left;

[0028] Figure 6B yes Fig. 6A The second flange body is shown as a perspective view from left to right;

[0029] Figure 6C yes Fig. 6A An axial cross-sectional view of the second flange body shown;

[0030] Fig. 7A yes Figure 1C A three-dimensional view of the connecting transmission component of the transmission mechanism shown;

[0031] Figure 7B yes Fig. 7A An axial cross-sectional view of the connecting transmission component shown;

[0032] Fig. 8A yes Figure 1C A three-dimensional view of the auxiliary transmission component of the transmission mechanism shown;

[0033] Figure 8B yes Fig. 8A An axial cross-sectional view of the auxiliary transmission component shown;

[0034] Fig. 9 yes Figure 1C A perspective view of the first inner wheel and the second inner wheel of the transmission mechanism shown;

[0035] Fig. 10A yes Figure 1C A perspective view of the outer wheel of the transmission mechanism shown;

[0036] Fig. 10B yes Fig. 10A An axial section of the outer wheel shown;

[0037] Fig.11A yes Figure 1C The transmission mechanism shown is a side view looking from right to left;

[0038] Fig. 11B yes Figure 1CThe transmission mechanism shown is along Fig.11A Sectional view along line AA;

[0039] Fig.12 It is an axial cross-sectional view of another embodiment of the transmission mechanism according to the present application. DETAILED DESCRIPTION

[0040] 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", "outside" and "inside" 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.

[0041] In the transmission mechanism 100 in the present application, relative motion can occur between the rotating shaft 112, the outer wheel 102, and the first flange body 104 and the second flange body 106 connected together, so that power is output via the transmission mechanism 100, and the transmission mechanism 100 can achieve the purpose of deceleration or acceleration. When the rotating shaft 112 is used as a power input component (i.e., connected to the driving component) and the transmission mechanism 100 needs to achieve deceleration, the outer wheel 102 can be fixed, and the first flange body 104 and / or the second flange body 106 can be used as a power output component (i.e., connected to the driven component), or the first flange body 104 and the second flange body 106 can be fixed, and the outer wheel 102 can be used as a power output component. When the outer wheel 102 is used as a power input component and the transmission mechanism 100 needs to achieve acceleration, the first flange body 104 and the second flange body 106 can be fixed, and the rotating shaft 112 can be used as a power output component. When the first flange body 104 and / or the second flange body 106 are used as the power input component and the transmission mechanism 100 needs to achieve speed increase, the outer wheel 102 can be fixed and the rotating shaft 112 can be used as the power output component. For ease of description, the following description takes the rotating shaft 112 as the power input component, the outer wheel 102 is fixed, and the second flange body 106 as the power output component to achieve speed reduction as an example.

[0042] Figure 1A It is a stereoscopic view from right to left of an embodiment of the transmission mechanism 100 according to 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 1A1 is a cross-sectional view of the transmission mechanism shown in FIG. 1 to illustrate more components of the transmission mechanism 100. Figures 1A-1C As shown, the transmission mechanism 100 includes an outer wheel 102, a first flange body 104, a second flange body 106, a first inner wheel 131, a second inner wheel 132, a connecting transmission component 110, an auxiliary transmission component 120, an eccentric shaft 108, planetary gear devices 151, 152, 153 and a rotating shaft 112. The first inner wheel 131, the second inner wheel 132, the first flange body 104 and the second flange body 106 are arranged side by side and are all carried or supported by the outer wheel 102. 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 by the connecting transmission component 110. The connecting transmission component 110 passes through the first flange body 104, the first inner wheel 131, the second inner wheel 132 and the second flange body 106 to keep the first inner wheel 131 and the second inner wheel 132 between the first flange body 104 and the second flange body 106. The auxiliary transmission component 120 is disposed through the first inner wheel 131, the second inner wheel 132 and the second flange body 106. The planetary gear devices 151, 152, 153 are disposed on the first flange body 104. The eccentric shaft 108 is disposed through the first flange body 104, the second flange body 106, the first inner wheel 131 and the second inner wheel 132, and can be meshed with the planetary gear devices 151, 152, 153. The rotating shaft 112 is disposed on the right side of the eccentric shaft 108 and is also meshed with the planetary gear devices 151, 152, 153.

[0043] When the transmission mechanism 100 is running, its power transmission relationship is roughly as follows:

[0044] The rotating shaft 112 is meshed with the planetary gear devices 151, 152, 153, thereby driving the planetary gear devices 151, 152, 153 to rotate. The planetary gear devices 151, 152, 153 are meshed with the eccentric shaft 108, thereby driving the eccentric shaft 108 to rotate. The eccentric shaft 108 can drive the first inner wheel 131 and the second inner wheel 132 to move. The connecting transmission component 110 and the auxiliary transmission component 120 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, driving 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 the driven component (not shown) to achieve speed change and torque output.

[0045] Combine the following Figure 2A-11B The specific structure of each component in the transmission mechanism 100 is described in detail:

[0046] Figure 2A yes Figure 1C The rotation axis 112 of the transmission 100 is shown in a perspective view from right to left. Figure 2B yes Figure 2A The axial cross-sectional view of the rotating shaft 112 is shown to illustrate the specific structure of the rotating shaft 112. Figure 2A-2B As shown, the rotating shaft 112 is substantially cylindrical and has a central axis X. The rotating shaft 112 is provided with rotating shaft external teeth 202 on the circumferential surface of the left end thereof for engaging with the first row of planetary teeth 411 (see FIG. 1 ) of the planetary gear devices 151, 152, 153. Figure 4A-4B ) are meshed. An inner receiving portion 208 and a fastener receiving portion 212 are provided in the rotating shaft 112. The inner receiving portion 208 extends inward from the right side of the rotating shaft 112, and is used to receive the output component of the driving component (for example, the rotating shaft of the motor). The inner receiving portion 208 also has a central axis X. A keyway 210 is provided on one side of the inner receiving portion 208 to prevent the output end of the driving component from rotating around the central axis X relative to the rotating shaft 112. A fastener receiving portion 212 is also provided in the rotating shaft 112 for receiving a fastener. The fastener receiving portion 212 is arranged perpendicular to the central axis X. When the output end of the driving component is inserted into the inner receiving portion 208, the fastener can be inserted into the fastener receiving portion 212 to resist the output end of the driving component to prevent the output end of the driving component from moving along the central axis X relative to the rotating shaft 112.

[0047] Figure 3A yes Figure 1C The eccentric shaft 108 of the transmission 100 is shown in a perspective view from right to left. Figure 3B yes Figure 3A The axial cross-sectional view of the eccentric shaft 108 is shown to illustrate the specific structure of the eccentric shaft 108. Figure 3A-3B As shown, the eccentric shaft 108 includes an eccentric shaft body 318, which is substantially cylindrical and has a central axis Y. The eccentric shaft 108 is provided with an eccentric shaft meshing portion 310, which is extended outward along the radial direction of the eccentric shaft body 318. The outer circumferential surface of the eccentric shaft meshing portion 310 is provided with eccentric shaft external teeth 301 for engaging with the second row of planetary teeth 431 (see FIG. 1 ) of the planetary gear device 151, 152, 153. Figure 4B) are meshed. The eccentric shaft 108 is also provided with a first eccentric portion 311 and a second eccentric portion 312 arranged on the left side of the eccentric shaft meshing portion 310. The first eccentric portion 311 and the second eccentric portion 312 are symmetrically eccentrically arranged relative to the central axis Y, and the eccentricity is equal. The first eccentric portion 311 and the second eccentric portion 312 are both circular rings eccentrically arranged relative to the central axis Y of the eccentric shaft 108. The outer circumferential surface of the first eccentric portion 311 and the outer circumferential surface of the second eccentric portion 312 have the same diameter. More specifically, the first eccentric portion 311 and the second eccentric portion 312 each have a first inner wheel central axis N1 and a second inner wheel central axis N2. The first inner wheel central axis N1 and the second inner wheel central axis N2 are both at a distance e from the central axis Y of the eccentric shaft 108. The distance e is greater than 0. The first inner wheel central axis N1 and the second inner wheel central axis N2 are symmetrically arranged relative to the central axis Y. That is, the axial phase difference between the first eccentric portion 311 and the second eccentric portion 312 is 180°. When the eccentric shaft 108 rotates around its central axis Y, the first inner wheel central axis N1 of the first eccentric portion 311 and the second inner wheel central axis N2 of the second eccentric portion 312 both rotate around the central axis Y.

[0048] The right end of the eccentric shaft body 318 extends along the central axis Y beyond the first eccentric portion 311 to form a first support portion 321 for abutting against the first flange bearing 1104 (see Fig. 11B ) inner wall. Since the eccentric shaft meshing portion 310 extends radially beyond the first support portion 321, it can limit the first flange bearing 1104 from moving axially to the left. The left end of the eccentric shaft body 318 extends along the central axis Y beyond the second eccentric portion 312 to form a second support portion 322 for abutting against the second flange bearing 1106 (see Fig. 11B Since the second eccentric portion 312 extends beyond the second support portion 322 in the radial direction, it can limit the second flange bearing 1106 from moving rightward in the axial direction.

[0049] refer to Figures 1A-1C The planetary gear device 151, the planetary gear device 152 and the planetary gear device 153 have the same structure and are evenly arranged on the first flange body 104. Figure 4A-4B , taking the planetary gear device 151 as an example for structural description:

[0050] Figure 4A yes Figure 1C The planetary gear mechanism 151 of the transmission 100 is shown in an exploded view viewed from the right to the left. Figure 4B yes Figure 1C 1 is a cross-sectional view of the planetary gear device 151 of the transmission mechanism shown in FIG. Figure 4A-4BAs shown, the planetary gear device 151 includes a first planetary gear 401 having a central axis Z, a planetary gear support portion 421, and a second planetary gear 402. The first planetary gear 401 is provided with a first row of planetary gears 411 for meshing with the rotating shaft outer teeth 202. The second planetary gear 402 is provided with a second planetary gear 431 for meshing with the eccentric shaft outer teeth 301. The planetary gear support portion 421 is used to set the planetary gear device bearing 1133 (see Fig. 11B ) In the embodiment of the present application, the second planetary gear 402 and the planetary gear support part 421 are formed integrally. The right end of the planetary gear support part 421 has a substantially rectangular connecting part 444 for connecting with the first planetary gear 401. The first planetary gear 401 is provided with a connecting receiving part 445 that passes through the second planetary gear 402, for accommodating the connecting part 444, so that the first planetary gear 401 is connected with the second planetary gear 402, so that the first planetary gear 401 and the second planetary gear 402 rotate together around the central axis Z.

[0051] Those skilled in the art will appreciate that, although in the present embodiment the first planetary gear 401 and the planetary gear support 421 are integrally formed and connected to the second planetary gear 402, the first planetary gear 401 and the second planetary gear 402 may be connected together in any manner, which is within the scope of protection of the present application.

[0052] 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 5A The first flange body 104 is shown in a perspective view viewed from left to right. Figure 5C yes Figure 5A 104. Specifically, the first flange body 104 includes a first flange body 512 and a first flange body protrusion 514. The first flange body 512 is generally annular and has a central axis E. The first flange body protrusion 514 is disposed at the right portion of the first flange body 512 and extends radially from the first flange body 512. The first flange body 512 and the first flange body protrusion 514 form a stepped portion 516 for receiving the ball in the first outer wheel bearing assembly 1114 (see FIG. Fig. 11B ) and restrict the first outer wheel bearing assembly 1114 from moving axially to the right.

[0053] The first flange body 104 is provided with an eccentric shaft receiving portion 508 which runs through the first flange body 104 in a transverse direction to receive the eccentric shaft 108. Specifically, the size of the left portion of the eccentric shaft receiving portion 508 is larger than the size of the right portion of the eccentric shaft receiving portion 508, so that the left portion of the eccentric shaft receiving portion 508 can receive the eccentric shaft outer teeth 301 on the eccentric shaft 108, and the right portion of the eccentric shaft receiving portion 508 can receive the first support portion 321 on the eccentric shaft 108 and the first flange body bearing 1104 sleeved on the first support portion 321 (see Fig. 11B ). More specifically, the right portion of the eccentric shaft receiving portion 508 has an inner wall 528 for contacting the outer wall of the first flange body bearing 1104 .

[0054] The first flange body 104 is also provided with three support holes 504 which penetrate the first flange body 104 transversely. The three support holes 504 are evenly arranged along the circumference of the first flange body 104. The first flange body 104 is also provided with three planetary gear device accommodating parts 506. Each of the three planetary gear device accommodating parts 506 is arranged around a corresponding one of the three support holes 504. The right part of the planetary gear device accommodating part 506 can accommodate the planetary gear support part 421 and the planetary gear device bearing 1133 sleeved on the planetary gear support part 421, and the planetary gear device accommodating part 506 is used to accommodate the second planetary gear 402. When the planetary gear device 151, 152, 153 and the eccentric shaft 108 are set in place, the second row of planetary teeth 431 on the second planetary gear 402 can mesh with the eccentric shaft outer teeth 301 on the eccentric shaft 108.

[0055] The first flange body 104 is also provided with nine connecting and transmission component mounting portions 510 that extend transversely through the first flange body 104. Three of the connecting and transmission component mounting portions 510 are evenly arranged between the two planetary gear device receiving portions 506. The nine connecting and transmission component mounting holes 510 are all countersunk holes for receiving the connecting and transmission component 110 (see Fig. 11B ).

[0056] Fig. 6A 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 6B yes Fig. 6A The second flange body 106 is shown in a perspective view viewed from left to right. Figure 6C yes Fig. 6A106. 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 a central axis F. The second flange body protrusion 606 is disposed at the left portion of the second flange body 604 and extends radially from the second flange body 604. The second flange body 604 and the second flange body protrusion 606 form a stepped portion 608 for receiving the ball in the second outer wheel bearing assembly 1116 (see FIG. Fig. 11B ), and restrict the second outer wheel bearing assembly 1116 from moving axially to the left.

[0057] The second flange body 106 is provided with an inner cavity 641 which runs through the second flange body 604 in a transverse direction and is used to accommodate the second support portion 322. The inner wall of the inner cavity 641 is provided with a groove 653 extending in the radial direction. The inner wall 651 on the right side of the groove 653 is used to receive the second flange bearing 1106 (see Fig. 11B ), the groove 653 is used to install the stopper 1108 (see Fig. 11B ) is used to limit the axial movement of the second flange bearing 1106 to the left.

[0058] The second flange body 106 is also provided with nine connecting transmission component mounting portions 631 and three auxiliary transmission component mounting portions 632 evenly arranged along the circumference of the second flange body 106, which are respectively used to receive the nine connecting transmission components 110 and the three auxiliary transmission components 120 (see Figure 1C ). Each of the nine connecting transmission component mounting portions 631 is provided with a thread to match with the thread on one end of the connecting transmission component 110, so that the second flange body 106 can be connected to the connecting transmission component 110. Figure 1A and Fig.11A As shown, the transmission mechanism 100 of this embodiment is provided with nine connecting transmission components 110. Each connecting transmission component 110 has the same structure and is used to connect the first flange body 104 and the second flange body 106 together and transmit the power of the first inner wheel 131 and the second inner wheel 132 to the first flange body 104 and the second flange body 106.

[0059] Fig. 7A yes Figure 1C 1 is a perspective view of a connection transmission component 110 of the transmission mechanism 100. Figure 7B yes Fig. 7A 1 is an axial cross-sectional view of the connection transmission component 110. Figure 7A-7BAs shown, the connection transmission component 110 includes a pin 725, a sleeve 727 and a fastener 722. In this embodiment, the fastener 722 is a nut. The pin 725 is generally cylindrical, with a larger diameter in the middle and smaller diameters at both ends. The sleeve 727 is sleeved in the middle of the pin 725 with a larger diameter. The middle of the pin 725 and the sleeve 727 are accommodated in the inner wheel through holes 921 (see FIG. 1 ) of the first inner wheel 131 and the second inner wheel 132. Fig. 9 ) to transmit the power of the first inner wheel 131 and the second inner wheel 132 to the first flange body 104 and the second flange body 106. The sleeve 727 is used to protect the pin 725 to prevent it from being worn. The two ends of the pin 725 with smaller diameters are provided with threads. The threads at the left end of the pin 725 can match with the threads in the connection transmission component mounting portion 631, so that the pin 725 is connected to the second flange body 106. The threads at the right end of the pin 725 can match with the threads in the fastener 722, and are used to connect the pin 725 to the first flange body 104.

[0060] like Figure 1A and Fig.11A As shown, the transmission mechanism 100 of this embodiment is provided with three auxiliary transmission components 120. Each of the auxiliary transmission components 120 has the same structure and is used to transmit the power of the first inner wheel 131 and the second inner wheel 132 to the second flange body 106. Since the first flange body 104 and the second flange body 106 are connected together, the auxiliary transmission component 120 can transmit the power of the first inner wheel 131 and the second inner wheel 132 to the first flange body 104 and the second flange body 106.

[0061] Fig. 8A yes Figure 1C A perspective view of the auxiliary transmission component 120 of the transmission mechanism 100 is shown. Figure 8B yes Fig. 8A The axial cross-sectional view of the auxiliary transmission component 120 is shown. Figures 8A-8B As shown, the auxiliary transmission component 120 includes a pin 825 and a sleeve 828. The pin 825 is generally cylindrical, with a larger diameter at the right portion and a smaller diameter at the left portion. The left portion of the pin 825 is accommodated in the auxiliary transmission component mounting portion 632 on the second flange body 106 to match the second flange body 106. The sleeve 828 is sleeved on the larger diameter right portion of the pin 825. The right portion of the pin 825 and the sleeve 828 are accommodated in the inner wheel through holes 921 (see FIG. 1 ) of the first inner wheel 131 and the second inner wheel 132. Fig. 9 ) to transmit the power of the first inner wheel 131 and the second inner wheel 132 to the second flange body 106. The sleeve 828 is used to protect the pin 825 to prevent it from being worn.

[0062] like Figure 1C and Fig. 11BAs shown, the transmission mechanism 100 of this embodiment is provided with a first inner wheel 131 and a second inner wheel 132. In this embodiment, the first inner wheel 131 and the second inner wheel 132 have the same structure and are used to transmit the power of the eccentric shaft 108 to the connecting transmission component 110 and the auxiliary transmission component 120.

[0063] Fig. 9 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. Fig. 9 As shown, the first inner wheel 131 and the second inner wheel 132 are generally 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 904 radially penetrating the first inner wheel 131 and the second inner wheel 132 in the middle. The diameter of the wall 906 of the receiving portion 904 is the same as that of the inner wheel bearings 1117, 1118 (see Fig. 11B ) have substantially the same outer diameter, so that the first inner wheel 131 and the second inner wheel 132 can be mounted on the inner wheel bearings 1117, 1118 disposed around the eccentric portions 311, 312. When the eccentric shaft 108 rotates, the eccentric portions 311, 312 of the eccentric shaft 108 can drive the first inner wheel 131 and the second inner wheel 132 to rotate eccentrically through the inner wheel bearings 1117, 1118. In other words, when the eccentric shaft 108 rotates, the eccentric shaft 108 can cause the center axes N1, N2 of the first inner wheel 131 and the second inner wheel 132 to rotate around the center axis Y of the eccentric shaft 108 (i.e., the first inner wheel 131 and the second inner wheel 132 can revolve around the center axis Y of the eccentric shaft 108). The outer circumferences of the first inner wheel 131 and the second inner wheel 132 have inner wheel outer teeth 911. The inner wheel outer teeth 911 are configured to be able to engage with the outer wheel inner teeth 1002 of the outer wheel 102 (see Fig. 10A and 10B ) 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 911 can mesh with the outer wheel inner teeth 1002 of the outer wheel 102. There is a difference in the number of teeth between the inner wheel outer teeth 911 and the outer wheel inner teeth 1002. Among them, the number of teeth of the outer wheel inner teeth 1002 is greater than the number of teeth of the inner wheel outer teeth 911 (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 108 to rotate eccentrically in the outer wheel 102, the meshing of the inner wheel outer teeth 911 and the outer wheel inner teeth 1002 can cause the first inner wheel 131 and the second inner wheel 132 to rotate (that is, rotate). In this way, the eccentric shaft 108 can cause the first inner wheel 131 and the second inner wheel 132 to revolve and rotate in the outer wheel 102.

[0064] The first inner wheel 131 and the second inner wheel 132 further include twelve inner wheel through holes 921 uniformly arranged in the circumferential direction around the central axis N1, N2, for accommodating the connecting transmission component 110 and the auxiliary transmission component 120. Since the outer diameter of the sleeve 727 of the connecting transmission component 110 is the same as the outer diameter of the sleeve 828 of the auxiliary transmission component 120, the twelve inner wheel through holes 921 are also the same in size. There is a gap between the wall of the inner wheel through hole 921 and the outer periphery of the sleeve 727 and the sleeve 828, 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 connecting transmission component 110 and the auxiliary transmission component 120.

[0065] Fig. 10A yes Figure 1C A perspective view of the outer wheel 102 of the transmission mechanism 100 is shown. Fig. 10B yes Fig. 10A The axial cross-sectional view of the outer wheel 102 is shown. Fig. 10A and 10B As shown, the outer wheel 102 is generally annular and has an outer wheel central axis O. The outer wheel 102 has a receiving portion 1012, and the receiving portion 1012 is arranged through the outer wheel 102. The middle part of the wall of the receiving portion 1012 is provided with an outer wheel inner tooth 1002, which can mesh with the inner wheel outer tooth 911 of the first inner wheel 131 and the second inner wheel 132.

[0066] The outer wheel 102 also has a first support portion 1004 and a second support portion 1006, which are respectively arranged on the left and right sides of the outer wheel inner gear 1002. The first support portion 1004 is used to support the first outer wheel bearing assembly 1114, and the second support portion 1006 is used to support the second outer wheel bearing assembly 1116 (see Fig. 11B ).

[0067] Fig.11A yes Figure 1C The transmission mechanism 100 is shown in a side view from right to left. Fig. 11B yes Figure 1C The transmission mechanism shown is along Fig.11AThe cross-sectional view along the AA line is provided to show the relative positional relationship and matching relationship of each component in the transmission mechanism 100. Among them, the rotating shaft 112, the eccentric shaft 108, the first flange body 104, the second flange body 106 and the outer wheel 102 are coaxially arranged. The first eccentric portion 311 of the eccentric shaft 108 is provided with a first inner wheel bearing 1117. The second eccentric portion 312 of the eccentric shaft 108 is provided with a second inner wheel bearing 1118. Specifically, the inner wall of the first inner wheel bearing 1117 contacts the outer circumferential surface of the first eccentric portion 311, and the outer wall of the first inner wheel bearing 1117 contacts the wall 906 of the accommodating portion 904 of the first inner wheel 131, so that the first inner wheel 131 is sleeved on the first eccentric portion 311. When the eccentric shaft 108 rotates around the central axis O, the first inner wheel 131 can revolve around the central axis O, that is, the first inner wheel central axis N1 of the first inner wheel 131 rotates around the central axis O (that is, translates). The inner wall of the second inner wheel bearing 1118 contacts the outer circumferential surface of the second eccentric portion 312, and the outer wall of the second inner wheel bearing 1118 contacts the wall 906 of the accommodating portion 904 of the second inner wheel 132, so that the second inner wheel 132 is sleeved on the second eccentric portion 312. When the eccentric shaft 108 rotates around the central axis O, the second inner wheel 132 revolves around the central axis O, that is, the second inner wheel central axis N2 of the second inner wheel 132 rotates around the central axis O (that is, translates).

[0068] 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 O, when the eccentric shaft 108 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 overall dynamic balance during movement.

[0069] 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 108 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 911 and the outer wheel inner teeth 1002, and the outer wheel 102 is fixed, the first inner wheel 131 and the second inner wheel 132 can rotate around their respective center axes (i.e., the first inner wheel center axis N1 and the second inner wheel center 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.

[0070] 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 connecting transmission component 110. 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 connecting transmission component 110. 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.

[0071] Specifically, the first flange body 104 is mounted on the eccentric shaft 108 through the first flange body bearing 1104, and is arranged in the outer wheel 102 through the first outer wheel bearing assembly 1114. The inner wall of the first flange body bearing 1104 contacts the first support portion 321, and the outer wall of the first flange body bearing 1104 contacts the inner wall 528 of the eccentric shaft accommodating portion 508 of the first flange body 104. The balls in the first outer wheel bearing assembly 1114 abut against the stepped portion 516 of the first flange body 104, and the outer wall of the first outer wheel bearing assembly 1114 contacts the first support portion 1004 of the outer wheel 102.

[0072] Similarly, the second flange body 106 is sleeved on the eccentric shaft 108 through the second flange body bearing 1106, and is arranged in the outer wheel 102 through the second outer wheel bearing assembly 1116. The inner wall of the second flange body bearing 1106 contacts the second support portion 322, and the outer wall of the second flange body bearing 1106 contacts the inner wall 651 of the second flange body 604. The balls in the second outer wheel bearing assembly 1116 abut against the stepped portion 608 of the second flange body 106, and the outer wall of the second outer wheel bearing assembly 1116 contacts the second support portion 1006 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 assembly 1116.

[0073] Therefore, the first flange body 104 and the second flange body 106 can both rotate around the central axis O relative to the outer wheel 102 .

[0074] The first flange body 104 and the second flange body 106 are connected to each other through the pin 725 and the fastener 722 in the connecting transmission component 110, 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 O through the connecting transmission component 110. Specifically, the thread on the left end of the pin 725 matches the thread in the connecting transmission component mounting portion 631 on the second flange body 106, so that the pin 725 is connected to the second flange body 106. The right end of the pin 725 passes through the connecting transmission component mounting hole 510 on the first flange body 104 from the left side of the first flange body 104, and then the fastener 722 is sleeved on the right end of the pin 725 from the right side of the first flange body 104. The thread on the fastener 722 matches the thread on the right end of the pin 725, so that the first flange body 104 and the second flange body 106 are connected together.

[0075] Each of the planetary gear devices 151, 152, 153 is supported on the first flange body 104. Specifically, the planetary gear support part 421 of each of the planetary gear devices 151, 152, 153 is sleeved with a planetary gear device bearing 1133, and extends from the left side through the support hole 504 on the first flange body 104 to the right side of the first flange body 104. The left end of the planetary gear support part 421 is connected to the second planetary gear 402, and the right end of the planetary gear support part 421 is connected to the first planetary gear 401, so that the three planetary gear devices 151, 152, 153 are rotatably supported on the first flange body 104. The second row of planetary teeth 431 on the second planetary gear 402 of the three planetary gear devices 151, 152, 153 meshes with the eccentric shaft outer teeth 301 of the eccentric shaft 108, so that the three planetary gear devices 151, 152, 153 can drive the eccentric shaft 108 to rotate.

[0076] The rotating shaft 112 is arranged on the right side of the first flange body 104 and in the middle of the three planetary gear devices 151, 152, 153. The right end of the rotating shaft 112 is used to be connected to a driving component (not shown) so as to rotate the rotating shaft 112. The rotating shaft outer teeth 202 at the left end of the rotating shaft 112 mesh with the first row of planetary teeth 411 of the planetary gear devices 151, 152, 153, so that the rotating shaft 112 can drive the three planetary gear devices 151, 152, 153 to rotate.

[0077] In addition, the first inner wheel 131 and the second inner wheel 132 can also drive the second flange body 106 to rotate around the central axis O through the auxiliary transmission component 120. Specifically, the left portion of the pin 825 of the auxiliary transmission component 120 is accommodated in the auxiliary transmission component mounting portion 632 on the second flange body 106, and the right portion of the pin 825 and the sleeve 828 are accommodated in the inner wheel through holes 921 of the first inner wheel 131 and the second inner wheel 132, so that when the first inner wheel 131 and the second inner wheel 132 rotate, the second flange body 106 can be driven to rotate through the auxiliary transmission component 120.

[0078] The following describes the process of torque / power transmission when the transmission mechanism 100 is in operation by taking the example that the outer wheel 102 is fixed (i.e., the outer wheel 102 does not move in translation or rotation), the first flange body 104 and / or the second flange body 106 are used as output components, and the rotating shaft 112 is used as an input component:

[0079] The driving member (e.g., a motor, not shown) drives the rotating shaft 112 to rotate around the central axis O. The rotating shaft outer teeth 202 of the rotating shaft 112 mesh with the first row of planetary teeth 411 of the three planetary gear devices 151, 152, 153, so that the three planetary gear devices 151, 152, 153 can rotate around their respective central axes (i.e., self-rotate). Since the second row of planetary teeth 431 of the three planetary gear devices 151, 152, 153 mesh with the eccentric shaft outer teeth 301 of the eccentric shaft 108, the rotation of the three planetary gear devices 151, 152, 153 drives the eccentric shaft 108 to rotate around the central axis O. The eccentric shaft 108 drives the first inner wheel 131 and the second inner wheel 132 to revolve through the first eccentric portion 311 and the second eccentric portion 312 (i.e., the first inner wheel central axis N1 and the second inner wheel central axis N2 rotate around the central axis O). The inner wheel outer teeth 911 of the first inner wheel 131 and the second inner wheel 132 mesh with the outer wheel inner teeth 1002 of the outer wheel 102, so that the first inner wheel 131 and the second inner wheel 132 can rotate (that is, 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 rotate while revolving.

[0080] When the first inner wheel 131 and the second inner wheel 132 revolve and rotate, the connection transmission component 110 (including the pin 725 and the sleeve 727) and the auxiliary transmission component 120 cooperate with the inner wheel through holes 921 of the first inner wheel 131 and the second inner wheel 132, and the connection transmission component 110 and the auxiliary transmission component 120 transmit 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 O. 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.

[0081] It should be noted that when the outer wheel 102 is fixed (i.e., the outer wheel 102 does not move in translation or rotation), the first flange body 104 and / or the second flange body 106 serve as output components, and the rotating shaft 112 serves as an input component, since the three planetary gear devices 151, 152, 153 are rotatably supported on the first flange body 104 through the support holes 504, the rotation of the first flange body 104 also drives the three planetary gear devices 151, 152, 153 to revolve (i.e., the three planetary gear devices 151, 152, 153 can revolve around the central axis O). However, the revolving of the three planetary gear devices 151, 152, 153 does not prevent the second row of planetary teeth 431 of the three planetary gear devices 151, 152, 153 from driving the eccentric shaft 108 to rotate.

[0082] It should also be noted that, since the first flange body 104 and the second flange body 106 are mounted on the outer wheel 102 via the first outer wheel bearing assembly 1114 and the second outer wheel bearing assembly 1116, the first flange body 104 and the second flange body 106 can only rotate around the central axis O. 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.

[0083] In this embodiment, when the first row of planetary teeth 411 and the rotating shaft outer teeth 202 have a first tooth number difference, the second row of planetary teeth 431 and the eccentric shaft outer teeth 301 have a second tooth number difference, and the inner wheel outer teeth 911 and the outer wheel inner teeth 1002 have a third tooth number difference, the transmission mechanism 100 can achieve three-stage speed change. Specifically, the three-stage speed change includes a first-stage speed change, a second-stage speed change, and a third-stage speed change. Among them, the first-stage speed change is achieved by the rotating shaft outer teeth 202 of the rotating shaft 112 and the first row of planetary teeth 411 of the planetary gear device 151, 152, 153, and its speed ratio is i1. The second-stage speed change is achieved by the second row of planetary teeth 431 of the planetary gear device 151, 152, 153 and the eccentric shaft outer teeth 301 of the eccentric shaft 108, and its speed ratio is i2. The third speed change is achieved by the first inner wheel 131 and the second inner wheel 132 transmitting to the first flange body 104 and the second flange body 106, and its speed ratio is i3. Specifically, the number of teeth of the rotating shaft outer teeth 202 of the rotating shaft 112 is Z a The number of teeth of the first row of planetary gears 411 of the planetary gear devices 151, 152, 153 is Z b1 The number of teeth of the second row of planetary gears 431 of the planetary gear devices 151, 152, 153 is Z b2 , the number of teeth of the eccentric shaft outer teeth 301 of the eccentric shaft 108 is Z c The number of teeth of the inner wheel outer teeth 911 of the first inner wheel 131 and the second inner wheel 132 is Z d , the number of teeth of the outer wheel inner teeth 1002 of the outer wheel 102 is Z e The first-stage speed ratio i1 satisfies:

[0084]

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

[0086]

[0087] The third speed ratio i3 meets:

[0088]

[0089] Therefore, the total speed ratio I satisfies:

[0090]

[0091] As described in the present application, the transmission mechanism 100 of the present application has four transmission modes, namely: (1) when the transmission mechanism 100 needs to achieve deceleration, the outer wheel 102 is fixed, the rotating shaft 112 is used as the power input component and the first flange body 104 and / or the second flange body 106 is used as the power output component; (2) when the transmission mechanism 100 needs to achieve deceleration, the first flange body 104 and the second flange body 106 are fixed, the rotating shaft 112 is used as the power input component and the outer wheel 102 is used as the power output component; (3) when the transmission mechanism 100 needs to achieve speed increase, the outer wheel 102 is fixed, the first flange body 104 and / or the second flange body 106 is used as the power input component and the rotating shaft 112 is used as the power output component; and (4) when the transmission mechanism 100 needs to achieve speed increase, the first flange body 104 and the second flange body 106 are fixed, the outer wheel 102 is used as the power input component and the rotating shaft 112 is used as the power output component. The above embodies the speed ratios of each level and the total speed ratio under the first transmission mode. Similarly, the speed ratios of each level and the total speed ratio under the other three transmission modes can also be calculated. The details are as follows:

[0092] In the above second transmission mode (i.e., when the transmission mechanism 100 needs to achieve deceleration, the first flange body 104 and the second flange body 106 are fixed, the rotating shaft 112 is used as the power input component and the outer wheel 102 is used as the power output component), the first-stage speed ratio k1 and the first-stage speed ratio k2 are the same as the first-stage speed ratio i1 and the second-stage speed ratio i2 in the first transmission mode. However, in the second transmission mode, since the first flange body 104 and the second flange body 106 are fixed, the planetary gear devices 151, 152, 153 in the second transmission mode will not revolve, so the third-stage speed ratio k3 in the second transmission mode satisfies:

[0093]

[0094] Therefore, the total speed ratio K of the transmission mechanism 100 satisfies:

[0095]

[0096] In the third transmission mode (i.e., when the transmission mechanism 100 needs to increase speed, the outer wheel 102 is fixed, the first flange body 104 and / or the second flange body 106 are used as the power input component and the rotating shaft 112 is used as the power output component), those skilled in the art can easily understand that the transmission sequence of the third transmission mode is opposite to the transmission sequence of the first transmission mode based on the transmission sequence described in the first transmission mode, so the transmission sequence is not repeated. It can also realize three-stage transmission, and its total transmission ratio m satisfies:

[0097]

[0098] Similarly, in the fourth transmission mode (i.e., when the transmission mechanism 100 needs to achieve speed increase, the first flange body 104 and the second flange body 106 are fixed, the outer wheel 102 is used as the power input component and the rotating shaft 112 is used as the power output component), those skilled in the art can easily understand that the transmission sequence of the fourth transmission mode is opposite to the transmission sequence described in the second transmission mode based on the transmission sequence described in the second transmission mode, so the transmission sequence is not repeated. It can also realize three-stage transmission, and its total transmission ratio n satisfies:

[0099]

[0100] It should be noted that when the total speed ratio is calculated as a positive number, it indicates that the rotation direction of the output component is the same as the rotation direction of the input component. When the total speed ratio is calculated as a negative number, it indicates that the rotation direction of the output component is opposite to the rotation direction of the input component.

[0101] In a traditional transmission mechanism, one end of the rotating shaft needs to be arranged in the eccentric shaft. The rotating shaft is provided with external rotating shaft teeth, and the eccentric shaft is provided with internal eccentric shaft teeth, so that the rotating shaft can mesh with the eccentric shaft to drive the eccentric shaft to rotate. Such an arrangement requires a cavity to be provided in the eccentric shaft to accommodate the rotating shaft and to provide the internal eccentric shaft teeth, so a larger space is required, resulting in a larger overall size of the transmission mechanism. In addition, since the internal teeth are more difficult to process than the external teeth, the processing efficiency is lower. For example, for a component with a diameter of 40 mm, if the external teeth are processed, it only takes 3-15 minutes, but if the internal teeth are processed, it takes at least 1 hour.

[0102] Compared with the traditional transmission mechanism, the transmission mechanism 100 of the present application has at least the following beneficial effects:

[0103] First, the transmission mechanism 100 of the present application requires a short processing time and has a low manufacturing cost. Specifically, the transmission mechanism 100 of the present application realizes the transmission between the rotating shaft 112 and the eccentric shaft 108 by setting a planetary gear device 151, 152, 153 on the first flange body 104. More specifically, the rotating shaft 112, the planetary gear device 151, 152, 153 and the eccentric shaft 108 in the transmission mechanism 100 of the present application are all provided with external teeth, and the transmission is realized by the meshing between the external teeth. Since the external teeth have good machinability and require a short processing time, the transmission mechanism 100 of the present application can be processed in a short time and have a low manufacturing cost.

[0104] Second, the transmission mechanism 100 of the present application can achieve a larger transmission ratio. Specifically, the planetary gear devices 151, 152, 153 in the transmission mechanism 100 of the present application are provided with a first row of planetary gears 411 and a second row of planetary gears 431, which can enable the transmission mechanism 100 to achieve three-stage speed change. Taking the first transmission mode as an example, when Z a =14, Z b1 =58, Z b2 =15, Z c =42, Z d =125 and Z e =126, the transmission mechanism 100 of the present application can achieve a total transmission ratio I=-1460. However, the transmission ratio that can be achieved by a traditional transmission mechanism is generally within 200.

[0105] Those skilled in the art will appreciate that, although the above embodiment includes three planetary gear devices 151 , 152 , 153 , the number of planetary gear devices is not limited to three, and at least one planetary gear device falls within the protection scope of the present application.

[0106] 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 are configured to be able to maintain overall dynamic balance when rotating eccentrically at high speed.

[0107] Those skilled in the art can also understand that, although nine connecting transmission components 110 are provided in the present embodiment, and nine connecting transmission component mounting holes 510 and nine connecting 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 connecting transmission components 110 are provided on the transmission mechanism 100, and a corresponding number of connecting transmission component mounting holes 510 and connecting transmission component mounting holes 631 are provided on the first flange body 104 and the second flange body 106, respectively.

[0108] Those skilled in the art can also understand that, although the connection transmission component mounting hole 510 in this embodiment is a countersunk hole and the connection transmission component mounting hole 631 is a blind hole, those skilled in the art can understand that it can be a through hole or other forms as long as it can cooperate with the connection transmission component 110.

[0109] Those skilled in the art can also understand that the connecting transmission component 110 in this embodiment includes a pin 725, a sleeve 727 and a fastener 722, but those skilled in the art can understand that as long as it can cooperate with the first inner wheel 131, the second inner wheel 132 and the second flange body 106.

[0110] Those skilled in the art may also understand that, although the auxiliary transmission component 120 is provided in the present embodiment, the auxiliary transmission component 120 may not be provided in other examples.

[0111] Those skilled in the art can also understand that, although the rotating shaft 112 is disposed on the right side of the first flange body 104 and meshes with the planetary gear devices 151, 152, 153 in this embodiment, in other examples, when the power input component is disposed on the left side of the transmission mechanism 100, the rotating shaft 112 can also penetrate the inner cavity of the eccentric shaft 108, so that the left part of the rotating shaft 112 is connected to the power input component, and the rotating shaft outer teeth 202 on the right part are meshed with the planetary gear devices 151, 152, 153.

[0112] Fig.12 It is an axial cross-sectional view of another embodiment of the transmission mechanism according to the present application. Fig.12 The transmission mechanism 1200 shown in FIG. Figures 1A-11B The transmission mechanism 100 shown in is substantially the same. For the sake of simplicity, the same parts are not repeated. The difference is that in the transmission mechanism 100, the first planetary gear 401 and the second planetary gear 402 in the planetary gear device 151, 152, 153 are arranged at both ends of the planetary gear support portion 421 (that is, the first planetary gear 401 and the second planetary gear 402 are arranged on both sides of the first flange body 104), and correspondingly, the eccentric shaft meshing portion 310 and the first support portion 321 on the eccentric shaft 108 are sequentially arranged on the right side of the first eccentric portion 311. Fig.12 In the transmission mechanism 1200 shown, the first planetary gear 1241 and the second planetary gear 1242 in the planetary gear devices 1251, 1252, 1253 are arranged on the right side of the planetary gear support portion 1243 (that is, the first planetary gear 1241 and the second planetary gear 1242 are arranged on the same side of the first flange body 104). The first planetary gear 1241 and the second planetary gear 1242 can rotate together and are supported on the first flange body 104 through the planetary gear support portion 1243. The second planetary gear 402 is arranged closer to the first flange body 104 than the first planetary gear 401. The first row of planetary teeth 1211 on the first planetary gear 1241 can mesh with the rotating shaft outer teeth 202. And accordingly, the first support portion 1232 and the eccentric shaft meshing portion 1231 on the eccentric shaft 108 are sequentially arranged on the right side of the first eccentric portion 311. The first flange bearing assembly 1104 is sleeved on the first support portion 1232, so that the eccentric shaft 108 is disposed in the first flange body 104. The eccentric shaft outer teeth 1261 on the eccentric shaft meshing portion 1231 can mesh with the second row of planetary gears 1212 on the second planetary gear 1242.

[0113] It should also be noted that, although the first flange body 104 in the transmission mechanism 100 is provided with an eccentric shaft accommodating portion 508 that laterally penetrates the first flange body 104, the eccentric shaft accommodating portion 508 may not penetrate the first flange body 104, and only needs to be provided with a recess to accommodate the first support portion 321 and the first flange body bearing 1104 sleeved on the first support portion 321. However, in the configuration of the transmission mechanism 1200. The first flange body 104 needs to be provided with an eccentric shaft accommodating portion that laterally penetrates the first flange body 104, because in this way the eccentric shaft meshing portion 1231 of the eccentric shaft 108 can be arranged on the right side (i.e., the outside) of the first flange body 104, so that the eccentric shaft outer teeth 1261 on the eccentric shaft meshing portion 1231 mesh with the second row of planetary gears 1212.

[0114] Fig.12 The illustrated embodiment can achieve similar technical effects as those of the transmission mechanism 100 , and will not be described in detail herein.

[0115] 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: Outer wheel (102); An inner wheel (131, 332), the inner wheel (131, 332) being arranged in the outer wheel (102), and the inner wheel (131, 332) being capable of meshing with the outer wheel (102); An eccentric shaft (108), the eccentric shaft (108) being capable of rotating around a central axis (O), the outer periphery of the eccentric shaft (108) being provided with an eccentric portion (311, 312), an eccentric shaft outer tooth (301) and a first support portion (321), the inner wheel (131, 332) being arranged around the eccentric portion (311, 312), so that the rotation of the eccentric shaft (108) can drive the inner wheel (131, 332) to rotate eccentrically or the eccentric rotation of the inner wheel (131, 332) can drive the eccentric shaft (108) to rotate; A first flange body (104), wherein the first flange body (104) and the inner wheel (131, 332) are arranged side by side, and the first flange body (104) is arranged around the first support portion (321), and the outer wheel (102), the eccentric shaft (108) and the first flange body (104) are coaxially arranged; A rotating shaft (112), the rotating shaft (112) having rotating shaft external teeth (202); and At least one planetary gear device (151), the at least one planetary gear device (151) being supported by the first flange body (104), and each of the at least one planetary gear devices (151) being provided with a first row of planetary gears (411) and a second row of planetary gears (431) on its outer periphery, the first row of planetary gears (411) being meshed with the outer teeth (202) of the rotating shaft, and the second row of planetary gears (431) being meshed with the outer teeth (301) of the eccentric shaft.

2. The transmission mechanism (100) according to claim 1, characterized in that: The transmission mechanism (100) is configured such that when power is input through the rotating shaft (112), the rotation of the eccentric shaft (108) can drive the inner wheel (131, 332) to rotate eccentrically, and output power through the first flange body (104) or the outer wheel (102); or The transmission mechanism (100) is configured such that when power is input through the first flange body (104) or the outer wheel (102), the eccentric rotation of the inner wheel (131, 332) can drive the eccentric shaft (108) to rotate, and output power through the rotating shaft (112).

3. The transmission mechanism (100) according to claim 1, characterized in that: The first flange body (104) comprises at least one supporting hole (504), and the at least one planetary gear device (151) can be rotatably supported on the first flange body (104) through the at least one supporting hole (504).

4. The transmission mechanism (100) according to claim 3, characterized in that: A second supporting portion (322) is provided on the outer periphery of the eccentric shaft (108); The inner wheel (131, 332) is provided with at least two inner wheel through holes (921); The transmission mechanism (100) further comprises: 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, 332), and the second flange body (106) is arranged around the second support portion (322); and at least two connecting transmission components (110), each of the at least two connecting transmission components (110) passing through a corresponding one of the at least two inner wheel through holes (921) on the inner wheel (131, 332), and connecting the first flange body (104) and the second flange body (106) disposed on opposite sides of the inner wheel (131, 332) to each other; Wherein, the eccentric portion (311, 312) of the eccentric shaft (108) is arranged between the first flange body (104) and the second flange body (106).

5. The transmission mechanism (100) according to claim 4, characterized in that: Each of the at least one planetary gear device (151) further comprises a planetary gear support portion (421), a first planetary gear (401) and a second planetary gear (402), wherein the first planetary gear (401) and the second planetary gear (402) are connected via the planetary gear support portion (421); The first row of planetary gears (411) and the second row of planetary gears (431) are respectively arranged on the first planetary gear (401) and the second planetary gear (402).

6. The transmission mechanism (100) according to claim 5, characterized in that: The first row of planetary gears (411) and the second row of planetary gears (431) are arranged on both sides of the supporting hole (504).

7. The transmission mechanism (100) according to claim 6, characterized in that: The first flange body (104) comprises at least one planetary gear device accommodating portion (506), wherein the at least one planetary gear device accommodating portion (506) is arranged around a corresponding one of the at least one supporting hole (504) and is used to accommodate the second planetary gear (402).

8. The transmission mechanism (100) according to claim 7, characterized in that: The first planetary gear (401) and the second planetary gear (402) are arranged at both ends of the planetary gear support portion (421).

9. The transmission mechanism (100) according to claim 5, characterized in that: The first row of planetary gears and the second row of planetary gears are arranged on the same side of the first flange body (104), and the second row of planetary gears is closer to the first flange body (104) than the first row of planetary gears; The first flange body (104) comprises an eccentric shaft accommodating portion penetrating the first flange body (104); The eccentric shaft (108) passes through the eccentric shaft accommodating portion, so that the eccentric shaft external teeth and the first row of planetary gears and the second row of planetary gears are arranged on the same side of the first flange body (104).

Images