Transmission mechanism

Abstract

The present application discloses a transmission mechanism, which includes a housing device, an eccentric shaft, a flange device, a first external gear, a second external gear, a synchronous connection disk, a synchronous connection structure, an output connection disk and an output connection structure. The eccentric shaft is provided with a first eccentric portion and a second eccentric portion. The first external gear is sleeved on the first eccentric portion of the eccentric shaft and is configured to move with the rotation of the first eccentric portion. The second external gear is sleeved on the second eccentric portion of the eccentric shaft and is configured to move with the rotation of the second eccentric portion. The synchronous connection disk is configured to connect the first external gear and the second external gear to each other through the synchronous connection structure, and enable the first external gear and the second external gear to independently perform eccentric translation relative to each other. The output connection disk is arranged around the eccentric shaft. The transmission mechanism of the present application has the advantages of simple structure, no need to set a planetary carrier, a small number of connecting parts, a short transmission chain, and easy to achieve high-precision transmission.

Description

Technical Field

[0001] The present application relates to a transmission mechanism. Background Art

[0002] Traditional eccentric transmission mechanisms mostly use two external gears of the same structure, which are arranged on eccentric shafts with equal eccentricity and 180° symmetrical arrangement in the eccentric direction, and the speed and eccentric torque of the two external gears need to be output through the planetary carrier, which passes through the two external gears. The planetary carrier has poor rigidity and complex structure. For reducers with high precision requirements, the position accuracy of the holes is extremely high, the processing is difficult, and the structure is complex. Summary of the invention

[0003] The exemplary embodiments of the present application can solve the above problems. The present application provides a transmission mechanism, which includes a housing device, an eccentric shaft, a flange device, a first external gear, a second external gear, a synchronous connection disk, a synchronous connection structure, an output connection disk and an output connection structure. The housing device is fixed. The eccentric shaft is provided with a first eccentric part and a second eccentric part, and the first eccentric part and the second eccentric part have the same eccentricity and opposite eccentricity directions. The flange device is configured to be rotatable. The first external gear is sleeved on the first eccentric part of the eccentric shaft and is configured to move with the rotation of the first eccentric part. The second external gear is sleeved on the second eccentric part of the eccentric shaft and is configured to move with the rotation of the second eccentric part. The synchronous connection disk is arranged around the eccentric shaft and arranged between the first external gear and the second external gear. The synchronous connection disk is configured to connect the first external gear and the second external gear to each other through the synchronous connection structure, and enable the first external gear and the second external gear to independently perform eccentric translation relative to each other. The output connection disk is arranged around the eccentric shaft. wherein one of the housing device and the flange device is meshed with the first external gear and the second external gear, and wherein the output connecting disk connects the first external gear to the other of the housing device and the flange device via the output connecting structure, and enables the first external gear to move linearly relative to the other of the housing device and the flange device.

[0004] According to the above transmission mechanism, the synchronous connection structure includes a first group of synchronous connection structures and a second group of synchronous connection structures. The first group of synchronous connection structures is configured to connect the first external gear with the synchronous connection disk, and to generate relative linear motion between the first external gear and the synchronous connection disk. The second group of synchronous connection structures is configured to connect the second external gear with the synchronous connection disk, and to generate relative linear motion between the second external gear and the synchronous connection disk. The first group of synchronous connection structures is a linear slider mechanism or a linear bearing mechanism, and the second group of synchronous connection structures is a linear slider mechanism or a linear bearing mechanism.

[0005] According to the above transmission mechanism, the first group of synchronous connection structures and the second group of synchronous connection structures are configured so that the direction of relative linear motion between the first external gear and the synchronous connection disk is perpendicular to the direction of relative linear motion between the second external gear and the synchronous connection disk.

[0006] According to the above transmission mechanism, the output connection structure includes a first group of output connection structures and a second group of output connection structures. The first group of output connection structures is configured to connect the first external gear with the output connection disk, and enable relative linear motion between the first external gear and the output connection disk. The second group of output connection structures is configured to connect the other of the housing device and the flange device with the output connection disk, and enable relative linear motion between the output connection disk and the other of the housing device and the flange device. The first group of output connection structures is a linear slider mechanism or a linear bearing mechanism, and the second group of output connection structures is a linear slider mechanism or a linear bearing mechanism.

[0007] According to the above-mentioned transmission mechanism, the first group of output connection structures and the second group of output connection structures are configured so that the direction of relative linear motion between the first external gear and the output connection disk is perpendicular to the direction of relative linear motion between the output connection disk and the other of the housing device and the flange device.

[0008] According to the above transmission mechanism, the linear slider mechanism is formed by a slider and a slide groove.

[0009] According to the above transmission mechanism, the linear bearing mechanism is formed by a slider, a slide groove and a roller arranged between the slider and the slide groove.

[0010] According to the above transmission mechanism, the housing device includes a cylindrical body and a housing end cover, and the cylindrical body and the housing end cover are fixedly connected. The flange device includes a flange end cover and a flange inner gear ring, and the flange end cover and the flange inner gear ring are fixedly connected. The flange inner gear ring is arranged between the cylindrical body and the first external gear and the second external gear, and is configured to mesh with the first external gear and the second external gear, the housing end cover is arranged around the eccentric shaft, and the output connecting disk connects the first external gear to the housing end cover through the output connecting structure.

[0011] According to the above transmission mechanism, the first external gear and the second external gear do not rotate relative to each other.

[0012] According to the transmission mechanism, the housing device includes a cylindrical body and a housing end cover, and the cylindrical body and the housing end cover are fixedly connected. The flange device includes a flange end cover. The cylindrical body of the housing device is configured to mesh with the first external gear and the second external gear, and the output connecting disk connects the first external gear to the flange end cover through the output connecting structure.

[0013] According to the above transmission mechanism, the first external gear and the second external gear rotate synchronously with each other.

[0014] The transmission mechanism of the present application has the advantages of simple structure, no need to set up a planetary carrier, a small number of connecting parts, a short transmission chain, and easy realization of high-precision transmission.

[0015] 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

[0016] 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:

[0017] Figure 1A is a three-dimensional diagram of a transmission mechanism according to an embodiment of the present application viewed from right to left;

[0018] Figure 1B yes Figure 1A The transmission mechanism shown is a three-dimensional view viewed from left to right;

[0019] Figure 1C yes Figure 1A A cross-sectional view of the transmission mechanism shown;

[0020] Figure 2A yes Figure 1C A perspective view of the eccentric shaft shown;

[0021] Figure 2B yes Figure 2A A side view of the eccentric shaft is shown;

[0022] Figure 2C yes Figure 2A An enlarged view of the eccentricity of the eccentric shaft is shown;

[0023] Figure 3A yes Figure 1C The three-dimensional exploded view of the input end cover, the output connecting plate and the first external gear shown;

[0024] Figure 3B yes Figure 1C A three-dimensional exploded view of the connection between the first external gear, the synchronous connecting plate and the second external gear;

[0025] Figure 4A yes Figure 1C A perspective view of the first external gear shown;

[0026] Figure 4B yes Figure 4A a side view of the first external gear shown;

[0027] Figure 5A yes Figure 1C A perspective view of the second external gear shown;

[0028] Figure 5B yes Figure 5A A cross-sectional view of the second external gear shown;

[0029] Figure 6 yes Figure 1C A perspective view of the input end cap shown;

[0030] Fig. 7A yes Figure 1C A perspective view of the output connection disk shown;

[0031] Figure 7B yes Figure 1C A cross-sectional view of the output connection disk shown;

[0032] Fig. 8A yes Figure 1C A perspective view of the synchronization connection disk shown;

[0033] Figure 8B yes Figure 1C A cross-sectional view of the synchronous connection disk shown;

[0034] Fig. 9 yes Figure 1C A perspective view of the flange inner gear ring shown;

[0035] Fig.10 yes Figure 1C A perspective view of the flange end cover shown;

[0036] Fig.11 yes Figure 1C A perspective view of the output end cap shown;

[0037] Fig.12 yes Figure 1C A perspective view of the cylindrical body shown;

[0038] Fig.13A yes Figure 1C A vertical axial cross-sectional view of the transmission mechanism shown;

[0039] Fig. 13B yes Fig.13A AA section view shown;

[0040] Fig. 13C yes Fig.13A BB section view shown;

[0041] Fig.14A is a three-dimensional exploded view of another embodiment of a synchronous connection structure and / or an output connection structure;

[0042] Fig. 14B yes Fig.14A A cross-sectional view of the synchronous connection structure and / or the output connection structure shown;

[0043] Fig.15A is a three-dimensional diagram of a transmission mechanism according to another embodiment of the present application viewed from right to left;

[0044] Fig. 15B yes Fig.15A The transmission mechanism shown is a three-dimensional view viewed from left to right;

[0045] Fig. 15C yes Fig.15A A cross-sectional view of the transmission mechanism shown;

[0046] Fig.16A yes Fig. 15C A perspective view of the eccentric shaft shown;

[0047] Fig. 16B yes Fig.16A A side view of the eccentric shaft is shown;

[0048] Fig. 16C yes Fig.16A An enlarged view of the eccentricity of the eccentric shaft is shown;

[0049] Fig.17A yes Fig. 15C A perspective exploded view of the first external gear, the synchronous connecting plate and the second external gear shown;

[0050] Fig. 17B yes Fig. 15C A three-dimensional exploded view of the second external gear, the output connecting plate and the flange end cover shown;

[0051] Fig.18 yes Fig. 15C A perspective view of the flange end cover shown;

[0052] Fig.19A yes Fig. 15C A perspective view of the first external gear shown;

[0053] Fig.19B yes Fig.19A a side view of the first external gear shown;

[0054] Fig. 20A yes Fig. 15C A perspective view of the second external gear shown;

[0055] Fig. 20B yes Fig. 20A A cross-sectional view of the second external gear shown;

[0056] Fig.21A yes Fig. 15C A perspective view of the output connection disk shown;

[0057] Fig.21B yes Fig.21A A cross-sectional view of the output connection disk shown;

[0058] Fig.22A yes Fig. 15C A perspective view of the synchronization connection disk shown;

[0059] Fig. 22B yes Fig.22A A cross-sectional view of the synchronous connection disk shown;

[0060] Fig.23 yes Fig. 15C A perspective view of the cylindrical body of the transmission mechanism shown;

[0061] Fig.24 yes Fig.15A A perspective view of the output end cap shown;

[0062] Fig.25 yes Fig. 15C A perspective view of the housing end cover shown;

[0063] Fig.26A yes Fig. 15CA transverse axial cross-sectional view of the transmission mechanism shown;

[0064] Fig.26B yes Fig.26A AA sectional view of the transmission mechanism shown;

[0065] Fig.26C yes Fig.26A BB cross-sectional view of the transmission mechanism shown. DETAILED DESCRIPTION

[0066] Various specific embodiments of the present application will be described below with reference to the accompanying drawings that form a part of this specification. It should be understood that although terms indicating directions, such as "left", "right", "front", "back", "up", "down", "inside" and "outside", etc., are used in this application to describe various example structural parts and elements of the present application in terms of directions or orientations, these terms are used here only for the purpose of convenience of explanation and are determined based on the example orientations shown in the accompanying drawings. Since the embodiments disclosed in the present application can be set in different directions, these terms indicating directions are only for illustration and should not be regarded as limitations. In the following drawings, the same figure numbers are used for the same parts.

[0067] Figure 1A is a three-dimensional diagram of a transmission mechanism 100 according to an embodiment of the present application viewed from right to left. Figure 1B yes Figure 1A The transmission mechanism 100 is shown in a three-dimensional view from left to right. Figure 1C yes Figure 1A FIG. 1 is a cross-sectional view of the transmission mechanism 100 to illustrate the components in the transmission mechanism 100. Figures 1A-1C As shown, the transmission mechanism 100 includes a housing device, an eccentric shaft 106, a flange device, an output connection disk 114, a synchronous connection disk 115, a first external gear 112, a second external gear 116, a synchronous connection structure and an output connection structure (in Figures 1A-1CThe housing device includes an output end cover 103, a cylindrical body 102 and a housing end cover 104 which are fixedly connected. The housing device is fixed. The flange device includes a flange inner gear ring 108 and a flange end cover 109 which are fixedly connected. The flange device is configured to be rotatable. The first external gear 112 and the second external gear 116 are symmetrically eccentrically arranged on the eccentric shaft 106 relative to the central axis of the eccentric shaft 106, and are both meshed with the flange inner gear ring 108. The synchronous connecting disc 115 is arranged between the second external gear 116 and the first external gear 112, and the second external gear 116 is connected to the first external gear 112 through a synchronous connecting structure. Through the connection of the synchronous connecting disc 115 and the synchronous connecting structure, the first external gear 112 and the second external gear 116 form a synchronous external gear set. The output connecting disc 114 is arranged between the first external gear 112 and the housing end cover 104, and the first external gear 112 in the synchronous external gear set is connected to the housing end cover 104 through the output connecting structure. The output connection structure is configured so that the first external gear 112 only translates relative to the housing end cover 104 under the drive of the eccentric shaft 106, but does not rotate. The synchronous connection structure is configured so that the movement of the first external gear 112 and the second external gear 116 in the rotation direction is synchronized, but can independently translate eccentrically relative to each other. Since the first external gear 112 cannot rotate, the second external gear 116 cannot rotate either. Therefore, in this embodiment, the synchronous external gear set formed by the first external gear 112 and the second external gear 116 does not rotate. However, the first external gear 112 and the second external gear 116 in the synchronous external gear set can independently translate eccentrically relative to each other, so that power can be transmitted between the eccentric shaft 106 and the flange device.

[0068] Combine the following Figure 2A-14B The specific structure of each component in the transmission mechanism 100 is described in detail:

[0069] Figures 2A-2C Shows Figure 1C The specific structure of the eccentric shaft 106, wherein Figure 2A is a three-dimensional diagram of the eccentric shaft 106, Figure 2B is a side view of the eccentric shaft 106, Figure 2C 106 is an enlarged view of the eccentricity of the eccentric shaft 106. Figures 2A-2C As shown, the eccentric shaft 106 includes an eccentric shaft body. It is substantially cylindrical and has an eccentric shaft center axis X1. The driving mechanism can drive the eccentric shaft 106 to rotate around its eccentric shaft center axis X1. As an example, the driving mechanism is a motor.

[0070] The eccentric shaft 106 is provided with a first eccentric portion 212 and a second eccentric portion 214 having the same eccentricity but opposite eccentricity directions. The first eccentric portion 212 is a circular ring eccentrically arranged relative to the central axis X1 of the eccentric shaft 106. The first eccentric portion 212 forms a circumferential surface with a radius of D1 and has a central axis N1. The distance between the central axis N1 and the central axis X1 of the eccentric shaft is the eccentricity d. The second eccentric portion 214 is a circular ring eccentrically arranged relative to the central axis X1 of the eccentric shaft of the eccentric shaft 106. The second eccentric portion 214 forms a circumferential surface with a radius of D2 and has a central axis N2. The distance between the central axis N2 and the central axis X1 of the eccentric shaft is the eccentricity d. The central axis N1 of the first eccentric portion 212 and the central axis N2 of the second eccentric portion 214 are symmetrical relative to the central axis X1 of the eccentric shaft 106. When the eccentric shaft 106 rotates around the eccentric shaft central axis X1 thereof, the central axis N1 of the first eccentric portion 212 and the central axis N2 of the second eccentric portion 214 both rotate around the eccentric shaft central axis X1 .

[0071] In addition, a first isolating portion 213 and a second isolating portion 215 are provided on the eccentric shaft 106. The first isolating portion 213 is provided on the right side of the first eccentric portion 212, and the second isolating portion 215 is provided between the first eccentric portion 212 and the second eccentric portion 214, so that a space can be provided in the axial direction to arrange the output connection disk 114 and the synchronization connection disk 115 respectively.

[0072] Figure 3A yes Figure 1C The three-dimensional exploded view of the first external gear 112, the output connecting disk 114 and the housing end cover 104 is shown. The output connecting disk 114 connects the first external gear 112 with the housing end cover 104 through the output connecting structure, so that the first external gear 112 can move linearly relative to the housing end cover 104. The output connecting structure includes a first group of output connecting structures 310 and a second group of output connecting structures 320. The first group of output connecting structures 310 is used to connect the housing end cover 104 with the output connecting disk 114, so that the output connecting disk 114 and the housing end cover 104 can generate relative linear motion. The second group of output connecting structures 320 is used to connect the first external gear 112 with the output connecting disk 114, so that the first external gear 112 and the output connecting disk 114 can generate relative linear motion.

[0073] Figure 3B yes Figure 1CThe third embodiment shows a stereoscopic view of the second external gear 116, the synchronous connection disk 115 and the first external gear 112. The synchronous connection disk 115 connects the second external gear 116 and the first external gear 112 to each other through a synchronous connection structure, and enables the second external gear 116 and the first external gear 112 to independently perform eccentric translation relative to each other. The synchronous connection structure includes a first group of synchronous connection structures 330 and a second group of synchronous connection structures 340. The first group of synchronous connection structures 330 can connect the first external gear 112 and the synchronous connection disk 115, and enable the first external gear 112 and the synchronous connection disk 115 to generate relative linear motion. The second group of synchronous connection structures 340 can connect the synchronous connection disk 115 and the second external gear 116, and enable the synchronous connection disk 115 and the second external gear 116 to generate relative linear motion.

[0074] Figure 4A and 4B Shows Figure 1C The specific structure of the first external gear 112, wherein: Figure 4A is a perspective view of the first external gear 112, Figure 4B is a side view of the first external gear 112. Figure 4A-4B As shown, the first external gear 112 includes a first external gear body 402. The first external gear body 402 is generally annular and has a certain thickness. The first external gear body 402 has a central axis N1, and its outer periphery has first external teeth 412 for meshing with the flange inner gear ring 108. More specifically, when the first external gear 112 moves, at least a portion of the first external teeth 412 can mesh with the flange inner gear ring 108. Two first protrusions 422 are provided on the right side of the first external gear body 402, and two second protrusions 432 are provided on the left side. The two first protrusions 422 are formed by extending rightward along the central axis N1 from the right side of the first external gear body 402, and the two second protrusions 432 are formed by extending leftward along the central axis N1 from the left side of the first external gear body 402. The two first protrusions 422 are respectively arranged in front of and behind the central axis N1, and are arranged symmetrically about the central axis N1. The two second protrusions 432 are respectively disposed above and below the central axis N1 and are arranged symmetrically about the central axis N1. In other words, the two first protrusions 422 and the two second protrusions 432 are arranged spaced apart from each other around the central axis N1, and the two adjacent first protrusions 422 and second protrusions 432 are arranged at 90°.

[0075] Figure 5A and 5B Shows Figure 1C The specific structure of the second external gear 116, wherein: Figure 5A is a perspective view of the second external gear 116, Figure 5B is a cross-sectional view of the second external gear 116. Figure 5A-5B As shown, the second external gear 116 includes a second external gear body 502. The second external gear body 502 is roughly annular and has a certain thickness. The second external gear body 502 has a central axis N2, and its outer periphery has second external teeth 512 for meshing with the flange inner gear ring 108. More specifically, when the second external gear 116 moves, at least a portion of the second external teeth 512 can mesh with the flange inner gear ring 108. Two fourth protrusions 542 are provided on the right side of the second external gear body 502. The two fourth protrusions 542 extend to the right from the right side of the second external gear body 502 along the central axis N2. The two fourth protrusions 542 are respectively arranged above and below the central axis N2, and are arranged symmetrically about the central axis N2.

[0076] Figure 6 yes Figure 1C The three-dimensional view of the housing end cover 104 is shown in FIG. Figure 6 As shown, the shell end cover 104 includes a shell end cover body 602. The shell end cover body 602 is generally annular and has a certain thickness. The shell end cover body 602 has a shell end cover central axis X2, and two third protrusions 612 are provided on its left side. The two third protrusions 612 extend leftward from the left side of the shell end cover body 602 along the shell end cover 104 central axis X2. The two third protrusions 612 are respectively arranged above and below the shell end cover 104 central axis X2, and are symmetrically arranged about the shell end cover central axis X2.

[0077] Fig. 7A and 7B Shows Figure 1C The specific structure of the output connection plate 114, wherein: Fig. 7A is a three-dimensional diagram of the output connection plate 114, Figure 7B is a cross-sectional view of the output connection plate 114. Figure 7A-7BAs shown, the output connection disk 114 is roughly disk-shaped, has a center hole 702, and has a center axis M1 of the output connection disk. The radial dimension of the center hole 702 is greater than the radial dimension of the first isolation portion 213 on the eccentric shaft 106, so that the output connection disk 114 can be sleeved on the first isolation portion 213 of the eccentric shaft 106 through the center hole 702, and the output connection disk 114 does not contact the eccentric shaft 106 when the transmission mechanism 100 is assembled and during the movement of the output connection disk 114 and the eccentric shaft 106. The output connection disk 114 is also provided with two first recessed portions 714 for receiving the first protrusion 422, and two third recessed portions 712 for receiving the third protrusion 612. The first recessed portion 714 and the third recessed portion 712 both penetrate the output connection disk 114 along the axial direction of the output connection disk 114. In the circumferential direction, the two third recessed portions 712 and the two first recessed portions 714 are evenly spaced.

[0078] Combination Figure 3A As shown, the two third protrusions 612 and the two third recesses 712 form a first set of output connection structures 310, which can connect the first external gear 112 and the output connection disk 114, and enable relative linear motion between the first external gear 112 and the output connection disk 114. The two first protrusions 422 and the two first recesses 714 form a second set of output connection structures 320, which can connect the output connection disk 114 and the housing end cover 104, and enable relative linear motion between the output connection disk 114 and the housing end cover 104. By providing the first set of output connection structures 310 and the second set of output connection structures 320, the direction of the relative linear motion between the first external gear 112 and the output connection disk 114 can be perpendicular to the direction of the relative linear motion between the output connection disk 114 and the housing end cover 104. In some embodiments, the first set of output connection structures 310 and the second set of output connection structures 320 are respectively linear slider mechanisms, which are formed by the cooperation of sliders formed by protrusions and slide grooves formed by recesses in the first set of output connection structures 310 / the second set of output connection structures 320.

[0079] More specifically, combined with Fig. 7A , 7B and Fig. 13B As shown, the third protrusion 612 and the third recess 712 forming the first group of output connection structures 310 respectively constitute a slider and a slide groove in the linear slider mechanism, and the third protrusion 612 can be relative to the third recess 712 along the first direction (in Fig. 13B The third recessed portion 712 is not able to move in a straight line along a second direction perpendicular to the first direction (in the vertical direction as shown by arrow BH). Fig. 13BThe third protrusion 612 is generally in the shape of a square block, and has a pair of short sides extending along the first direction BH and a pair of long sides extending generally along the second direction BW. The third recessed portion 712 is also formed in a generally square block shape, and also has a pair of short sides extending along the first direction BH and a pair of long sides extending generally along the second direction BW. The size H1 of the pair of short sides of the third protrusion 612 extending along the first direction BH is smaller than the size H2 of the pair of short sides of the third recessed portion 712 extending along the first direction BH, but the size W1 of the pair of long sides of the third protrusion 612 extending along the second direction is generally equal to the size W2 of the pair of long sides of the third recessed portion 712 extending along the second direction. Thus, the third protrusion 612 and the third recessed portion 712 constitute a linear slider mechanism, wherein a pair of short sides of the third recessed portion 712 define a slide groove, and the third protrusion 612 constitutes a slider moving along the slide groove. Through the linear slider mechanism, the third protrusion 612 can perform linear motion along the first direction BH relative to the third recessed portion 712, and thereby enable the housing end cover 104 connected to the third protrusion 612 and the output connection disk 114 provided with the third recessed portion 712 to generate a relative linear motion along the first direction BH. In addition, the dimensions of the third protrusion 612 and the third recessed portion 712 are also set so that the distance of the relative linear motion between the housing end cover 104 and the output connection disk 114 is associated with the eccentricity of the two eccentric portions on the eccentric shaft 106.

[0080] Still combined Fig. 7A , 7B and Fig. 13B As shown, the structures of the first protrusion 422 and the first recess 714 forming the second group of output connection structures 320 are similar to the structures of the third protrusion 612 and the third recess 712, respectively, except that the first protrusion 422 is rotated 90 degrees relative to the third protrusion 612, and the first recess 714 is rotated 90 degrees relative to the third recess 712. As a result, the first protrusion 422 can perform linear motion along the second direction BW relative to the first recess 714, and thus the first external gear 112 connected to the first protrusion 422 and the output connection disk 114 provided with the first recess 714 can generate relative linear motion along the second direction BW. And therefore, the direction of the relative linear motion between the first external gear 112 and the output connection disk 114 is perpendicular to the direction of the relative linear motion between the output connection disk 114 and the housing end cover 104.

[0081] Fig. 8A and 8B Shows Figure 1C The specific structure of the synchronous connection disk 115 shown in FIG. Fig. 8A is a three-dimensional diagram of the synchronous connection disk 115, Figure 8B 115 is a cross-sectional view of the synchronous connection disk 115. Figures 8A-8B As shown, the synchronous connection disk 115 is roughly disk-shaped, has a center hole 802, and has a center axis M2 of the synchronous connection disk. The size of the center hole 802 is larger than the size of the second isolating portion 215, so that the synchronous connection disk 115 can be sleeved on the second isolating portion 215 of the eccentric shaft 106 through the center hole 802, and the synchronous connection disk 115 does not contact the eccentric shaft 106 when the transmission mechanism 100 is assembled and during the movement of the synchronous connection disk 115 and the eccentric shaft 106. The synchronous connection disk 115 is also provided with two second recessed portions 812 for receiving the two second protrusions 432, and two fourth recessed portions 814 for receiving the two fourth protrusions 542. The second recessed portion 812 and the fourth recessed portion 814 both penetrate the synchronous connection disk 115 along the axial direction of the synchronous connection disk 115. In the circumferential direction, the two second recessed portions 812 and the two fourth recessed portions 814 are evenly spaced.

[0082] Combination Figure 3B It can be seen that the two second protrusions 432 and the two second recesses 812 form a first group of synchronous connection structures 330, which can connect the first external gear 112 and the synchronous connection disk 115, and generate relative linear motion between the first external gear 112 and the synchronous connection disk 115. The two fourth protrusions 542 and the two fourth recesses 814 form a second group of synchronous connection structures 340, which can connect the synchronous connection disk 115 and the second external gear 116, and generate relative linear motion between the synchronous connection disk 115 and the second external gear 116. By setting the first group of synchronous connection structures 330 and the second group of synchronous connection structures 340, the direction of the relative linear motion between the first external gear 112 and the synchronous connection disk 115 can be perpendicular to the direction of the relative linear motion between the synchronous connection disk 115 and the second external gear 116. In some embodiments, the first group of synchronous connection structures 330 and the second group of synchronous connection structures 340 are respectively linear slider mechanisms, which are formed by the cooperation of the protrusions and recesses of the first group of synchronous connection structures 330 / the second group of synchronous connection structures 340. Fig. 13C As shown, the first group of synchronous connection structures 330 and the second group of synchronous connection structures 340 are similar to the first group of output connection structures 310 and the second group of output connection structures 320, respectively, and are not described in detail herein.

[0083] Fig. 9 yes Figure 1C The three-dimensional view of the flange inner gear ring 108 is shown. Fig. 9As shown, the flange inner gear ring 108 is generally annular and has an inner gear center axis X3. The flange inner gear ring 108 has a hollow portion 912, which penetrates the flange inner gear ring 108 in the axial direction. The flange inner gear ring 108 is sleeved on the first outer gear 112 and the second outer gear 116 through the hollow portion 912. The inner wall of the flange inner gear ring 108 is provided with a first row of inner teeth 902 and a second row of inner teeth 904, which are respectively used to mesh with the first outer teeth 412 of the first outer gear 112 and the second outer teeth 512 of the second outer gear 116. As an example, the inner teeth 902 are formed by needle rollers.

[0084] It can be understood that although in the present application, the first row of internal teeth 902 and the second row of internal teeth 904 on the inner wall of the flange inner gear ring 108 are respectively used to mesh with the first external teeth 412 of the first external gear 112 and the second external teeth 512 of the second external gear 116, in other examples, since the number of teeth of the first row of internal teeth 902 and the second row of internal teeth 904 are the same, the first row of internal teeth 902 and the second row of internal teeth 904 can also be a row of internal teeth with a wider size in the axial direction, which is used to mesh with the first external teeth 412 of the first external gear 112 and the second external teeth 512 of the second external gear 116.

[0085] Fig.10 yes Figure 1C The flange end cover 109 is shown in a three-dimensional view. The flange end cover 109 is generally annular and has a flange end cover center axis X4. The flange end cover 109 is arranged on the left side of the flange inner gear ring 108 and is connected to the flange inner gear ring 108. In the embodiment of the present application, the flange end cover 109 is connected to the flange inner gear ring 108 by bolts.

[0086] Fig.11 yes Figure 1A The output end cover 103 is shown in FIG. Fig.11 As shown, the output end cover 103 is generally annular and has a housing center axis X5. The output end cover 103 has a hollow portion 1012, which penetrates the output end cover 103 in the axial direction. The output end cover 103 is sleeved on the flange inner gear ring 108 through the hollow portion 1012. The output end cover 103, the flange inner gear ring 108 and the cylindrical body 102 cooperate to form a first annular space for mounting the bearing 131 (see Figure 1C In the embodiment of the present application, the output end cover 103 is connected to the cylindrical body 102 by bolts.

[0087] Fig.12 yes Figure 1C The three-dimensional view of the cylindrical body 102 shown in FIG. Fig.12As shown, the cylindrical body 102 is generally annular and has a cylindrical body central axis X6. The cylindrical body 102 has a hollow portion 1022 for accommodating the flange inner gear ring 108, and the flange inner gear ring 108 is arranged in the cylindrical body 102 through bearings 131 and 132 (see Figure 1C ). When the cylindrical body 102 is fixed, the flange inner gear ring 108 can rotate around the central axis X6 of the cylindrical body. The output end cover 103 cooperates with the flange inner gear ring 108 and the cylindrical body 102 to form a first annular space for installing and connecting the bearing 131. The cylindrical body 102 cooperates with the flange inner gear ring 108 and the shell end cover 104 to form a second annular space for installing and connecting the bearing 132. In the embodiment of the present application, the cylindrical body 102 is connected to the shell end cover 104 and the output end cover 103 by bolts.

[0088] Fig.13A yes Figure 1C A vertical axial section of the transmission mechanism 100 is shown. Fig. 13B yes Fig.13A The AA cross-sectional view of the transmission mechanism 100 shown is used to illustrate the specific matching relationship between the protrusions and the recesses in the first group of synchronous connection structures 330 and the second group of synchronous connection structures 340. Fig. 13C yes Fig.13A The BB cross-sectional view of the transmission mechanism 100 shown in FIG. 1 is used to illustrate the specific matching relationship between the protrusions and the recesses in the first set of output connection structures 310 and the second set of output connection structures 320. Figures 13A-13C As shown, when the transmission mechanism 100 is assembled in place, the central axis X1 of the eccentric shaft, the central axis X2 of the housing end cover, the central axis X3 of the flange inner gear ring, the central axis X4 of the flange end cover, the central axis X5 of the output end cover and the central axial direction X6 of the cylindrical body are coaxially arranged. The first external gear 112 and the second external gear 116 are respectively sleeved on the first eccentric part 212 and the second eccentric part 214. The output connecting disk 114 is arranged around the first isolating part 213 and does not contact the first isolating part 213. The synchronous connecting disk 115 is arranged around the second isolating part 215 and does not contact the second isolating part 215. The first external gear 112 and the housing end cover 104 are connected through the output connecting disk 114, and the second external gear 116 and the first external gear 112 are connected through the synchronous connecting disk 115.

[0089] The second external gear 116 has the same number of teeth as the first external gear 112, but has a difference in the number of teeth with the flange inner gear ring 108 (for example, the difference in the number of teeth is 1). When the transmission mechanism 100 is used as a reduction mechanism, its power transmission relationship is roughly as follows:

[0090] The eccentric shaft 106 is connected to a driving mechanism (not shown), and a flange end cover 109 of the flange device is connected to a driven device. The driving mechanism drives the eccentric shaft 106 to rotate. Since the housing end cover 104 is fixed, when the eccentric shaft 106 rotates, the first external gear 112 drives the output connection disk 114 to move in the up-down direction relative to the housing end cover 104, but the first external gear 112 moves in the front-back direction relative to the output connection disk 114, forming a motion mode in which the first external gear 112 can move in the up-down, front-back, and rear-back directions, but cannot rotate relative to the housing end cover 104.

[0091] The second external gear 116 and the first external gear 112 are connected via a synchronous connection disk 115. When the eccentric shaft 106 rotates, the first external gear 112 moves in the up-down direction relative to the synchronous connection disk 115, and at the same time, the first external gear 112 drives the synchronous connection disk 115 to move in the front-back direction relative to the second external gear 116. The second external gear 116 moves in the front-back direction relative to the synchronous connection disk 115, and at the same time, the second external gear 116 drives the synchronous connection disk 115 to move in the up-down direction relative to the first external gear 112. Therefore, the first external gear 112 and the second external gear 116 can independently move up, down, forward and backward in translation when the eccentric shaft 106 rotates, but there is no relative rotation.

[0092] Since the first external gear 112 and the second external gear 116 are meshed with the flange inner gear ring 108 at the same time, when the eccentric shaft 106 rotates one circle, it will drive the first external gear 112 and the second external gear 116 to make a translational movement independently. At the same time, since the difference in the number of teeth between the inner and outer teeth is one, they will jointly push the flange inner gear ring 108 and the eccentric shaft 106 to rotate one tooth in the same direction, and output the low-speed power through the flange end cover 109 connected to the flange inner gear ring 108.

[0093] The reduction ratio of the transmission mechanism when it is used as a reduction mechanism is calculated as follows: Where n2 is the number of teeth of the flange inner gear ring 108 , and n1 is the number of teeth of the first outer gear 112 and the second outer gear 116 .

[0094] Fig.14A and 14B Another embodiment of a synchronous connection structure / output connection structure in the form of a linear slider mechanism is shown, wherein: Fig.14A It is a three-dimensional exploded view of another embodiment of a synchronous connection structure / output connection structure in the form of a linear slider mechanism, Fig. 14B yes Fig.14A A cross-sectional view of the synchronous connection structure / output connection structure shown. Figures 14A-14BThe synchronous connection structure is described by taking the first external gear 112, the second external gear 116 and the synchronous connection disk 115 as an example, but those skilled in the art can understand that the output connection structure can also be implemented by using the same mechanism. Figures 14A-14B As shown, the synchronous connection disk 115 is roughly a rectangular parallelepiped, and its cross section is roughly square, and it has a substantially straight line along the first direction BH (ie Fig.14A The first pair of edges 1411 and 1413 extending in the up-down direction in the middle, and the ... Fig.14A The first outer gear 112 is provided with a first slide groove 1420 formed by two guide blocks 442. The two guide blocks 442 extend to the left along the central axis N1 from the left side of the first outer gear body 402. The two guide blocks 442 are respectively arranged in front and rear of the central axis N1 and are arranged symmetrically about the central axis N1. The inner side surfaces of the two guide blocks 442 facing each other extend approximately along the first direction BH and define the first slide groove 1420. The first slide groove 1420 can accommodate the synchronous connection disk 115, and the width of the first slide groove 1420 along the second direction BW is set to be approximately the same as the distance between the first pair of edges 1411 and 1413 of the synchronous connection disk 115, so that when the synchronous connection disk 115 is assembled in place, the first outer gear 112 can move linearly relative to the synchronous connection disk 115 in the up and down direction (i.e., the first direction BH). The second external gear 116 is provided with a second slide groove 1440 formed by two guide blocks 552. The two guide blocks 552 extend rightward along the central axis N2 from the right side of the second external gear body 502. The two guide blocks 552 are respectively arranged above and below the central axis N2, and are arranged symmetrically about the central axis N2. The inner side surfaces of the two guide blocks 552 facing each other extend approximately along the second direction BW and define the second slide groove 1440. The second slide groove 1440 can accommodate the synchronous connecting disk 115, and the width of the second slide groove 1440 along the first direction BH is set to be approximately the same as the distance between the second pair of edges 1412 and 1414 of the synchronous connecting disk 115, so that when the synchronous connecting disk 115 is assembled in place, the second external gear 116 can move linearly relative to the synchronous connecting disk 115 along the front-to-back direction (i.e., the second direction BW). That is to say, in this embodiment, the first group of synchronous connection structures and the second group of synchronous connection structures in the synchronous connection structure are also linear slider mechanisms respectively, wherein the first group of synchronous connection structures is formed by a slider formed by the synchronous connection disk 115 and a first slide groove 1410 on the first external gear 112, and the second group of synchronous connection structures is formed by a slider formed by the synchronous connection disk 115 and a second slide groove 1440 on the second external gear 116.

[0095] Figures 15A-15CA transmission mechanism 1500 according to another embodiment of the present application is shown, wherein Fig.15A This is a three-dimensional diagram of the transmission mechanism 1500 viewed from right to left. Fig. 15B This is a three-dimensional diagram of the transmission mechanism 1500 viewed from left to right. Fig. 15C 1500 is a cross-sectional view of the transmission mechanism 1500. Figures 15A-15C As shown, the transmission mechanism 1500 includes a housing device, a flange device, an eccentric shaft 1506, a flange end cover 1509, an output connection disk 1514, a synchronous connection disk 1515, a first external gear 1512, a second external gear 1516, a synchronous connection structure and an output connection structure (in Figures 15A-15C The housing device includes an output end cover 1503, a cylindrical body 1502 and a housing end cover 1504 which are fixedly connected, and the cylindrical body 1502 includes internal teeth arranged inside the housing device. The housing device is fixed. The flange device includes a flange end cover 1509. The flange end cover 1509 is configured to be rotatable. The first external gear 1512 and the second external gear 1516 are symmetrically eccentrically arranged on the eccentric shaft 1506 relative to the central axis of the eccentric shaft, and both are engaged with the internal teeth of the cylindrical body 1502. The synchronous connection disk 1515 is arranged between the second external gear 1516 and the first external gear 1512, and the second external gear 1516 is connected to the first external gear 1512 through a synchronous connection structure. Through the connection of the synchronous connection disk 1515 and the synchronous connection structure, the first external gear 1512 and the second external gear 1516 form a synchronous external gear set. The output connection disk 1514 is arranged between the first external gear 1512 and the flange end cover 1509, and connects the first external gear 1512 and the flange end cover 1509 through the output connection structure, so that the first external gear 1512 can move linearly relative to the flange end cover 1509. The output connection structure is configured to enable the first external gear 1512 to move linearly relative to the flange end cover 1509 under the drive of the eccentric shaft 106. The synchronous connection structure is configured to synchronize the movement of the first external gear 1512 and the second external gear 1516 in the rotation direction, but can independently perform eccentric translation relative to each other. In this embodiment, the synchronous external gear set formed by the first external gear 112 and the second external gear 116 rotates synchronously.

[0096] In summary, Figures 15A-15C The transmission mechanism 1500 shown is Figures 1A-1CThe main difference between the transmission mechanism 100 shown is that the synchronous external gear set of the transmission mechanism 100 is meshed with the flange device, and the output connecting plate connects the synchronous external gear set to the housing device, while the synchronous external gear set of the transmission mechanism 1500 is meshed with the housing device, and the output connecting plate connects the synchronous external gear set to the flange device. The transmission mechanism 1500 is similar to the transmission mechanism 100 in that a similar synchronous connecting plate and a synchronous connecting structure are used to achieve the connection between the two external gears, so that the two external gears are synchronized in the rotation direction (synchronous rotation or synchronous non-rotation), but perform eccentric translation independently of each other, and a similar output connecting plate and an output connecting structure are used to achieve the output of the torque of the synchronous external gear set.

[0097] The specific structure of each component in the transmission mechanism 1500 is described in detail below:

[0098] Figures 16A-16C Shows Fig. 15C The specific structure of the eccentric shaft 1506, wherein: Fig.16A is a three-dimensional diagram of the eccentric shaft 1506, Fig. 16B is a side view of the eccentric shaft 1506, Fig. 16C 1506 is an enlarged view of the eccentricity of the eccentric shaft 1506. Figures 16A-16C As shown, the eccentric shaft 1506 includes an eccentric shaft body. It is substantially cylindrical and has an eccentric shaft center axis X1. The driving mechanism can drive the eccentric shaft 1506 to rotate around its eccentric shaft center axis X1. As an example, the driving mechanism is a motor.

[0099] The eccentric shaft 1506 is provided with a first eccentric portion 1212 and a second eccentric portion 1214 having the same eccentricity but opposite eccentricity directions. The first eccentric portion 1212 is a circular ring eccentrically arranged relative to the central axis X1 of the eccentric shaft 1506. The first eccentric portion 1212 forms a circumferential surface with a radius of D1 and has a central axis N1. The distance between the central axis N1 and the central axis X1 of the eccentric shaft is the eccentricity d. The second eccentric portion 1214 is a circular ring eccentrically arranged relative to the central axis X1 of the eccentric shaft of the eccentric shaft 1506. The second eccentric portion 1214 forms a circumferential surface with a radius of D2 and has a central axis N2. The distance between the central axis N2 and the central axis X1 of the eccentric shaft is the eccentricity d. The central axis N1 of the first eccentric portion 1212 and the central axis N2 of the second eccentric portion 1214 are symmetrical relative to the central axis X1 of the eccentric shaft 106. When the eccentric shaft 1506 rotates around the eccentric shaft central axis X1, the central axis N1 of the first eccentric portion 1212 and the central axis N2 of the second eccentric portion 1214 both rotate around the eccentric shaft central axis X1.

[0100] In addition, the eccentric shaft 1506 is further provided with a first isolating portion 1213 and a second isolating portion 1215. The second isolating portion 1215 is arranged between the first eccentric portion 1212 and the second eccentric portion 1214, and the first isolating portion 1213 is arranged on the left side of the first eccentric portion 1212, so that a space can be provided in the axial direction to arrange the output connection disk 1514 and the synchronization connection disk 1515 respectively.

[0101] Fig.17A yes Fig. 15C The three-dimensional exploded view of the first external gear 1512, the synchronous connection disk 1515 and the second external gear 1516 is shown. The synchronous connection disk 1515 connects the first external gear 1512 and the second external gear 1516 to each other through the synchronous connection structure, and enables the first external gear 1512 and the second external gear 1516 to independently perform eccentric translation relative to each other. The synchronous connection structure includes a first group of synchronous connection structures 1330 and a second group of synchronous connection structures 1340. The first group of synchronous connection structures 1330 can connect the first external gear 1512 and the synchronous connection disk 1515, and enable the first external gear 1512 and the synchronous connection disk 1515 to generate relative linear motion. The second group of synchronous connection structures 1340 can connect the synchronous connection disk 1515 and the second external gear 1516, and enable the synchronous connection disk 1515 and the second external gear 1516 to generate relative linear motion.

[0102] Fig. 17B yes Fig. 15C The three-dimensional exploded view of the first external gear 1512, the output connection disk 1514 and the flange end cover 1509 is shown. The output connection disk 1514 connects the flange end cover 1509 with the first external gear 1512 through the output connection structure, so that the first external gear 1512 can move linearly relative to the flange end cover 1509. The output connection structure includes a first group of output connection structures 1310 and a second group of output connection structures 1320. The first group of output connection structures 1310 can connect the flange end cover 1509 and the output connection disk 1514, and enable the flange end cover 1509 and the output connection disk 1514 to generate relative linear motion. The second group of output connection structures 1320 can connect the output connection disk 1514 and the first external gear 1512, and enable the output connection disk 1514 and the first external gear 1512 to generate relative linear motion.

[0103] Fig.18 yes Fig. 15C A three-dimensional view of the flange end cover 1509 is shown. Fig.18As shown, the flange end cover 1509 includes a flange end cover body 1802. The flange end cover body 1802 is roughly annular and has a certain thickness. The flange end cover body 1802 has a flange end cover central axis X2, and two first protrusions 1804 are provided on the right side thereof. The two first protrusions 1804 extend rightward from the right side of the flange end cover body 1802 along the flange end cover central axis X2. The two first protrusions 1804 are respectively arranged in front of and behind the flange end cover central axis X2, and are symmetrically arranged about the flange end cover central axis X2.

[0104] Fig.19A and 19B Shows Fig. 15C The specific structure of the first external gear 1512, wherein: Fig.19A is a perspective view of the first external gear 1512, Fig.19B is a side view of the first external gear 1512. Figures 19A-19B As shown, the first external gear 1512 includes a first external gear body 1502. The first external gear body 1502 is generally annular and has a certain thickness. The first external gear body 1502 has a central axis N1, and its outer periphery has first external teeth 1513 for meshing with the cylindrical body 1502. More specifically, when the first external gear 1512 moves, at least a portion of the first external teeth 1513 can mesh with the cylindrical body 1502. Two second protrusions 1532 are provided on the left side of the first external gear body 1502. The two second protrusions 1532 extend to the left along the central axis N2 from the left side of the first external gear body 1502. The two second protrusions 1532 are respectively arranged above and below the central axis N2, and are symmetrically arranged about the central axis N1. Two third protrusions 1542 are provided on the right side of the first external gear body 1502. Two third protrusions 1542 are formed extending rightward along the central axis N1 from the right side of the first external gear body 1502. The two third protrusions 1542 are respectively disposed in front of and behind the central axis N2 and are arranged symmetrically with respect to the central axis N1.

[0105] Fig. 20A and 20B Shows Fig. 15C The specific structure of the second external gear 1516, wherein: Fig. 20A is a perspective view of the second external gear 1516, Fig. 20B is a cross-sectional view of the second external gear 1516. Figures 20A-20BAs shown, the second external gear 1516 includes a second external gear body 1402. The second external gear body 1402 is roughly annular and has a certain thickness. The second external gear body 1402 has a central axis N2, and its outer periphery has second external teeth 1422 for meshing with the cylindrical body 1502. More specifically, when the second external gear 1516 moves, at least a portion of the second external teeth 1422 can mesh with the cylindrical body 1502. Two fourth protrusions 1432 are provided on the left side of the second external gear body 1402. The two fourth protrusions 1432 extend to the left from the left side of the second external gear body 1402 along the central axis N2. The two fourth protrusions 1432 are respectively arranged above and below the central axis N2, and are arranged symmetrically about the central axis N2.

[0106] Fig.21A and 21B Shows Figure 1C The specific structure of the output connection plate 1514, wherein: Fig.21A is a three-dimensional diagram of the output connection disk 1514, Fig.21B is a cross-sectional view of the output connection disk 1514. Figures 21A-21B As shown, the output connection disk 1514 is generally disk-shaped, has a center hole 1702, and has a center axis M1 of the output connection disk. The radial dimension of the center hole 1702 is greater than the radial dimension of the first isolation portion 1213 on the eccentric shaft 1506, so that the output connection disk 1514 can be sleeved on the first isolation portion 1213 of the eccentric shaft 1506 through the center hole 1702, and the output connection disk 1514 does not contact the eccentric shaft 1506 when the transmission mechanism 100 is assembled and during the movement of the output connection disk 1514 and the eccentric shaft 1506. The output connection disk 1514 is also provided with two first recessed portions 1712 for receiving the two first protrusions 1804, and two second recessed portions 1714 for receiving the two second protrusions 1532, respectively. The first recessed portion 1712 and the second recessed portion 1714 both penetrate the output connection disk 1514 along the axial direction of the output connection disk 1514. In the circumferential direction, the two first recessed portions 1712 and the two second recessed portions 1714 are evenly spaced apart.

[0107] Combination Fig. 17BIt can be seen that the two first protrusions 1804 and the two first recesses 1712 form a first group of output connection structures 1310, which can connect the flange end cover 1509 and the output connection disk 1514, and enable relative linear motion between the flange end cover 1509 and the output connection disk 1514. The two second protrusions 1532 and the two second recesses 1714 form a second group of output connection structures 1320, which can connect the output connection disk 1514 and the first external gear 1512, and enable relative linear motion between the output connection disk 1514 and the first external gear 1512. By providing the first group of output connection structures 1310 and the second group of output connection structures 1320, the direction of the relative linear motion between the flange end cover 1509 and the output connection disk 1514 can be perpendicular to the direction of the relative linear motion between the output connection disk 1514 and the first external gear 1512. In some embodiments, the first group of output connection structures 1310 and the second group of output connection structures 1320 are respectively linear bearing mechanisms, which are formed by the cooperation of a slider formed by the protrusions in the first group of output connection structures 1310 / the second group of output connection structures 1320, a slide groove formed by the recessed portions, and a roller arranged between the slider and the slide groove.

[0108] More specifically, combined with Fig.18 , 21A , 21B and Fig.26B As shown, the first protrusion 1804 and the first recess 1712 forming the first group of output connection structures 1310 respectively constitute a slider and a slide groove in the linear bearing mechanism, and the first group of output connection structures 1310 further includes a roller 2610 disposed between the first protrusion 1804 and the first recess 1712. The first protrusion 1804 can move relative to the first recess 1712 along the second direction (in the first recess 1712) in the first recess 1712. Fig.26B The left and right directions as shown by arrows BW in the figure are linearly movable, but the first concave portion 1712 cannot move in a first direction perpendicular to the second direction (in the direction of the left and right directions as shown by arrows BW). Fig.26BThe first protrusion 1804 is generally block-shaped, having a pair of short sides extending along the second direction BW and a pair of long sides extending generally along the first direction BH. The first recessed portion 1712 is also generally block-shaped, and also has a pair of short sides extending along the second direction BW and a pair of long sides extending generally along the first direction BH. The size W1 of the pair of short sides of the first protrusion 1804 extending along the second direction BW is smaller than the size W2 of the pair of short sides of the first recessed portion 1712 extending along the second direction BW, and the size H1 of the pair of long sides of the first protrusion 1804 extending along the first direction BH is also smaller than the size H2 of the pair of long sides of the first recessed portion 1712 extending along the first direction BH. The pair of short sides of the first protrusion 1804 are respectively adjacent to the pair of short sides of the first recessed portion 1712, and rollers 2610 are respectively provided therebetween. Thus, the first protrusion 1804 and the first recess 1712, as well as the roller 2610, form a linear bearing mechanism, wherein a pair of short sides of the first recess 1712 define a slide groove, the first protrusion 1804 forms a slider, and the slider and the slide groove are in contact with each other through the roller 2610, so that the slider can move along the slide groove while having a small friction force between the slider and the slide groove. Through the linear slider mechanism, the first protrusion 1804 can perform linear motion along the second direction BW relative to the first recess 1712, and thereby the flange end cover 1509 connected to the first protrusion 1804 and the output connection plate 1514 provided with the first recess 1712 can generate a relative linear motion along the second direction BW.

[0109] Still combined Fig.18 , 21A , 21B and Fig.26B As shown, the structures of the second protrusion 1532 and the second recess 1714 forming the second group of output connection structures 1320 are similar to the structures of the first protrusion 1804 and the first recess 1712, respectively, except that the second protrusion 1532 is rotated 90 degrees relative to the first protrusion 1804, and the second recess 1714 is rotated 90 degrees relative to the first recess 1712. As a result, the second protrusion 1532 can perform linear motion along the first direction BH relative to the second recess 1714, and thus the first external gear 1512 connected to the second protrusion 1532 and the output connection disk 1514 provided with the second recess 1714 can generate relative linear motion along the first direction BH. And therefore, the direction of the relative linear motion between the first external gear 1512 and the output connection disk 1514 is perpendicular to the direction of the relative linear motion between the output connection disk 1514 and the flange end cover 1509.

[0110] Fig.22A and 22BShows Fig. 15C The specific structure of the synchronous connection disk 1515, wherein: Fig.22A is a three-dimensional diagram of the synchronous connection disk 1515, Fig. 22B 15 is a cross-sectional view of the synchronous connection disk 1515. Figures 22A-22B As shown, the synchronous connection disk 1515 is roughly disk-shaped, has a center hole 1802, and has a center axis M2 of the synchronous connection disk. The radial dimension of the center hole 1802 is greater than the radial dimension of the second isolation portion 1215, so that the synchronous connection disk 1515 can be sleeved on the second isolation portion 1215 of the eccentric shaft 1506 through the center hole 1802, and the synchronous connection disk 1515 does not contact the eccentric shaft 1506 when the transmission mechanism 1500 is assembled and during the movement of the synchronous connection disk 1515 and the eccentric shaft 1506. The synchronous connection disk 1515 is also provided with two third recessed portions 1814 for receiving the two third protrusions 1542, and two fourth recessed portions 1812 for receiving the two fourth protrusions 1432. The third recessed portion 1814 and the fourth recessed portion 1812 both penetrate the synchronous connection disk 1515 along the axial direction of the synchronous connection disk 1515. In the circumferential direction, the two third recessed portions 1814 and the two fourth recessed portions 1812 are evenly spaced apart.

[0111] Combination Fig. 17B and Fig.26C It can be seen that the two third protrusions 1542, the two third recesses 1814, and the rollers 2620 disposed between the third protrusions 1542 and the third recesses 1814 form a first group of synchronous connection structures 1330, which can connect the first external gear 1512 and the synchronous connection disk 1515, and generate relative linear motion between the first external gear 1512 and the synchronous connection disk 1515. The two fourth protrusions 1432, the two fourth recesses 1812, and the rollers 2620 disposed between the fourth protrusions 1432 and the fourth recesses 1812 form a second group of synchronous connection structures 1340, which can connect the synchronous connection disk 1515 and the second external gear 1516, and generate relative linear motion between the synchronous connection disk 1515 and the second external gear 1516. By setting the first group of synchronous connection structures 1330 and the second group of synchronous connection structures 1340, the direction of the relative linear motion between the first external gear 1512 and the synchronous connection disk 1515 can be perpendicular to the direction of the relative linear motion between the synchronous connection disk 1515 and the second external gear 1516. In some embodiments, the first group of synchronous connection structures 1330 and the second group of synchronous connection structures 1340 are linear bearing mechanisms, which are formed by the cooperation of the protrusions and recesses of the first group of synchronous connection structures 1330 / the second group of synchronous connection structures 1340 and the rollers arranged between the protrusions and recesses. Fig.26CAs shown, the first group of synchronous connection structures 1330 and the second group of synchronous connection structures 1340 are similar to the first group of output connection structures 1310 and the second group of output connection structures 1320, respectively, and are not described in detail herein.

[0112] It can be seen that both the output connection structure / synchronous connection structure in the form of a linear bearing mechanism and the output connection structure / synchronous connection structure in the form of a linear slider mechanism realize the relative linear motion between the two connected components by the linear motion of the slider along the slide groove. The difference is that the output connection structure / synchronous connection structure in the form of a linear bearing mechanism is additionally provided with a roller for reducing the friction between the slider and the slide groove. According to the present application, whether it is Figures 1A-1C The transmission mechanism 100 shown is still Figures 15A-15C The transmission mechanism 1500 shown can adopt an output connection structure / synchronous connection structure in the form of a linear slider mechanism or an output connection structure / synchronous connection structure in the form of a linear bearing mechanism. Moreover, the specific formation of the linear slider mechanism and the linear bearing mechanism is not limited to the specific structure disclosed in this application.

[0113] Fig.23 yes Fig. 15C 1502 of the transmission mechanism 1500. Fig.23 As shown, the cylindrical body 1502 is roughly annular and has a cylindrical body center axis X3. The cylindrical body 1502 has a recessed portion 2312, which is set through the cylindrical body 1502. The cylindrical body 1502 is sleeved on the first external gear 1512, the second external gear 1516, the output connecting disk 1514 and the synchronous connecting disk 1515 through the recessed portion 2312. The middle part of the wall of the recessed portion 2312 is provided with an internal tooth 2302, which can mesh with the first external gear 1512 and the second external gear 1516. The output connecting disk 1514 and the synchronous connecting disk 1515 do not contact the cylindrical body 1502.

[0114] Fig.24 yes Fig.14A The output end cover 1503 is shown in FIG. Fig.24 As shown, the output end cover 1503 is generally annular and has a housing center axis X4. The output end cover 1503 is arranged on the left side of the cylindrical body 1502. The output end cover 1503 has a hollow portion 2412, which penetrates the output end cover 1503 in the axial direction. The output end cover 1503 is sleeved on the flange end cover 1509 through the hollow portion 2412.

[0115] Fig.25 yes Fig. 15CThe three-dimensional view of the shell end cover 1504 is shown. The shell end cover 1504 is generally annular and has a flange end cover center axis X5. The shell end cover 1504 is arranged on the right side of the cylindrical body 1502 and is connected to the cylindrical body 1502 by bolts.

[0116] Figures 26A-26C Shows Fig. 15C The assembly structure of the transmission mechanism 1500, wherein Fig.26A is a transverse axial cross-sectional view of the transmission mechanism 1500, Fig.26B yes Fig.26A The AA cross-sectional view of the transmission mechanism 1500 is used to illustrate the specific matching relationship between the protrusions and the recesses in the first group of output connection structures 1310 and the second group of output connection structures 1320. Fig.26C yes Fig.26A The BB cross-sectional view of the transmission mechanism 1500 is used to illustrate the specific matching relationship between the protruding parts and the recessed parts in the first group of synchronous connection structures 1330 and the second group of synchronous connection structures 1340 . Figures 26B-26C The angles shown are relative to Figures 17A-17B The angle shown is rotated 90°. Figures 26A-26C As shown, when the transmission mechanism 1500 is assembled in place, the central axis X1 of the eccentric shaft, the central axis X2 of the flange end cover, the central axis X3 of the cylindrical body, the central axis X4 of the output end cover, and the central axis X5 of the housing end cover are coaxially arranged. The first external gear 1512 and the second external gear 1516 are respectively sleeved on the first eccentric portion 1212 and the second eccentric portion 1214. The output connecting disk 1514 is arranged around the first isolating portion 1213 and does not contact the first isolating portion 1213. The synchronous connecting disk 1515 is arranged around the second isolating portion 1215 and does not contact the second isolating portion 1215. The output connecting disk 1514 connects the first external gear 1512 and the flange end cover 1509 through the output connecting structure, and the synchronous connecting disk 1515 connects the second external gear 1516 and the first external gear 1512 through the synchronous connecting structure.

[0117] The second external gear 116 has the same number of teeth as the first external gear 112, but has a difference in the number of teeth with the flange inner gear ring 108 (for example, the difference in the number of teeth is 1). When the transmission mechanism 100 is used as a reduction mechanism, its power transmission relationship is roughly as follows:

[0118] The eccentric shaft 1506 is connected to a driving mechanism (not shown), and the flange end cover 1509 of the flange device is connected to the driven device. The driving mechanism drives the eccentric shaft 1506 to rotate. Since the first external gear 1512 and the second external gear 1516 are meshed with the internal teeth of the cylindrical body 1502, when the eccentric shaft 106 rotates one circle, while the first external gear 1512 and the second external gear 1516 independently translate one circle, they will rotate one tooth in the opposite direction with the eccentric shaft 106. The speed ratio is calculated as follows: Where n2 is the number of teeth of the flange inner gear ring 108, and n1 is the number of teeth of the first outer gear 112 and the second outer gear 116. The second outer gear 1516 and the first outer gear 1512 transmit the resultant force to the flange end cover 1509 through the synchronous connection disk 1515 and the output connection disk 1514, thereby driving the flange end cover 1509 to rotate, thereby realizing the reduction transmission.

[0119] In a traditional transmission mechanism, two outer gears with opposite eccentricity are usually arranged in parallel, flanges are arranged on both sides of the outer gears, and several connecting pins are passed through the two outer gears to connect the flanges on both sides, thereby forming a planetary carrier. The transmission mechanism transmits the torque from the two outer gears through the planetary carrier. The rigidity of the planetary carrier determines the load-bearing capacity and load-sharing coefficient of the two outer gears, but the rigidity of the planetary carrier is usually limited due to volume and structural limitations. The overall load-bearing capacity of the reducer depends on the rigidity of the planetary carrier. In addition, in the structure of the traditional pin-sleeve planetary carrier, the several connecting pins of the planetary carrier are not only small in diameter, but also have a certain length because they need to pass through the two outer gears. In addition, since the several connecting pins of the planetary carrier need to pass through the two outer gears, the two outer gears are respectively provided with several holes corresponding to the number of connecting pins. The traditional transmission mechanism has high requirements for the processing accuracy of the holes on the outer gears, making the processing of the outer gears difficult. This is because the two outer gears not only rotate, but also move eccentrically, and the directions of the two outer gears moving in different directions, so the diameter of the hole on the outer gear needs to be set larger than the outer diameter of the pin, and the torque on the outer gear needs to be transmitted to the pin through the contact between the hole and the pin, which requires the relative position of the many holes on each outer gear to be accurate, and the size of each hole must also be accurate. As a result, the processing of the outer gear of the traditional transmission mechanism is difficult.

[0120] The transmission mechanism of the present application no longer uses the planetary carrier in the traditional transmission mechanism, but adopts a synchronous connecting disk and a synchronous connecting structure to synchronously connect two external gears, and connects the synchronous external gear set to the housing device or flange device through the output connecting disk and the output connecting structure to achieve torque output. Therefore, it is no longer necessary to use several connecting pins, and it is no longer necessary to set several holes on the external gear. Therefore, the load-bearing capacity of the transmission mechanism of the present application is no longer limited by the rigidity of the planetary carrier. On the contrary, since the synchronous connecting disk / output connecting disk and its connecting structure have good rigidity, the load-bearing capacity of the transmission mechanism of the present application can be relatively large and can be applied to a larger load-bearing range. And the processing accuracy requirements of the external gears of the present application are also relatively small. In addition, the number of connecting parts of the transmission mechanism of the present application is also relatively small, which reduces the difficulty of assembly.

[0121] It should be noted that the transmission mechanism of the present application is not limited to the structure shown in the embodiment of the figure. In the embodiment of the figure, a transmission of one or two planetary structures can be added at the input end to reduce the rotation speed of the eccentric shaft to reduce friction and reduce temperature rise. Although not shown in the figures of the present application, all designs that use an additional one or two-stage transmission are within the scope of protection of the present application. The transmission mechanism of the present application is also not limited to being used as a speed reduction mechanism. On the contrary, it can also be used as a speed increase mechanism.

[0122] It should also be noted that, although the recessed portion used as a slide groove in the embodiment shown in the present application is arranged on the synchronous connection disk / output connection disk, and the protruding portion used as a slider is arranged on the component (external gear or housing device or flange device) connected to the synchronous connection disk / output connection disk, the positions of the protruding portion and the recessed portion can also be reversed. In other words, the protruding portion used as a slider can also be arranged on the synchronous connection disk / output connection disk, and the recessed portion used as a slide groove can be arranged on the component (external gear or housing device or flange device) connected to the synchronous connection disk / output connection disk. In addition, although the protruding portion used for the slider and the recessed portion used as the slide groove in the embodiment of the present application are respectively arranged on specific components, they can also be independent structures connected to the components by fixed connection. For example, the protruding portion can be connected to the external gear or the synchronous connection disk by welding or fastener connection, and the recessed portion can be formed on an independent component connected to the synchronous connection disk or the external gear, and so on. All of the above are within the scope of protection of the present application.

[0123] It should also be noted that, although the output connection structure and the synchronous connection structure in the present application include two groups of output connection structures and two groups of synchronous connection structures respectively, any number of output connection structures and synchronous connection structures are within the protection scope of the present application.

[0124] It should also be noted that two specific embodiments of the transmission mechanism are shown in the present application. In the first embodiment, the flange device is meshed with the first external gear, and the housing device is connected to the first external gear. In the second embodiment, the housing device is meshed with the first external gear, and the flange device is connected to the first external gear. Therefore, one of the flange device and the housing device is meshed with the first external gear, and the other of the flange device and the housing device is connected to the first external gear, which is within the protection scope of the present application.

[0125] Although the present disclosure has been described in conjunction with the examples of the embodiments summarized above, various alternatives, modifications, changes, improvements and / or substantially equivalent solutions, whether known or currently or foreseeable in the near future, may be apparent to those of ordinary skill in the art. In addition, the technical effects and / or technical problems described in this specification are exemplary rather than restrictive; so the disclosure in this specification may be used to solve other technical problems and have other technical effects and / or may solve other technical problems. Therefore, the examples of the embodiments of the present disclosure as stated above are intended to be illustrative rather than restrictive. Various changes may be made without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is intended to include all known or earlier developed alternatives, modifications, changes, improvements and / or substantially equivalent solutions.

Claims

1. A transmission mechanism, characterized in that include: A housing device, wherein the housing device is fixed; An eccentric shaft, wherein a first eccentric portion and a second eccentric portion are provided on the eccentric shaft, wherein the first eccentric portion and the second eccentric portion have the same eccentricity and opposite eccentricity directions; A flange device, wherein the flange device is configured to rotate; a first external gear, the first external gear being sleeved on the first eccentric portion of the eccentric shaft and configured to move with the rotation of the first eccentric portion; a second external gear, the second external gear being sleeved on the second eccentric portion of the eccentric shaft and configured to move with the rotation of the second eccentric portion; a synchronous connection disk and a synchronous connection structure, wherein the synchronous connection disk is disposed around the eccentric shaft and arranged between the first external gear and the second external gear, and the synchronous connection disk is configured to connect the first external gear and the second external gear to each other through the synchronous connection structure, and enable the first external gear and the second external gear to independently perform eccentric translation relative to each other; An output connection disk and an output connection structure, wherein the output connection disk is arranged around the eccentric shaft; wherein one of the housing device and the flange device is meshed with the first external gear and the second external gear, and wherein the output connecting disk connects the first external gear to the other of the housing device and the flange device via the output connecting structure, and enables the first external gear to move linearly relative to the other of the housing device and the flange device.

2. The transmission mechanism according to claim 1, characterized in that: The synchronous connection structure includes a first group of synchronous connection structures and a second group of synchronous connection structures; Wherein, the first group of synchronous connection structures is configured to connect the first external gear with the synchronous connection disk, and to generate relative linear motion between the first external gear and the synchronous connection disk; Wherein, the second group of synchronous connection structures is configured to connect the second external gear with the synchronous connection disk, and to generate relative linear motion between the second external gear and the synchronous connection disk; And wherein, the first group of synchronous connection structures is a linear slider mechanism or a linear bearing mechanism, and the second group of synchronous connection structures is a linear slider mechanism or a linear bearing mechanism.

3. The transmission mechanism according to claim 2, characterized in that: The first group of synchronous connection structures and the second group of synchronous connection structures are configured such that a direction of relative linear motion between the first external gear and the synchronous connection disk is perpendicular to a direction of relative linear motion between the second external gear and the synchronous connection disk.

4. The transmission mechanism according to claim 1, characterized in that: The output connection structure includes a first group of output connection structures and a second group of output connection structures; Wherein, the first set of output connection structures is configured to connect the first external gear with the output connection disk, and enable relative linear motion to occur between the first external gear and the output connection disk; Wherein, the second group of output connection structures is configured to connect the other of the housing device and the flange device to the output connection disk, and enable relative linear motion between the output connection disk and the other of the housing device and the flange device; And wherein, the first group of output connection structures is a linear slider mechanism or a linear bearing mechanism, and the second group of output connection structures is a linear slider mechanism or a linear bearing mechanism.

5. The transmission mechanism according to claim 4, characterized in that: The first set of output connection structures and the second set of output connection structures are configured such that a direction of relative linear motion between the first external gear and the output connection disk is perpendicular to a direction of relative linear motion between the output connection disk and the other of the housing device and the flange device.

6. The transmission mechanism according to claim 2 or 4, characterized in that: The linear slider mechanism is formed by a slider and a slide groove.

7. The transmission mechanism according to claim 2 or 4, characterized in that: The linear bearing mechanism is formed by a slider, a slide groove and a roller arranged between the slider and the slide groove.

8. The transmission mechanism according to claim 1, characterized in that: The housing device comprises a cylindrical body and a housing end cover, wherein the cylindrical body and the housing end cover are fixedly connected; The flange device comprises a flange end cover and a flange inner gear ring, and the flange end cover and the flange inner gear ring are fixedly connected; Among them, the flange inner gear ring is arranged between the cylindrical body and the first and second external gears, and is configured to engage with the first and second external gears, the shell end cover is arranged around the eccentric shaft, and the output connecting disk connects the first external gear to the shell end cover through the output connecting structure.

9. The transmission mechanism according to claim 8, characterized in that: The first external gear and the second external gear do not rotate relative to each other.

10. The transmission mechanism according to claim 1, characterized in that: The housing device comprises a cylindrical body and a housing end cover, wherein the cylindrical body and the housing end cover are fixedly connected; The flange device includes a flange end cover; Wherein, the cylindrical body of the housing device is configured to mesh with the first external gear and the second external gear, and the output connecting disk connects the first external gear to the flange end cover through the output connecting structure.

11. The transmission mechanism according to claim 10, characterized in that: The first external gear and the second external gear rotate synchronously relative to each other.

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