Gear transmission with a high transmission ratio and improved efficiency and / or increased torque transmission capacity

Abstract

Gear transmission (1), including a first transmission stage (2) and a second transmission stage (3). The second transmission stage is a differential gear device (97, 98, 117), including a planetary gear system (99) implemented in a quasi-replication form. Wherein a first component (118) forms a torque resistance device (119). Wherein a second component (120) is interconnected or interacts with the output shaft (20). The total transmission efficiency of the first transmission stage is higher than that of the second transmission stage and / or the total torque transmission capacity of the second transmission stage (3) is higher than that of the first transmission stage (2).

Description

Technical Field

[0001] The present invention relates to a gear transmission having a high transmission ratio and improved efficiency and / or increased torque transmission capacity.

[0002] The present invention also relates to an infinitely variable transmission (IVT), which includes such a gear transmission according to the present invention, and to prostheses, orthoses or robots including a gear transmission or an IVT according to the present invention.

[0003] As can be clearly seen from the above, the gear transmission of the present invention is generally applied to medical devices, such as prostheses, orthoses or robots.

[0004] However, the present invention does not exclude the application of such a gear transmission of the present invention to other fields, such as the automotive industry or general means of transportation, wind turbines, various machines or devices, regardless of their size.

[0005] The gear transmission according to the present invention is particularly useful in applications where the conditions are quite extreme, i.e., in cases where a very high transmission ratio is required, only limited space is available, a relatively high torque should be applied on the output side of the gear transmission, a relatively high speed should be applied on the input side of the gear transmission, and energy consumption should be limited as much as possible.

[0006] For example, this is usually the case in prostheses (such as foot or knee prostheses, or joints of robots), where the application mechanism supports the movement of the relevant joints.

[0007] Thus, in the gear transmission according to the present invention, a high transmission ratio is combined with compactness, high transmission efficiency and the ability to increase torque transmission.

[0008] The gear transmission according to the present invention generally has a transmission ratio of, for example, at least 1:100, more likely at least 1:200, and more preferably at least 1:500 or even higher. Background Art

[0009] According to the prior art, although some gear transmissions are known to achieve such high transmission ratios, these known gear transmissions perform poorly in terms of the other above requirements.

[0010] The main reason for this rather poor performance may be that such known gear transmissions are designed for completely different applications where the requirements are different or less stringent, and thus the designers really focused on creating gear transmissions with high transmission ratios rather than considering all the other aforementioned aspects and features of the required gear transmission. These aspects and features are important in today's applications, such as in wind turbines, prosthetics, and robotic joints.

[0011] Other aspects that are becoming increasingly important are manufacturing costs, the sustainability of the product, the reduction of energy consumption, and generally protecting the environment. This has led to increasingly high standards that were not considered at all or were considered to a lesser extent in the prior art designs.

[0012] From today's perspective, the first disadvantage of known gear transmissions with high transmission ratios is that they usually have a rather large structure, or many of their components interact with each other in a low-performance manner, introducing many limitations to the design of different components (e.g., limitations regarding their assembly), which makes a compact implementation impossible.

[0013] In addition, known gear transmissions with high transmission ratios are rather inefficient.

[0014] There are many reasons for this.

[0015] The first reason is still that the selected structure of the known gear transmission itself introduces a large number of losses.

[0016] In some cases, doubling the gears, for example, for stability reasons, results in very high frictional losses.

[0017] In other cases, the gears (e.g., usually planetary gears) interact with other gears that operate at very different rotational speeds and different torques at the same time (e.g., usually interact with the sun gear and the ring gear).

[0018] Thus, the implementation of such related gears cannot be optimized for all the operating conditions involved, resulting in a rather low efficiency performance.

[0019] Another very important reason for the high energy losses (the importance of which was not understood or was ignored according to the prior art) is actually the result of a combination of various factors. These factors will be represented simultaneously by a single newly defined parameter hereinafter.

[0020] This parameter is newly introduced in this application and will be represented by "rolling work" according to the present invention.

[0021] According to the present invention, rolling work is thus defined as the distance that one gear rolls on another gear (measured at the pitch circle of the gear) multiplied by the mutual force at that pitch circle.

[0022] This interaction force is proportional to the frictional force, so the rolling work is a measure of the interaction losses of the relevant gear train.

[0023] This rolling work is inherent and thus depends on the structure of the gear transmission.

[0024] In fact, imagine a first gear transmission and a second gear transmission with the same transmission ratio.

[0025] However, the first gear transmission has a structure in which the gears must roll a relatively long distance relative to each other in order to obtain a larger transmission ratio than the second gear transmission.

[0026] Therefore, the rolling work in the first gear transmission is likely to be greater than that in the second gear transmission.

[0027] This concept of rolling work introduces a new perspective or a new focus on the important factors that cause energy losses in gear transmissions, and according to the prior art, the combination of these factors is not considered at all, or the importance thereof is ignored.

[0028] A second reason why known gear transmissions with a high transmission ratio have a rather low energy efficiency is that, according to the prior art, the roles or functions played by different components, parts or sub - structures throughout the gear transmission are ignored, and the gear transmission is regarded as a rather uniform and homogeneous mechanism.

[0029] Consequently, the different components, parts or sub - structures of known gear transmissions with a high transmission ratio cannot be identified at all, so the execution parameters of these components, parts or sub - structures do not adapt to their relevant operating conditions to improve the overall efficiency, resulting in the rather low efficiency performance mentioned above. The present invention aims to provide a gear transmission with a high transmission ratio that does not exhibit one or more of the above - mentioned disadvantages and possible other disadvantages. Summary of the Invention

[0030] In particular, an object of the present invention is to provide a gear transmission with a high transmission ratio that has the ability to improve efficiency and increase the transmitted torque compared to known gear transmissions with a similar high transmission ratio.

[0031] Another object of the present invention is to provide such a gear transmission whose structure allows optimizing the performance of any implicit gear pair without affecting or with minimal impact on the performance of any other gears.

[0032] Yet another object of the present invention is to design a gear transmission with a high transmission ratio that has a very compact and lightweight structure, so that it can be easily installed in a small space (such as in the joints of a prosthetic limb or a robot).

[0033] Another object of the present invention is to provide a gear transmission with a high transmission ratio, in which frictional losses, rolling work and dynamic losses are eliminated as much as possible, thereby obtaining a transmission with high energy efficiency.

[0034] In addition, an object of the present invention is to provide a gear transmission with a high transmission ratio, which is easy to lock and has good reverse drive performance.

[0035] Another object of the present invention is to provide a gear transmission with a high transmission ratio, which is particularly suitable for configurations where relatively high speed-low torque conditions exist on the input side and relatively low speed-high torque conditions are required on the output side of the gear transmission.

[0036] To this end, the present invention relates to a gear transmission having a high transmission ratio and an improved efficiency and / or an increased ability to transmit torque, comprising a first transmission stage and a second transmission stage, which are interconnected and / or interact with each other in order to transmit torque and rotational speed from the input shaft of the first transmission stage to the output shaft of the second transmission stage, and / or vice versa. The gear transmission is arranged in a housing, wherein the first transmission stage comprises at least one first transmission stage input gear, which is fixedly mounted on the input shaft of the first transmission stage and interacts directly or indirectly via an interconnecting mechanism comprising one or more interconnecting gears with one or more first transmission stage output elements in order to transmit rotational speed and torque; and wherein the second transmission stage comprises a second transmission stage planetary gear assembly, wherein the second transmission stage is a differential gear device comprising a planetary gear train, which is executed in a quasi-duplicate form consisting of an input side and an output side, respectively comprising a first group and a second group of planetary gear devices, which are mutually quasi-identical but slightly different from each other, and interact with first and second interacting gear devices on the input side and the output side, respectively, and these groups are rotatably supported on their respective separate planet carriers or together on a common planet carrier, each group of planetary gear devices being composed of a plurality of planetary gear device elements, which are circumferentially arranged on their supporting planet carriers, and the first group and the second group of planetary gear devices being linked to form a linking mechanism for transmitting torque and / or speed between the input side and the output side; wherein at least the gears of the first transmission stage and the second transmission stage are executed according to a set of execution parameters influencing the transmission efficiency and / or the ability to transmit torque, and wherein certain gears of the gear transmission use at least some of their execution parameters set to different parameter values in such a way that the overall transmission efficiency considered for the first transmission stage as a whole is higher than the overall transmission efficiency considered for the second transmission stage as a whole, and / or the ability of the second transmission stage as a whole to transmit torque is higher than the ability of the first transmission stage as a whole to transmit torque; and wherein a first component (i.e., the sun gear or the ring gear of the second transmission stage or the planet carrier of the gear transmission) forms a torque resistance or torque control device, which is permanently blocked or impeded in a controllable manner; and wherein a second component, i.e., the rotatable sun gear or the rotatable ring gear of the second transmission stage or the rotatable planet carrier of the gear transmission, is interconnected or interacts with the output shaft.

[0037] Such a gear transmission according to the invention has many advantages. Since it is composed of specific building blocks (i.e., the first transmission stage and the second transmission stage), they provide the correct functions in the correct positions of the gear transmission.

[0038] The second transmission stage plays a very important role in this text and is implemented in a quasi-duplicate form, including an input side and an output side, each having a first set and a second set of almost identical planetary gear devices that are linked to each other to form a linkage mechanism for transmitting torque and speed.

[0039] This quasi-duplicate planetary gear train is very interesting because it allows the relatively high-speed / low-torque rotation provided at the input shaft of the first transmission stage to be converted into a very low-speed / high-torque rotation provided at the output shaft of the second transmission stage, and vice versa.

[0040] Converting a high-speed / low-torque input into a low-speed / high-torque output is interesting in applications such as prosthetics.

[0041] In fact, only very small drive actuators can be integrated in such prosthetics, and the actuators provide a very fast rotation with minimal torque, and this fast movement at low force can be converted by the gear transmission of the present invention into a relatively slow rotation to rotate a rather heavy part of the human body.

[0042] The opposite example is a rather slowly driven powerful engine connected to the output shaft of the second transmission stage, which is used to drive a generator. This generator is connected to the input shaft of the first transmission stage and generates electrical energy at a relatively high rotational speed and lower torque.

[0043] Of course, these are just a few examples. The gear transmission of the present invention can be applied in many other applications, such as those already discussed above, but also in other applications.

[0044] The way to achieve this with the gear transmission of the present invention is easily understood as follows.

[0045] Obviously, due to its quasi-duplicate form of the planetary gear system, the second transmission stage has a very symmetrical structure.

[0046] Thus, when the components on the input side of the second transmission stage are blocked or severely hindered such that their speed is zero or close to zero, this will obviously result in a similar speed at the symmetrically equivalent components on the output side of the second transmission stage.

[0047] The purpose of the first component of the gear transmission that forms a torque resistance or torque control device is to provide such a blockage or hindrance to the components of the second transmission stage, or to set the amount of torque on that component.

[0048] The second component of the gear transmission connected to the output shaft of the second transmission stage can be considered as a (more or less symmetrical) complement to the first component, which forms a torque resistance device or torque control device.

[0049] Therefore, the torque resistance device or torque control device largely determines how the output shaft of the second transmission stage is driven by the input shaft of the first transmission stage, and vice versa.

[0050] The first transmission stage can be considered a kind of front gear device. Through this front gear device, the input shaft of the first transmission stage is connected to the second transmission stage.

[0051] This first transmission stage generally ensures that the rotational speed at the input shaft of the first transmission stage is brought into a range suitable for supply to the second transmission stage by reducing the rotational speed provided at the input shaft of the first transmission stage.

[0052] Of course, this way of looking at things involves the case where the input shaft of the first transmission stage is used to drive the gear transmission and the output shaft of the second transmission stage, but it can also be the opposite. For example, when a slowly rotating wind turbine connected to the output shaft of the second transmission stage drives a fast - rotating generator connected to the input shaft of the first transmission stage.

[0053] In the last example where the output shaft of the second transmission stage drives the gear transmission, the first transmission stage can be considered a rear gear device, which increases the rotational speed from the second transmission stage to the input shaft of the first transmission stage and reduces the torque from the second transmission stage to the input shaft of the first transmission stage.

[0054] When using a gear transmission, the side that drives the gear transmission and the side that is driven by the gear transmission can also be inverted.

[0055] In addition to the very interesting mechanical structure, another very interesting feature of the gear transmission according to the present invention is that the first transmission stage and the second transmission stage are executed in different ways, specifically in such a way that the overall transmission efficiency considering the first transmission stage as a whole is higher than the overall transmission efficiency considering the second transmission stage as a whole, and / or the ability of the second transmission stage to transmit torque as a whole is higher than the ability of the first transmission stage to transmit torque as a whole.

[0056] This means that when compared with each other, a certain degree of optimization in the execution of the two transmission stages has been applied to the functions of the tasks to be performed by each transmission stage.

[0057] In the first transmission stage, since the components rotate at a relatively high speed and a relatively low torque, this optimization is for higher overall transmission efficiency.

[0058] In the second transmission stage, since the components rotate at a relatively low speed and a relatively high torque and forces are applied to the components, this optimization is for a higher ability to transmit torque as a whole.

[0059] Obviously, all the above features combined result in a very high-performance gear transmission, which can be implemented in a very compact manner and clearly ensures a very high reliability of the gear transmission.

[0060] In a possible embodiment of the gear transmission according to the invention, the gear transmission includes an intermediate planet carrier, which is rotatably mounted in the housing and is separate from the first transmission stage input shaft and the second transmission stage output shaft, and in which intermediate carrier planet gear shafts are provided on the intermediate planet carrier for rotatably supporting the planet gears of the second transmission stage and possibly also the first transmission stage.

[0061] As described above, the second transmission stage is provided with a planetary gear system, which has a first set and a second set of planetary gear devices, and these sets are all rotatably supported on their respective separate planet carriers or together on a common planet carrier.

[0062] In some embodiments of the gear transmission according to the invention, one of the common planet carrier or the separate planet carriers also carries the planet gears of the first transmission stage.

[0063] In this case, such a planet carrier can be regarded as part of the second transmission stage, which also supports the gears of the first transmission stage.

[0064] On the other hand, from another perspective, the planet carrier can be regarded as part of the first transmission stage, which also supports the gears of the second transmission stage.

[0065] A third view is that the relevant planet carrier is an intermediate planet carrier, which is not part of the first transmission stage or the second transmission stage and supports the gears of these transmission stages.

[0066] In a preferred embodiment of the gear transmission according to the invention, the first transmission stage and the second transmission stage are interconnected in such a way that, depending on one of the following cases, one or more first transmission stage output elements are fixedly interconnected with one or more second transmission stage input elements:

[0067] - A single first transmission stage output element is fixedly connected to a single second transmission stage input element, which is engaged with one or more planetary gear device elements of the first set of planetary gear devices of the second transmission stage;

[0068] - A single first transmission stage output element is fixedly connected to a single second transmission stage input element, which is engaged with one or more planetary gear device elements of the second set of planetary gear devices of the second transmission stage;

[0069] - One or more first transmission stage output elements are fixedly interconnected with corresponding one or more second transmission stage input elements, and the second transmission stage input elements are formed by a first set and a second set of planetary gear devices of the second transmission stage, and the first set and the second set of planetary gear devices are interconnected or form a compound planetary gear; or

[0070] - A single first transmission stage output element, fixedly connected to the carrier of the gear transmission.

[0071] Thus, the first transmission stage and the second transmission stage of such an embodiment of the gear transmission according to the present invention are linked to each other by the fixed interconnection of some elements of the corresponding transmission stages.

[0072] The torque transmission between the fixedly interconnected elements is of course the most efficient. Therefore, in this case, the torque transmission between the two relevant transmission stages is also the most efficient.

[0073] The fixed interconnection can also be easily implemented in various different ways.

[0074] In a preferred embodiment of the gear transmission according to the present invention, the first and second interacting gear devices of the second transmission stage together are one of the following:

[0075] A) A pair of separate annulus gears;

[0076] B) A pair of separate sun gears; or

[0077] C) A compound gear pair consisting of a compound sun gear and a compound annulus gear.

[0078] As described above, the second transmission stage includes a planetary gear system executed in a quasi-duplicate form consisting of an input side and an output side, including a first set and a second set of planetary gear devices respectively, which interact with the first and second interacting gear devices on the input side and the output side respectively.

[0079] According to the present invention, the interacting gear devices preferably conform to one of the above options a)-c), and each option has certain advantages compared with other options, and may also have certain disadvantages compared with other options.

[0080] In an embodiment consistent with option a), the first set and the second set of planetary gear devices of the second transmission stage interact with the first and second interacting gear devices (separate annulus gears) respectively.

[0081] The advantage of using annulus gears is that due to their large diameter, they are very suitable for transmitting high torque.

[0082] On the other hand, the large-sized annulus gears make the integration of the gear transmission in a narrow space complicated.

[0083] In an embodiment consistent with option b), the first and second sets of planetary gear devices of the second gear stage interact with the first and second interacting gear devices (now separate sun gears), respectively.

[0084] Obviously, such a configuration of the interacting gear device in the form of a sun gear is not very suitable for transmitting high torque.

[0085] On the other hand, when the available space is limited, such a gear configuration is easier to integrate.

[0086] According to the present invention, in the cases of the above options a) and b), preferably, by forming a fixed interconnection of the corresponding components of the first and second sets of planetary gear devices of the compound planetary linkage gear supported on a single common planet carrier, the linkage mechanism is realized between the input side and the output side of the planetary gear train in a quasi-duplicated form having a second gear stage.

[0087] Therefore, in short, in these cases, the first and second sets of planetary gear devices of the second gear stage are fixedly interconnected, while each set meshes with an independent gear, with each set meshing with a separate ring gear in the case of option a) and each set meshing with a separate sun gear in the case of option b).

[0088] Through the fixed interconnection of the planetary gears on the input side and the output side of the second gear stage, a very robust configuration is obtained.

[0089] Furthermore, if in the case of option a), the ring gears form the first and second components of the second gear stage, that is, one of the ring gears is fixedly connected to the housing, thereby forming a torque resistance device or a torque control device; and the other ring gear is fixedly connected to the output shaft of the second gear stage, then, according to the present invention, the second gear stage forms a so-called ring differential gear device.

[0090] Such a gear transmission in which the second gear stage forms a so-called ring differential gear device is very advantageous. It can provide a very high transmission ratio and can transmit high torque at the output shaft of the second gear stage while maintaining a very low rotational speed.

[0091] In addition, if in the case of option b), the sun gears form the first and second components of the second gear stage, then according to the present invention, this second gear stage forms a so-called sun differential gear device.

[0092] The gear transmission of the present invention in which the second gear stage forms a so-called sun differential gear device is very advantageous. It can be implemented in a more compact manner.

[0093] However, in general, compared to a configuration with a second transmission stage formed as an epicyclic differential gear arrangement, the overall transmission ratio obtained will be more limited, and the torque transmitted at the second transmission stage will not be as high.

[0094] A third configuration of the second transmission stage can correspond to the configuration formed as option c) above, in which the interacting gear arrangements together form a compound gear pair consisting of a compound sun gear and a compound ring gear, where the linking mechanism is formed by this compound gear pair, and the first and second sets of planetary gear arrangements on the input side and output side respectively are separated from each other and are each supported on their own separate planet carriers.

[0095] If in this configuration, the separate planet carriers further form the first and second components of the second transmission stage (i.e., one planet carrier is blocked or forms a torque resistance or torque control device), and the other planet carrier is fixedly connected to the second transmission stage output shaft, then according to the present invention, this second transmission stage forms a so-called carrier differential gear arrangement.

[0096] One of the compound sun gear and the compound ring gear that together form the linking mechanism between the input side and the output side of the second transmission stage is preferably used to drive the second transmission stage.

[0097] It is obvious that this second transmission stage forming a carrier differential gear arrangement includes more components than the other types described, but on the other hand, new possibilities are also created by keeping the planet carriers and the two sets of planetary gears separated from each other.

[0098] Firstly, one of the planet carriers is preferably fixed to the housing or the ground and acts as a torque resistance device.

[0099] This can be advantageous compared to a configuration where a common rotating planet carrier is used to support multiple sets of fixedly connected planetary gears, because such a common planet carrier usually forms a relatively heavy component to withstand the forces applied to it.

[0100] Furthermore, since the first and second sets of planetary gears of the second transmission stage remain separated from each other, the corresponding gears can rotate at different speeds.

[0101] In a specific configuration of the gear transmission according to the present invention, the second transmission stage forms an epicyclic differential gear arrangement as follows.

[0102] In this configuration, the second gear stage includes a second gear stage compound planetary gear assembly, which includes a second gear stage fixed annulus fixedly connected to the housing, a second gear stage rotatable annulus that rotates simultaneously with the second gear stage output shaft, and second gear stage compound planetary gears. The second gear stage compound planetary gears are each supported on a respective primary intermediate carrier planetary gear shaft. Each first planetary gear of such second gear stage compound planetary gears meshes with the second gear stage fixed annulus, and each second planetary gear of such second gear stage compound planetary gears meshes with the second gear stage rotatable annulus, wherein the first planetary gears of the second gear stage compound planetary gears form the planetary gear elements of the first set of planetary gear means of the second gear stage, and wherein the second planetary gears of the second gear stage compound planetary gears form the planetary gear elements of the second set of planetary gear means of the second gear stage.

[0103] More specifically, the present invention also relates to a gear transmission having a high transmission ratio and the ability to increase efficiency and / or increase the transmitted torque, comprising a first gear stage and a second gear stage, which are interconnected and / or interact to transmit torque and speed from the first gear stage input shaft to the second gear stage output shaft, and / or vice versa. The gear transmission is arranged in a housing and also includes an intermediate carrier, which is rotatably mounted in the housing and is separated from the first gear stage input shaft as well as the second gear stage output shaft, and wherein intermediate carrier planetary gear shafts are provided on the intermediate carrier, characterized in that the first gear stage includes at least one first gear stage input gear, which is fixedly mounted on the first gear stage input shaft and interacts directly or indirectly via an interconnecting mechanism including one or more interconnecting gears with one or more first gear stage output elements to transmit speed and torque; and wherein the second gear stage includes a second gear stage compound planetary gear assembly, which includes a second gear stage fixed annulus fixedly connected to the housing, a second gear stage rotatable annulus that rotates simultaneously with the second gear stage output shaft, and second gear stage compound planetary gears, which are each supported on a respective primary intermediate carrier planetary gear shaft. Each first planetary gear of such second gear stage compound planetary gears meshes with the second gear stage fixed annulus, and each second planetary gear of such second gear stage compound planetary gears meshes with the second gear stage rotatable annulus, wherein one or more first gear stage output elements are fixedly interconnected with one or more second gear stage input elements according to one of the following cases:

[0104] - A single first gear stage output element is fixedly connected to a single second gear stage input element, which meshes with one or more first planetary gears of the second gear stage compound planetary gears;

[0105] - A single first transmission stage output element is fixedly connected to a single second transmission stage input element which meshes with one or more second planet gears of a second transmission stage compound planetary gear;

[0106] - One or more first transmission stage output elements are fixedly interconnected with corresponding one or more second transmission stage input elements formed by the compound planetary gear; or

[0107] - A single first transmission stage output element is fixedly connected to an intermediate planet carrier; and,

[0108] Wherein at least the gears of the first transmission stage and the second transmission stage are executed according to a set of execution parameters that affect the ability to transfer efficiency and / or transfer torque, and wherein some of their execution parameters set to different parameter values are used for certain gears of the gear transmission in such a way that the overall transfer efficiency considering the first transmission stage as a whole is higher than the overall transfer efficiency considering the second transmission stage as a whole, and / or the ability of the overall transfer torque considering the second transmission stage as a whole is higher than the ability of the overall transfer torque considering the first transmission stage as a whole.

[0109] This embodiment of the gear transmission according to the invention and the above-mentioned generally other embodiments are very advantageous. They have a very efficient structure for obtaining a very high transmission ratio in a very compact space.

[0110] In particular, the gear transmission has two transmission stages that not only differ in the arrangement of the components they include, but also optimize each transmission stage by adjusting the way these components are executed, thereby optimizing the applicability of the functions they must achieve in each transmission stage.

[0111] Thus, things are arranged such that the overall transfer efficiency considering the first transmission stage as a whole is higher than the overall transfer efficiency considering the second transmission stage as a whole.

[0112] Additionally or alternatively, the ability of the overall transfer torque considering the second transmission stage as a whole is higher than the ability of the overall transfer torque considering the first transmission stage as a whole.

[0113] Therefore, the gears of the gear transmission are executed in such a way that they can obtain good performance, which is adjusted according to their position in the gear transmission, resulting in the overall performance of the gear transmission being definitely higher than the overall performance of the gear transmissions known from the prior art.

[0114] So far, the relevant gears are executed using some execution parameters set to specific parameter values in order to improve the performance of the gear transmission in the corresponding cases.

[0115] The execution parameters refer to the parameters that define the execution mode of the gear, such as its module, surface roughness, tooth geometry, thickness, accuracy, material used, profile modification, ….

[0116] By setting one or more of its execution parameters to certain values, the execution mode of the relevant gear is changed, and basically the transmission ratio of the gear transmission is not changed (except possibly within a very small range, such as when applying profile modification), and basically the actual function of the gear transmission is not changed except by changing the efficiency of the gear transmission or its torque transmission capacity, etc.

[0117] In a rather limited way, a transmission stage of a gear transmission can be defined as a part of the gear transmission, which can be axially positioned near successive transmission stages, and thus torque and speed are transmitted from one transmission stage to another through the interconnection of components of each transmission stage axially separated from each other.

[0118] A transmission stage of a gear transmission can also be defined in a greater way by being a part of the gear transmission, and a part of the gear transmission is interconnected or interacts with another transmission stage or part of the gear transmission, and these parts or transmission stages can be positioned axially close to each other, or can be around each other, or completely or partially around in the axial direction or the radial direction, or even around simultaneously in the axial direction and the radial direction.

[0119] In order to define which components of the gear transmission are part of the first transmission stage and which components of the gear transmission are part of the second transmission stage, in this article, the first transmission stage and the second transmission stage are clearly divided by stating that the interconnection between the transmission stages is only through four possible ways.

[0120] In the first two possible interconnection configurations, a single first transmission stage output element is fixedly connected to a single second transmission stage input element, and the second transmission stage input element meshes with one or more first planet gears of the second transmission stage compound planetary gear, or in another case meshes with one or more second planet gears of the second transmission stage compound planetary gear.

[0121] In another interconnection configuration, the first transmission stage and the second transmission stage are interconnected at one or more first transmission stage output elements, and the first transmission stage output element is fixedly interconnected with the corresponding one or more second transmission stage input elements formed by the compound planetary gear.

[0122] In yet another interconnection configuration, a single first transmission stage output element is fixedly connected to an intermediate planet carrier or another planet carrier in order to interconnect the first transmission stage and the second transmission stage.

[0123] Thus, depending on the required conditions, the output of the first transmission stage can be a single first transmission stage output element or multiple first transmission stage output elements.

[0124] Similarly, the input of the second transmission stage can be a single second transmission stage input element or multiple second transmission stage input elements.

[0125] More importantly, one or more first transmission stage output elements are interconnected with one or more second transmission stage input elements, or, in many cases equivalently, are made into a single unit together.

[0126] In a typical embodiment, some of the gears of the gear transmission according to the present invention are positioned closer to the output shaft of the second transmission stage, so that they can withstand higher torque loads compared to other gears of the gear transmission that are not positioned as close to the output shaft of the second transmission stage (e.g., by using stronger or heavier materials or rougher surfaces, or by applying profile modification that brings the relevant gears closer to each other), resulting in a closer interaction.

[0127] In addition or as an alternative, some of the gears of the gear transmission positioned closer to the input shaft of the first transmission stage are implemented such that they cause less energy loss and improve the transmission efficiency compared to other gears of the gear transmission that are not positioned as close to the input shaft of the first transmission stage (e.g., by using lighter materials or by using smoother surfaces, etc.).

[0128] The process that can be used to check whether a gear transmission is a gear transmission according to the present invention can, for example, include the following steps.

[0129] First, check whether it includes the required components in each transmission stage.

[0130] If this is the case, then verify whether one of the four conditions for the interconnection between the above two transmission stages is satisfied.

[0131] Finally, measure or calculate the total efficiency and the total torque transmission capacity in the two transmission stages of the gear transmission, and observe whether the total efficiency in the first transmission stage is higher than that in the second transmission stage, and whether the total torque transmission capacity in the second transmission stage is higher compared to the total torque transmission capacity in the first transmission stage.

[0132] If one or both of these two conditions are satisfied, then the gear transmission is a gear transmission according to the present invention.

[0133] Obviously, a comparison is made between the first transmission stage and the second transmission stage in terms of the total efficiency and the torque transmission capacity.

[0134] However, by focusing attention during design on the most important aspects in each transmission stage (i.e., by optimizing the first transmission stage to increase the overall efficiency and the second transmission stage to increase the ability to transmit total torque), since such optimization does not exist in these known gear transmissions, the overall performance of the obtained gear transmission is higher than that of existing gear transmissions of similar types.

[0135] Furthermore, according to the present invention, any possible arrangement within each transmission stage itself is allowed, so there are no further restrictions on how the components perform within each transmission stage.

[0136] However, in a possible embodiment of the gear transmission according to the present invention, the gears of at least the first and second transmission stages perform according to a set of execution parameters that affect the ability to transmit efficiency and / or torque, and at least some of the execution parameters of certain gears of the gear transmission are set to different parameter values and perform in such a way that along the torque transmission path through the gear transmission from the input shaft of the first transmission stage to the output shaft of the second transmission stage, the execution differences result in the ability to transmit torque along the path of consecutive gears being the same or increasing, and when along the torque transmission path through the gear transmission from the output shaft of the second transmission stage to the input shaft of the first transmission stage, the execution differences result in the transmission efficiency achieved by consecutive gears along the path being the same or increasing.

[0137] A great advantage of this embodiment of the gear transmission according to the present invention is that it has a structure that can be divided into two main parts: the first transmission stage and the second transmission stage. They are structurally different to perform different tasks. At the same time, at least some of the gears of the gear transmission perform in different ways so that they are specifically adjusted to have improved performance under specific conditions.

[0138] Contrary to the situation of these types of gear transmissions known in the prior art, in this embodiment of the gear transmission according to the present invention, the components of the gear transmission perform in such a way that a trend can be clearly found, that is, along the torque transmission path from the input shaft of the first transmission stage to the output shaft of the second transmission stage, the ability to transmit torque (not strictly) increases, while along the torque transmission path in the opposite direction, the transmission efficiency (not strictly) increases.

[0139] This trend can include only one step, for example when the components of the first transmission stage are performed differently using execution parameters set to different parameter values from those of the components of the second transmission stage.

[0140] The trend can also include multiple steps within each transmission stage and / or covering the entire transmission stage.

[0141] Thus, the torque transmission path is the path through the gear transmission, through which force is transmitted from one gear to another to achieve the overall transmission of torque.

[0142] Generally, the structure of the first transmission stage is such that the high rotational speed of the first transmission stage input shaft is reduced to a relatively low rotational speed at the output of the first transmission stage, and this occurs under rather low torque conditions.

[0143] Therefore, according to the present invention, at least some of the elements involved in this first transmission stage and preferably all of the elements are preferably implemented such that under these relatively high speed - low torque conditions (e.g., by using relatively lightweight materials, applying a relatively small contact ratio, relatively small module, smoother surfaces, and good lubrication, etc.), as little energy loss as possible (e.g., frictional losses and rolling work losses) occurs.

[0144] The structure of the second transmission stage having a compound planetary transmission stage and a fixed annulus and a rotating annulus allows for a substantial additional reduction in rotational speed under relatively high torque conditions.

[0145] Therefore, according to the present invention, at least some of the elements involved in this second transmission stage and preferably all of the elements are preferably implemented such that under these relatively low speed - high torque conditions (e.g., by using relatively more robust materials, applying a relatively large contact ratio, relatively large module, rougher and harder surfaces, etc.), essentially, torque is transmitted in an efficient manner.

[0146] It is precisely this carefully selected structure consisting of two transmission stages and its characteristics of reducing rotational speed and increasing torque, as well as the appropriate implementation of the gears of the gear transmission in terms of its performance, that makes it possible to obtain a gear transmission with a high transmission ratio, which is very energy - efficient, compact, lightweight, and has an increased torque - transmitting capacity.

[0147] A process that can be used to check whether a gear transmission is a gear transmission that meets the above - mentioned conditions of having an increasing transmission efficiency along the torque transmission path towards the first transmission stage input shaft and an increasing torque - transmitting capacity along the torque transmission path towards the second transmission stage output shaft can, for example, include the following steps.

[0148] First, check whether it includes the components required in each transmission stage.

[0149] If this is the case, then select the torque transmission path through the gear transmission from the first transmission stage input shaft to the second transmission stage output shaft, and verify whether the gears of a pair of consecutive gears are implemented using one or more implementation parameters set to different parameter values (i.e., implementation parameters that affect the transmission efficiency or torque - transmitting capacity of the relevant transmission stage).

[0150] When such a difference exists, then let us call the gears of the different performing pair of consecutive gears, the first differently performing gear, and the other gears in the pair of gears that are located in the selected torque transmission path closest to the input shaft of the first transmission stage, the second differently performing gears.

[0151] Then, in particular, by using execution parameters set to the same parameter values as those of the first differently performing gear, execute the second differently performing gears, compare the gear transmission with the execution differences eliminated with the actually executed gear transmission, and check whether in this case the ability to transmit torque is increased by introducing execution differences.

[0152] Repeat this process for each pair of different performing consecutive gears along the selected torque transmission path and check whether the required conditions are met in each case.

[0153] Similarly, select a torque transmission path through the gear transmission from the output shaft of the second transmission stage to the input shaft of the first transmission stage.

[0154] Then, in particular, by using execution parameters set to the same parameter values as those of the second differently performing gears, execute the first differently performing gears, compare the gear transmission with the execution differences eliminated with the actually executed gear transmission, and check whether in this case the transmission efficiency is improved by introducing execution differences.

[0155] Also repeat this process for each pair of different performing consecutive gears along the selected torque transmission path and check whether the required conditions are met in each case.

[0156] If all the above checks appear to be affirmative, the relevant gear transmission is considered to be a gear transmission according to the invention of the type having the characteristics of the embodiments discussed herein.

[0157] Obviously, in many gear transmissions, more than one pair of different performing gears will be found.

[0158] This means that the same test should be repeated for each pair of successively different performing gears along the torque transmission path in both directions, and if all these tests have affirmative results, the gear transmission will only be a gear transmission according to the invention.

[0159] Fortunately, in many cases, the paired interacting gears of the gear transmission are usually performed in such a way that the execution parameters of each gear of such a pair of interacting gears are set to the same corresponding parameter values.

[0160] In this case, the number of checks to be performed will obviously be greatly reduced.

[0161] In another process, it is sufficient to first measure or calculate the transmission efficiency in different parts of the gear transmission along a selected torque transmission path towards the input shaft of the first transmission stage and verify whether the transmission efficiency increases (not strictly).

[0162] Furthermore, in this process, the ability to transmit torque in different parts of the gear transmission along a selected torque transmission path towards the output shaft of the second transmission stage should be observed, and it should be verified whether the ability to transmit torque increases (not strictly) in the corresponding direction.

[0163] In a preferred embodiment of the gear transmission according to the present invention, the gear transmission more precisely includes at least the following elements or features:

[0164] - An intermediate planet carrier, concentric with the output shaft of the second transmission stage and rotatably mounted to perform a rotational movement around the output shaft of the second transmission stage;

[0165] - A plurality of circumferentially spaced intermediate carrier planet gear shafts, fixedly or rotatably mounted on the intermediate planet carrier;

[0166] - Primary intermediate carrier planet gear shafts, each rotatably or by being fixedly interconnected with a series of second transmission stage planet gears, providing support for a stepped second transmission stage planet gear fixedly interconnected in a relevant series forming a second transmission stage compound planet gear;

[0167] - A second transmission stage fixed annulus, concentric with the output shaft of the second transmission stage and fixedly connected to the housing of the gear transmission, and meshing with a first set of circumferentially spaced second transmission stage planet gears, the first set being composed of the first planet gears of each of the aforementioned series of second transmission stage planet gears; and,

[0168] - A second transmission stage rotatable annulus, concentric with the output shaft of the second transmission stage, rotatably mounted in the housing, fixedly connected to the output shaft of the second transmission stage, and meshing with a second set of circumferentially spaced second transmission stage planet gears, the second set being composed of the second planet gears of each of the aforementioned series of second transmission stage planet gears.

[0169] During the discussion of the drawings, the particularities of these elements of the gear transmission will become clear.

[0170] In another preferred embodiment of the gear transmission according to the invention, relative to each other, the first transmission stage is a high-speed - low-torque transmission stage and the second transmission stage is a low-speed - high-torque transmission stage. The first transmission stage includes first transmission stage gears. The first transmission stage gears interact with each other in order to transfer the rotational speed and torque conveyed at the first transmission stage input shaft into a reduced rotational speed and an increased torque at one or more first transmission stage output elements. The second transmission stage includes second transmission stage gears. The second transmission stage gears interact with each other in order to transfer the rotational speed and torque at one or more second transmission stage input elements into the rotational speed and torque at the second transmission stage output shaft.

[0171] The advantage of this embodiment of the gear transmission according to the invention is that it is clearly specified that the first transmission stage should be a relatively high-speed - low-torque transmission stage and the second transmission stage should be a relatively low-speed - high-torque transmission stage in order to obtain high performance of the gear transmission.

[0172] In the above example, the first transmission stage is considered as the input transmission stage which operates at a relatively high speed - low torque, while the second transmission stage is the output transmission stage which operates at a relatively low speed and higher torque.

[0173] This is usually the case in applications such as gear transmissions for prosthetics or robots, where a small actuator conveys a high-speed rotational speed at the first transmission stage input shaft in order to exert a relatively high torque at the second transmission stage output shaft, for example in order to move a pair of limbs relative to each other.

[0174] In these examples, the rotational speed and torque conveyed at the first transmission stage input shaft are transferred into a lower speed and a higher torque at the second transmission stage output shaft, such that the first transmission stage drives the second transmission stage.

[0175] Of course, in other applications, the second transmission stage can act as the input transmission stage, while the first transmission stage is the output transmission stage and is driven by the second transmission stage.

[0176] In this case, the relatively low rotational speed and high torque conveyed at the second transmission stage output shaft can be transferred into a relatively high-speed rotational movement and a relatively low torque at the first transmission stage input shaft.

[0177] For example, this is usually interesting in applications such as wind turbines.

[0178] In fact, in this case, the relatively slow rotational movement of the wind turbine blades should be conveyed at the second transmission stage output shaft, and this rotational movement is converted in the gear transmission into a relatively high-speed rotational movement at the first transmission stage input shaft, in which case this shaft should be connected to the input shaft of the generator.

[0179] In still other applications, the roles of the input transmission stage and the output transmission stage can be reversed during operation. For example, in an electric vehicle, the electric motor supplies power to the first transmission stage input shaft during vehicle acceleration to drive the wheels connected to the second transmission stage output shaft, while during vehicle deceleration, the energy of the wheels can be transferred from the second transmission stage output shaft to the first transmission stage input shaft to store the energy back into the battery.

[0180] In short, the meanings of "input" and "output" in this article should be understood as describing the relationship between the components of the gear transmission from the perspective of driving the second transmission stage from the first transmission stage.

[0181] However, in reality, the "input" can drive the "output", but in other applications or even in the same application, the "output" can also drive the "input".

[0182] In a preferred embodiment of the gear transmission according to the present invention, the first transmission stage output element is formed by a set of circumferentially spaced first transmission stage output planet gears, each of which is interconnected or formed as a single unit with a corresponding planet gear of a set of circumferentially spaced second transmission stage planet gears representing the second transmission stage input element, thereby forming a hybrid compound planet gear, which includes a series of three planet gears composed of second transmission stage planet gears and first transmission stage planet gears.

[0183] This embodiment of the gear transmission according to the present invention is very advantageous. It allows for a very compact design.

[0184] Thereby, each set of circumferentially spaced but axially aligned planet gears of the compound planetary gear assembly preferably meshes with only one other gear.

[0185] Each planet gear in such a set of spaced but axially aligned planet gears operates at substantially the same speed and torque.

[0186] Thus, the implementation manner of each set of the above-mentioned planet gears and the corresponding meshing gears can be adapted to the relevant operating conditions of torque and speed, thereby optimizing the performance of the relevant gear pairs, and this does not affect the performance of other pairs of gears of the adjacent planet gear sets of the compound planetary gear assembly.

[0187] This obviously results in a high-performance gear transmission.

[0188] In another preferred embodiment of the gear transmission according to the present invention, the first transmission stage output element is a single first transmission stage output element, which is formed by the first transmission stage output carrier and is interconnected with the second transmission stage input element as a single second transmission stage input element.

[0189] In a particular embodiment of the gear transmission according to the invention, the single second transmission stage input element is the second transmission stage input sun gear of the second transmission stage compound planetary gear assembly, wherein the second transmission stage input sun gear meshes with each of a set of circumferentially spaced second transmission stage planetary gears formed by the planetary gears of each second transmission stage compound planetary gear.

[0190] An advantage of this embodiment of the gear transmission according to the invention is that it can be more compact than the previous embodiment when the above-mentioned set of circumferentially spaced second transmission stage planetary gears meshes with the second transmission stage input sun gear and the second transmission stage fixed annulus simultaneously.

[0191] However, in this case, the degree of freedom to adjust the execution of the gears according to the operating conditions is clearly less.

[0192] This means that in such an embodiment, the degree of freedom to reduce energy losses by selecting the correct execution mode or other execution parameters is reduced.

[0193] In yet another embodiment of the gear transmission according to the invention, the first transmission stage gears or other elements of the first transmission stage and the second transmission stage gears or other elements of the second transmission stage are each executed according to a set of mechanical design parameters, wherein one or more of the first transmission stage gears or other elements of the first transmission stage and one or more of the second transmission stage gears or other elements of the second transmission stage are executed in such a way that one or more of their execution parameters are different in the first transmission stage from the corresponding parameter values in the second transmission stage, wherein in particular, a first parameter value of certain execution parameters of the set for the first transmission stage and a second parameter value of the corresponding execution parameters of the set for the second transmission stage are different from each other in such a way that, relative to each other, the first parameter value increases the efficiency of the high-speed - low-torque mechanical gear device, while the second parameter value increases the robustness, strength and / or torque transmission capacity of the low-speed - high-torque mechanical gear device.

[0194] Execution parameters are understood as parameters that define the execution mode of the relevant gears, which indeed affect the performance of the entire gear transmission, but for example do not substantially change the function of the relevant gears in the entire gear transmission.

[0195] Preferably, in the gear transmission according to the invention, the above-mentioned set of execution parameters includes one or more of the following execution parameters that affect the efficiency or torque transmission capacity of the relevant components:

[0196] - Module;

[0197] - Quality grade;

[0198] - Precision;

[0199] - Tooth profile modification;

[0200] - Contact ratio;

[0201] - Tooth geometry;

[0202] - Fillet profile;

[0203] - Roughness;

[0204] - Material; and / or

[0205] - Surface hardness.

[0206] More specifically, in the gear transmission according to the present invention, wherein the first pair of gears of the gear transmission is carried out using a first module, a first quality grade, a first precision, a first tooth profile modification, a first contact ratio, a first roughness, a first tooth geometry, a first material, and a first surface hardness, and wherein the second pair of gears of the gear transmission (positioned closer to the second-stage output shaft than the first pair of gears on the torque transmission path through the gear transmission from the first-stage input shaft to the second-stage output shaft) is carried out using a second module, a second quality grade, a second tooth profile modification, a second contact ratio, a second roughness, a second tooth geometry, a second material, and a second surface hardness, preferably satisfying one or more of the following conditions:

[0207] - The first module is less than the second module;

[0208] - The first quality grade is higher than the second quality grade;

[0209] - The first precision is higher than the second precision;

[0210] - The grade and distribution of the first tooth profile modification are optimized for efficiency, and the grade and distribution of the second tooth profile modification are optimized for robustness;

[0211] - The first contact ratio is less than the second contact ratio;

[0212] - The first tooth geometry is optimized for efficiency, and the second tooth geometry is optimized for the ability to increase the transmitted torque;

[0213] - The contact roughness of the first stage is less than the contact roughness of the second stage;

[0214] - The first material is lighter and / or has lower strength than the second material; and

[0215] - The first surface hardness is less than the second surface hardness.

[0216] Obviously, in the above embodiments, the execution parameters are set in different parts of the gear transmission in order to obtain a high-performance overall structure.

[0217] According to another preferred principle of the present invention, the gear transmission is configured such that each gear of the gear transmission meshes with one or more meshing gears, whereby the meshing gears of the relevant gears all operate at the same or substantially the same rotational speed and torque, and wherein one or more parameter values of the execution parameters, according to which one or more pairs of meshing gears formed by the relevant gear and each of its meshing gears are executed, are different from the corresponding execution parameter values of other pairs of gears of the gear transmission operating at relatively higher or lower rotational speeds and torques, and wherein, compared to other pairs of gears of the gear transmission operating at relatively lower rotational speeds and higher torques, when the corresponding operating rotational speeds of the relevant one or more pairs of gears are higher and the torque is lower, the difference lies in the relatively increased efficiency of the relevant one or more pairs of gears, and wherein in the opposite case, i.e., when other pairs of gears of the gear transmission operate at relatively higher rotational speeds and lower torques, the difference lies in the increased torque transmission capacity.

[0218] Obviously, by applying this principle, an embodiment of the gear transmission according to the present invention is obtained, in which different parts are specifically executed for very good operation, resulting in high overall performance of the gear transmission.

[0219] From another perspective, most embodiments of the gear transmission according to the present invention can also be very generally described as follows.

[0220] From this perspective, the present invention relates to a gear transmission having a high transmission ratio and the ability to improve efficiency and / or increase transmitted torque, comprising a first transmission stage and a second transmission stage, which are interconnected and / or interact with each other in order to transmit torque and rotational speed from the input of the first transmission stage to the output shaft of the second transmission stage, and / or vice versa. The gear transmission is arranged in a housing and further comprises an intermediate planet carrier, which is rotatably mounted in the housing and is separated from the input shaft of the first transmission stage and the output shaft of the second transmission stage, and in which intermediate carrier planet gear shafts are arranged on the intermediate planet carrier. The first transmission stage comprises at least one first transmission stage input gear, which is fixedly mounted on the input shaft of the first transmission stage and interacts with one or more first transmission stage output elements in a direct manner or in an indirect manner via an interconnecting mechanism comprising one or more interconnecting gears, in order to transmit rotational speed and torque; and the second transmission stage comprises a second transmission stage compound planetary gear assembly, which comprises a second transmission stage fixed annulus gear fixedly connected to the housing, a second transmission stage rotatable annulus gear rotating simultaneously with the output shaft of the second transmission stage, and second transmission stage compound planetary gears respectively supported on corresponding primary intermediate carrier planet gear shafts. Each first planet gear of such second transmission stage compound planetary gears meshes with the second transmission stage fixed annulus gear, and each second planet gear of such second transmission stage compound planetary gears meshes with the second transmission stage rotatable annulus gear.

[0221] Obviously, from this perspective, in order to express the present invention in the most general terms, only the components constituting such a gear transmission according to the present invention are considered, and the manner in which these components are implemented according to certain implementation parameters is not considered this time.

[0222] In the specific case of the gear transmission according to the present invention, still starting from a very general concept, but the first transmission stage is limited to the case where the first transmission stage input gear interacts with one or more first transmission stage output elements in an indirect manner via an interconnecting mechanism comprising one or more interconnecting gears in order to transmit rotational speed and torque.

[0223] Of course, even starting from these general viewpoints, other features of the gear transmission according to the present invention as described in other parts of this document (such as certain implementation parameters or specific components) should be considered in order to obtain a more precise description of each embodiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0224] In order to better illustrate the features of the present invention, hereinafter, as an example without any restrictive features, some preferred embodiments of the gear transmission according to the present invention are described with reference to the accompanying drawings, in which:

[0225] Figures 1 to 3Schematic diagrams of three different embodiments of a gear transmission according to the present invention;

[0226] Figure 4 is according to Figure 3 A side view of an embodiment of the gear transmission according to the present invention in the direction shown by arrow F4;

[0227] Figure 5 is Figure 3 A more realistic perspective view of the same gear transmission according to the present invention as shown;

[0228] Figures 6 to 12 Respectively represent other embodiments of the gear transmission according to the present invention;

[0229] Figure 13 is Figure 12 A perspective view of the embodiment shown along arrow F13;

[0230] Figure 14 is Figure 12 and Figure 13 Another perspective view of the embodiment shown along arrow F14;

[0231] Figure 15 Schematic diagram of a general embodiment of a gear transmission according to the present invention;

[0232] Figure 16 Schematic diagram of another embodiment of a gear transmission according to the present invention;

[0233] Figure 17 Cross-sectional perspective view of a 3D model of another embodiment of a gear transmission according to the present invention;

[0234] Figure 18 represents Figure 17 A perspective view of the embodiment along arrow F18, with some parts shown in full this time and other parts removed for clarity;

[0235] Figure 19 is Figure 17 and Figure 18 Top view of the same embodiment;

[0236] Figure 20 is Figure 18 Another perspective view of the embodiment along arrow F20;

[0237] Figure 21 and Figure 22 Schematic diagrams of other embodiments of a gear transmission according to the present invention;

[0238] Figure 23 Schematic block diagram giving a very general representation of a gear transmission according to the present invention;

[0239] Figure 24 and Figure 25 are very schematic views showing two possibilities of what the first transmission stage of a gear transmission according to the invention can be;

[0240] Figure 26 is a schematic view showing, in the same very general way, the second transmission stage of a gear transmission according to the invention;

[0241] Figures 27 to 29 is a schematic view of a different and more practical second transmission stage of a gear transmission according to the invention; and

[0242] Figures 30 to 32 shows other embodiments of the gear transmission according to the invention. Detailed Description

[0243] Figure 1 shows a gear transmission 1 according to the invention, which has a high transmission ratio R, an increased efficiency W, and an increased ability U to transmit torque.

[0244] According to the invention, such a gear transmission 1 includes a first transmission stage 2 and a second transmission stage 3, and how these first transmission stage 2 and second transmission stage 3 look similar will be described in the subsequent examples.

[0245] The first transmission stage 2 and the second transmission stage 3 are delimited by a dashed rectangle in the drawings.

[0246] Generally speaking, it can be said that the first transmission stage 2 in any case includes at least a first transmission stage input gear 4, which is fixedly mounted on the first transmission stage input shaft 5 of the gear transmission 1, and the first transmission stage input gear 4 interacts with one or more first transmission stage output elements 6 in a direct manner (or indirectly through an interconnecting mechanism 7 including one or more interconnecting gears 8) to transmit rotational speed and torque.

[0247] In Figure 1 the example, there are a plurality of first transmission stage output elements 6, which are formed by a set of circumferentially spaced first transmission stage output planetary gears 9.

[0248] In this case, the first transmission stage input gear 4 clearly does not interact with these plurality of first transmission stage output elements 6 in a direct manner, but through the interconnecting mechanism 7.

[0249] In particular, in Figure 1 the embodiment, the first transmission stage 2 includes a first transmission stage planetary gear assembly 10, wherein the first transmission stage input gear 4 is the first transmission stage input sun gear 11 of the first transmission stage planetary gear assembly 10.

[0250] The first transmission stage planetary gear assembly 10 further includes a set 12 of circumferentially spaced first transmission stage planetary gears 13, which are concentrically arranged around the first transmission stage input shaft 5.

[0251] Each first transmission stage planetary gear 13 of the set 12 of first transmission stage planetary gears 13 interacts or meshes with the first transmission stage input sun gear 11.

[0252] In addition, the first transmission stage planetary gears 13 are each rotatably supported by a first transmission stage planetary gear shaft 14 (e.g., by a roller bearing or by being fixedly connected to the associated first transmission stage planetary gear shaft 14).

[0253] Moreover, the first transmission stage planetary gear shafts 14 are fixedly mounted on the first transmission stage planet carrier 15, which is circumferentially spaced from and concentric with the first transmission stage input shaft 5 (i.e., the first transmission stage planetary gears 13 are rotatably supported on their respective first transmission stage planetary gear shafts 14).

[0254] In the case where the first transmission stage planetary gears 13 are fixedly connected to their respective first transmission stage planetary gear shafts 14, the first transmission stage planetary gear shafts 14 should be rotatably mounted on the first transmission stage planet carrier 15 (e.g., by a bearing suitable for this purpose).

[0255] Each of the first transmission stage planetary gears 13 also meshes with a first transmission stage fixed annulus 16, which is concentric with the first transmission stage input shaft 5 and fixedly connected to the housing 17 of the gear transmission 1.

[0256] The aforementioned first transmission stage planet carrier 15 is also fixedly interconnected with an additional first transmission stage output sun gear 18, which is axially aligned with the first transmission stage input shaft 5.

[0257] The first transmission stage output sun gear 18 meshes with each first transmission stage output element 6, which in the illustrated case is the first transmission stage output planetary gear 9.

[0258] In Figure 1 the case of, the interconnecting mechanism 7 includes the housing 17, the first transmission stage planet carrier 15, and the interconnecting gears 8 represented by the first transmission stage fixed annulus 16, the set 12 of first transmission stage planetary gears 13, and the first transmission stage output sun gear 18.

[0259] The gear transmission 1 further includes an actuator 19, which is mounted at the first transmission stage input shaft 5 so as to rotatably drive the first transmission stage input shaft 5.

[0260] The gear transmission 1 is used to transmit torque and rotational speed between the input shaft 5 of the first transmission stage and the output shaft 20 of the second transmission stage 3 of the second transmission stage.

[0261] Therefore, it is provided with an intermediate planet carrier 21, which is rotatably mounted in the housing 17 and is separated from the input shaft 5 of the first transmission stage and the output shaft 20 of the second transmission stage.

[0262] The intermediate planet carrier 21 is concentric with the output shaft 20 of the second transmission stage and is rotatably mounted in this case to perform a rotational movement around the output shaft 20 of the second transmission stage.

[0263] In addition, N circumferentially spaced intermediate carrier planet gear shafts 22 are provided on the intermediate planet carrier 21, and they are fixedly or rotatably mounted on the intermediate planet carrier 21.

[0264] In Figure 1 the example, the intermediate planet carrier 21 and the intermediate carrier planet gear shafts 22 mainly extend on the part of the gear transmission 1 corresponding to the part including the second transmission stage 3, but in other embodiments, the intermediate planet carrier 21 and the intermediate carrier planet gear shafts 22 can also extend together with important parts into the part of the gear transmission 1 mainly including the first transmission stage 2.

[0265] The second transmission stage 3 of the gear transmission 1 according to the present invention includes a second transmission stage compound planetary gear assembly 23.

[0266] First of all, the second transmission stage compound planetary gear assembly 23 includes second transmission stage compound planetary gears 24, and each second transmission stage compound planetary gear 24 is supported on the corresponding primary intermediate carrier planet gear shaft 22 of the intermediate planet carrier 21.

[0267] Each such second transmission stage compound planetary gear 24 includes a series 25, and in the shown example, the series 25 only has two fixedly interconnected stepped second transmission stage planetary gears 26 and 27.

[0268] Thus, each primary intermediate carrier planet gear shaft 22 provides support for the corresponding second transmission stage compound planetary gear 24.

[0269] This support is realized rotatably, for example, by roller bearings, or in a fixed manner. In the fixed manner, each primary intermediate carrier planet gear shaft 22 is fixedly interconnected with the second transmission stage planetary gears 26 and 27 of the relevant series 25.

[0270] The second transmission stage compound planetary gear assembly 23 also includes a second transmission stage fixed annulus 28 that is concentric with the output shaft 20 of the second transmission stage and is fixedly connected to the housing 17 of the gear transmission 1.

[0271] The second stage fixed annulus 28 meshes with the circumferentially spaced second stage planetary gears 26 of the first set 29, which first set 29 consists of the second stage planetary gears 26 of each of said series 25 and the first planetary gear 26 of the second stage planetary gears 26 and 27.

[0272] The second stage compound planetary gear assembly 23 further includes a second stage rotatable annulus 30, which is concentric with the second stage output shaft 20, is rotatably mounted in the housing 17, and is fixedly connected to the second stage output shaft 20.

[0273] The second stage rotatable annulus 30 meshes with the circumferentially spaced second stage planetary gears 27 of the second set 31, which second set 31 consists of the second planetary gears 27 of the second stage planetary gears 26 and 27 of each of said series 25.

[0274] Of course, the first stage 2 and the second stage 3 of the gear transmission 1 are interconnected and / or interact to transfer torque and speed between the first stage input shaft 5 and the second stage output shaft 20.

[0275] In Figure 1 this case, the first stage 2 and the second stage 3 are interconnected with each other and are axially positioned adjacent to each other.

[0276] In fact, the first stage output element 6 is formed by a set 32 of circumferentially spaced first stage output planetary gears 9, each of the first stage output planetary gears 9 being interconnected with or forming an integral part with the corresponding planetary gear 26 of the set 29 of circumferentially spaced second stage planetary gears 26 of the second stage compound planetary gear assembly 20.

[0277] These second stage planetary gears 26 represent the second stage input element 33 in this example.

[0278] This case corresponds to the third interconnection configuration mentioned above for the interconnection between the first stage 2 and the second stage 3.

[0279] This case can also be considered in another way, namely from a structural point of view. In fact, each compound planetary gear 24 includes a series 25 of three planetary gears, which consists of a pair of second stage planetary gears 25 and 26 and a first stage planetary gear 9.

[0280] In this way, a set of hybrid compound planetary gears 34 is actually formed, each including a series 25 of three planetary gears, which consists of a pair of second stage planetary gears 26 and 27 and a first stage output planetary gear 9.

[0281] The hybrid characteristics of the compound planetary gear 34 are primarily a result of the definitions of the first transmission stage 2 and the second transmission stage 3 used in this article.

[0282] Therefore, the second transmission stage planetary gears 26 and 27 and the first transmission stage output planetary gear 9 can, in principle, be executed in the same manner, with their execution parameters set to the same values.

[0283] However, this is not usually the case, and this is also true in the Figure 1 illustrated embodiment, where the first transmission stage output planetary gear 9 is executed using some execution parameters set to parameter values different from those of the second transmission stage planetary gears 26 and 27.

[0284] The gears of both the first transmission stage 2 and the second transmission stage 3 are executed according to a set of execution parameters. In this example, in addition to their different structures, the first transmission stage 2 and the second transmission stage 3 are essentially different in that one or more of the execution parameters of this set have different parameter values in the first transmission stage 2 compared to the corresponding parameter values in the second transmission stage 3, and compared to each other, they are different in that the first transmission stage 2 has a higher efficiency and the second transmission stage 3 has a higher torque transmission capacity.

[0285] In short, in this example, the components of the first transmission stage 2 are all executed in a manner different from that of the components of the second transmission stage 3.

[0286] In fact, Figure 1 the gear transmission 1 shown in is a specific application of a more general principle, which should be executed differently in terms of execution, such that the first transmission stage 2 has a higher overall efficiency than the second transmission stage 3 and / or the second transmission stage 3 has a higher overall torque transmission capacity than the first transmission stage 2.

[0287] This principle can also be achieved by executing different components in each transmission stage in different ways.

[0288] According to another principle of the present invention, there can be certain gears in the gear transmission 1, regardless of their position in the gear transmission 1, which are executed with execution parameters set to different parameter values, such that relative to each other, the transmission efficiency increases towards the first transmission stage input shaft 5 and / or the torque transmission capacity increases towards the second transmission stage output shaft 20.

[0289] In particular, at least the gears of the first transmission stage 2 and the second transmission stage 3 (but also possibly other elements, such as the planet carrier) are executed according to a set of execution parameters that affect the transmission efficiency and / or the torque transmission capacity.

[0290] Thus, some of the gears of the gear transmission 1 can be executed with execution parameters set to different parameter values in such a way that, along the torque transmission path TTP1 through the gear transmission 1 from the first transmission stage input shaft 5 to the second transmission stage output shaft 20, the execution differences result in an increase in the torque transmission capacity of the relevant gears, while when along the torque transmission path TTP2 through the gear transmission 1 from the second transmission stage output shaft 20 to the first transmission stage input shaft 5, the execution differences result in an increase in the transmission efficiency achieved by the relevant gears.

[0291] In Figure 1 the example, by setting the parameter values of some of the execution parameters to be different from those used in the first transmission stage 2, all the gears of the first transmission stage 2 are executed in one way and all the gears of the second transmission stage 3 are executed in some other way.

[0292] In Figure 1 the case, the reason for choosing the parameter values to make the first transmission stage 2 more efficient or the same, optimized to reduce energy losses such as due to frictional losses and rolling work, and to optimize the second transmission stage 3 to have a higher torque transmission capacity is that, according to a preferred feature of the present invention, relative to each other, the first transmission stage 2 is a high-speed - low-torque transmission stage 35 and the second transmission stage 3 is a low-speed - high-torque transmission stage 36.

[0293] Thus, the first transmission stage 2 includes first transmission stage gears 4, 9, 13, and 18 that interact with each other to transfer the rotational speed and torque delivered at the first transmission stage input shaft 5 into a reduced rotational speed and increased torque at one or more first transfer stage output elements 6, where the first transfer stage output element 6 is represented by the first transmission stage output planetary gear 9 in Figure 1 .

[0294] The second transmission stage 3 includes second transmission stage gears 26, 27, 28, and 30 that interact with each other to transfer the rotational speed and torque of one or more second transmission stage input elements 33 (represented by the set 29 of second transmission stage planetary gears 26 in Figure 1 ) into a reasonable speed and torque at the second transmission stage output shaft 20.

[0295] In this second transmission stage 3, the rotational speed at the second transmission stage input element 33 (already relatively low compared to the rotational speed provided by the actuator 19 at the first transmission stage input shaft 5) is further reduced towards the second transmission stage output shaft 20 while the torque becomes increasingly high.

[0296] In this case, each of the first transmission stage output elements 6 or 9 is interconnected with the corresponding element 26 of the second transmission stage input element 33 to transfer torque and rotational speed, but other interactions between the first transmission stage output element 6 and the second transmission stage input element 33 are not excluded from the present invention.

[0297] In this configuration, it is meaningful to select a first parameter value for certain execution parameters of the first transmission stage 2 and a second parameter value for the corresponding execution parameters of the second transmission stage 3, and these two parameter values are different from each other in such a way that, relative to each other, the first parameter value increases the efficiency of the high-speed - low-torque mechanical gear unit 35, while the second parameter value increases the robustness, strength, and / or torque transmission capacity of the low-speed - high-torque mechanical gear unit 36.

[0298] In fact, in the first transmission stage 2, it is not important whether the relevant components are very robust because the torque is relatively low.

[0299] On the other hand, the rotational speed is relatively high in the first transmission stage 2, such that the gears travel a relatively long distance relative to each other in a short time, which is an important factor in rolling work and results in a large amount of frictional losses. Therefore, in the first transmission stage 2, it is important to reduce frictional losses (for example, by using smooth materials, by using lightweight materials to reduce dynamic or inertial losses, by applying a relatively small mutual force between the gears to reduce the implied rolling work, by correspondingly adjusting the profile modification of the relevant gears, etc. to increase efficiency, etc.).

[0300] In the second transmission stage 3, the situation is exactly the opposite. Therefore, in this transmission stage 3, it is more important to increase the torque transmission capacity (for example, by using gears with a rougher surface, using stronger and heavier materials, adjusting the profile modification of the gears to increase the contact force between the relevant gears, etc.).

[0301] In Figure 1 In the case shown, the first transmission stage 2 and the second transmission stage 3 are essentially different in that their gears are executed in different ways, such that the gear transmission 1 only includes two sets of differently executed gears. In this example, these two sets of gears respectively correspond to a set of gears forming the first transmission stage 2 and a set of gears forming the second transmission stage 3.

[0302] In this example, there is an increase in efficiency in the direction towards the input shaft 5 of the first transmission stage (this increase in efficiency consists of a single-stage increase occurring at the separation between the second transmission stage 3 and the first transmission stage 2), and / or an increase in the torque transmission capacity in the direction towards the output shaft 20 of the second transmission stage (this increase in capacity consists of a single-stage increase occurring at the separation between the first transmission stage 2 and the second transmission stage 3).

[0303] Of course, in other embodiments of the gear transmission 1 according to the present invention, the gears can be executed differently using parameter values set to different values, the relevant gears are located within a single transmission stage 2 or 3 or in overlapping transmission stages 2 and 3, and the trend of increasing the torque transmission capacity or increasing the efficiency can consist of a single stage or multiple stages.

[0304] These trends are generally in the direction of the output shaft of the second gear stage and in the direction of the input shaft of the first gear stage, respectively. However, within each gear stage, exceptions to this general rule are possible as long as the overall efficiency in the first gear stage 2 is higher than the overall efficiency in the second gear stage 3, and / or the ability to transmit the overall torque in the second gear stage 3 is higher than the ability to transmit the overall torque in the first gear stage 2.

[0305] For example, the elements of the first gear stage 2 and the elements of the second gear stage 3 can both be implemented by considering a set of implementation parameters, which includes, for example, the following implementation parameters (MOD; QL; ACC; PS; CR; TS; FP; MA; RG; SH):

[0306] - The module MOD of a gear or a pair of gears;

[0307] - The quality level of a gear or a pair of gears;

[0308] - The accuracy of a gear or a pair of gears;

[0309] - The profile shift PS of a gear or a pair of gears;

[0310] - The contact ratio CR of a gear or a pair of gears;

[0311] - The tooth geometry TG applied to a gear or a pair of gears;

[0312] - The fillet profile FP applied to a gear or a pair of gears;

[0313] - The material MA used for manufacturing a gear or a pair of gears;

[0314] - The roughness RG applied to a gear or a pair of gears;

[0315] And

[0316] - The surface hardness SH applied to a gear or a pair of gears.

[0317] However, according to the present invention, when developing the gear transmission 1, it is not excluded to consider this type of implementation parameters more or less.

[0318] For example, the first element can be implemented using the implementation parameters (MOD; QL; ACC; PS; CR; TG; FP; MA; RG; SH) set to a certain first parameter value (MOD_PV1; QL_PV1; ACC_PV1; PS_PV1; CR_PV1; TG_PV1; FP_PV1; MA_PV1; RG_PV1; SH_PV1).

[0319] Similarly, the second element can, for example, be executed using execution parameters (MOD; QL; ACC; PS; CR; TG; FP; MA; RG; SH) set to a second parameter value (MOD_PV2; QL_PV2; ACC_PV2; PS_PV2; CR_PV2; TG_PV2; FP_PV2; MA_PV2; RG_PV2; 2SH_PV2).

[0320] Each of the first parameter value and the second parameter value can be different, but this is not necessarily the case. However, when the first parameter value PV1 and the corresponding second parameter value PV2 are different, the difference between them should be such that the overall efficiency in the first transmission stage 2 is increased relative to the overall efficiency in the second transmission stage 3 and / or the ability to transmit the total torque in the second transmission stage 3 is increased relative to the first transmission stage 2.

[0321] According to another possible principle, the efficiency increases in the direction towards the input shaft 5 of the first transmission stage, and / or the ability to transmit torque increases in the direction towards the output shaft 20 of the second transmission stage.

[0322] Let us consider the elements on the torque transmission path TTP1 through the gear transmission 1 from the input shaft 5 of the first transmission stage towards the output shaft 20 of the second transmission stage as the first elements, and these elements are closer to the input shaft 5 of the first transmission stage than the second elements.

[0323] The first elements can, for example, all be elements of the first transmission stage 2, such as gears 5, 9, 13, 16, and 18.

[0324] The second elements can, for example, all be elements of the second transmission stage 3, such as gears 26, 27, 28, and 30.

[0325] If, in this case, the first elements are executed with a first module MOD_PV1 and the second elements are executed with a second module MOD_PV2, and the first module MOD_PV1 is different from the second module MOD_PV2, then the first module MOD_PV1 should generally be less than the second module MOD_PV2, i.e., MOD_PV1 < MOD_PV2.

[0326] In fact, compared with the overall efficiency of the second transmission stage 3, this difference generally increases the overall efficiency of the first transmission stage 2.

[0327] However, in other cases, according to another principle of the present invention, the first elements can also be part of the second transmission stage 3, and the second elements can also be part of the first transmission stage 2.

[0328] According to another principle of the present invention, if the first element is executed with the first modulus MOD_PV1, the second element is executed with the second modulus MOD_PV2, and the first modulus MOD_PV1 is different from the second modulus MOD_PV2, then the first modulus MOD_PV1 should be less than the second modulus MOD_PV2, i.e., MOD_PV1 < MOD_PV2.

[0329] In this case, compared with the case where the first element has been executed with the higher modulus MOD_PV2, which is the same as the second modulus MOD_PV2 with which the second element is executed, the efficiency does increase in the direction towards the input shaft 5 of the first transmission stage.

[0330] In a similar manner, in the entire gear transmission 1, some other parameters among the above execution parameters, all other above execution parameters, or other execution parameters can be different from each other.

[0331] Therefore, generally speaking, the following principles should be considered:

[0332] - The level and distribution of the first profile modification PS_PV1 applied to the first element (which is closer to the input shaft 5 of the first transmission stage on the torque transmission path TTP1 or which is merely a part of the first transmission stage 2) should be optimized for efficiency, and the level and distribution of the second profile modification PS_PV2 applied to the second element (which is closer to the output shaft 20 of the second transmission stage on the torque transmission path TTP1 or which is merely a part of the second transmission stage 3) should be optimized for robustness;

[0333] - The first quality level QL_PV1 applied to the first element should be higher than the second quality level QL_PV2 applied to the second element;

[0334] - The first accuracy ACC_PV1 applied to the first element should be higher than the second accuracy ACC_PV2 applied to the second element;

[0335] - The first contact ratio CR_PV1 applied to the first element should be less than the second contact ratio CR_PV2 applied to the second element;

[0336] - The contact roughness CR_PV1 applied to the first element should be less than the contact roughness CR_PV2 applied to the second element;

[0337] - The first tooth geometry TG_PV1 for configuring the first element should be optimized for efficiency, and the second tooth geometry TG_PV2 for configuring the second element should be optimized for the ability to increase the transmitted torque;

[0338] - The first material MA_PV1 used to manufacture the first element should be lighter and / or have lower strength than the second material MA_PV2 used to manufacture the second element; and

[0339] - The first surface hardness SH_PV1 applied to the first element should be less than the second surface hardness SH_PV2 applied to the second element.

[0340] In other embodiments of the gear transmission 1 according to the invention, more sets of elements or gears can be applied, and these elements or gears are differently implemented by setting execution parameters to different values, so as to generate a higher total efficiency in the first transmission stage 2 than in the second transmission stage 3 and / or a higher total transmitted torque capacity in the second transmission stage 3 than the transmitted torque capacity in the first transmission stage 2.

[0341] According to another principle of the invention, the above general principles should be considered for each pair of consecutive sets of elements according to their positions along the considered torque transmission path.

[0342] Some execution parameters cannot be set independently of each other.

[0343] For example, for a certain selected material, its roughness and surface hardness cannot be set to any value, so these execution parameters are interrelated in a rather complex way.

[0344] According to the invention, in low-torque engagement (such as usually the case in the first transmission stage 2 of the gear transmission 1), the material should be selected to reduce contact roughness, reduce weight and provide good lubrication to improve the efficiency of this transmission stage 2.

[0345] In high-torque engagement (such as usually the case in the second transmission stage 3 of the gear transmission 1), materials with high strength and surface hardness should be used, resulting in higher contact roughness and higher transmitted torque capacity, but relatively low efficiency.

[0346] In some applications, the load characteristics are asymmetric, where for example higher tooth robustness (greater forces exist) may be required in one rotational direction, while lower robustness but higher contact speed is required in the opposite rotational direction.

[0347] By using asymmetric tooth flanks, each tooth flank of these teeth can be optimized according to the load and rotational speed applied to it, and in these applications, the rotational speed depends on the rotational direction.

[0348] This actually means that in these applications, when the rotational direction in the gear transmission 1 is reversed, the functions of the first transmission stage 2 and the second transmission stage 3 are interchanged.

[0349] InFigure 1 In the illustrated embodiment, each gear of the gear transmission 1 meshes with one or more meshing gears, whereby the meshing gears of the associated gears all operate at the same or substantially the same rotational speed.

[0350] For example, the first stage output sun gear 18 meshes with the first stage output planetary gear 9 of the set 32 and does not mesh with the other gears of the gear transmission 1.

[0351] The first stage output planetary gears 9 are all supported on the same intermediate planet carrier 21, and thus they have substantially the same rotational speed.

[0352] This is the case for all gears of the gear transmission 1, and it allows for a design in which the execution parameters are set such that each pair of meshing gears is optimized according to its operating conditions of torque and rotational speed.

[0353] Obviously, in this way, very good performance of the gear transmission 1 according to the invention can be obtained.

[0354] In Figure 2 , another embodiment of the gear transmission 1 according to the invention is shown, which differs from the previous embodiment in that the first stage 1 does not include the first stage output planetary gear 9 and the structure of the second stage compound planetary gear assembly 23 is different.

[0355] This time, the second stage compound planetary gear assembly 23 includes second stage compound planetary gears 24, each of which is formed only by second stage planetary gears (in particular second stage planetary gears 26 and 27).

[0356] Furthermore, in Figure 1 's example, the first stage output element is a single first stage output element 37 formed by the first stage output planet carrier 38 and is interconnected with the second stage input element, which is a single second stage input element 39.

[0357] The single second stage input element 39 is the second stage input sun gear 40 of the second stage compound planetary gear assembly 23.

[0358] This second stage input sun gear 40 meshes with each planetary gear of the set 29 of circumferentially spaced second stage planetary gears 26, which are formed by the planetary gears 26 of each second stage compound planetary gear 24.

[0359] This type of interconnection between the first stage 2 and the second stage 3 conforms to the first interconnection configuration mentioned above.

[0360] Because inFigure 2 In the embodiment of, there is no longer the first transmission stage output planetary gear 9 of the third set 32 (as is the case in the embodiment of Figure 1 ), so it obtains a more compact configuration.

[0361] On the other hand, as can be clearly seen from Figure 2 , the second transmission stage planetary gear 26 of the set 29 meshes with the second transmission stage input sun gear 40 and the second transmission stage fixed ring gear 28 in this embodiment.

[0362] The second transmission stage fixed ring gear 28 is fixedly arranged in the housing 17 and thus does not move at all, while the second transmission stage input sun gear 40 is driven to rotate during the operation of the gear transmission 1 by the first transmission stage 2.

[0363] This means that in the example of Figure 2 , each second transmission stage planetary gear 26 in the second transmission stage planetary gear 26 of the set 29 interacts with two gears (specifically, the second transmission stage fixed ring gear 28 and the second transmission stage input sun gear 40 operating under completely different operating conditions).

[0364] Therefore, it is not possible to select the execution parameters for the second transmission stage planetary gear 26 of the set 29 such that the execution parameters are the optimal execution parameters for both interactions (i.e., the interaction with the second transmission stage fixed ring gear 28 and the interaction with the second transmission stage input sun gear 40).

[0365] Therefore, compared with the case of Figure 1 , in the embodiment of the gear transmission 1 shown in Figure 2 , the same level of overall efficiency cannot be obtained, where all interacting gear pairs can be designed separately and freely and their execution can be optimized according to the operating conditions.

[0366] If looking at the embodiments of Figure 1 and Figure 2 superficially, it seems that the embodiment of Figure 2 can be simply obtained by canceling the first transmission stage output planetary gear 9 and directly meshing the first transmission stage output sun gear 18 with the second transmission stage planetary gear 26 of the set 29.

[0367] However, this is not the case, because in the embodiment of Figure 2 as in the embodiment of Figure 1 , the elements of the first transmission stage 2 and the elements of the second transmission stage 3 are executed according to a set of execution parameters, and this set of execution parameters is set to different values in the transmission stage 2 and the transmission stage 3, and this makes the ability to transmit the total torque in the second transmission stage 3 higher than that in the first transmission stage 2 and / or the overall efficiency in the first transmission stage 2 higher than that in the second transmission stage 3.

[0368] According to another principle, the implementation differences can also be such that the ability to transmit torque along the torque transmission path TTP1 from the input shaft 5 of the first transmission stage to the output shaft 20 of the second transmission stage increases, and the transmission efficiency along the torque transmission path TTP2 from the output shaft 20 of the second transmission stage to the input shaft 5 of the first transmission stage increases.

[0369] This means that, in Figure 2 the embodiment, the sun gear 40 and the second transmission stage planet gear 26 of the set 29 are implemented and optimized together (for example, by using a material with a certain strength for these related components, such as a certain metal) to obtain a higher torque transmission capacity, while the first transmission stage input gear 4, the first transmission stage planet gear 13, and the first transmission stage fixed annulus 16 all use certain implementation parameters set to other values (for example, these related gears 4, 13 use another material that is lighter but has lower strength, such as plastic) in order to be optimized for efficiency.

[0370] In Figure 2 this embodiment, the first transmission stage 2 and the second transmission stage 3 are again different in nature, in that their respective gears are implemented differently, and their implementation parameters are set to different parameter values in the transmission stages 2 and 3 respectively.

[0371] Of course, this is also a special case where the fact that a certain gear belongs to the first transmission stage 2 or the second transmission stage 3 is consistent with the way it has been implemented, but generally this is not in accordance with the requirements of the present invention.

[0372] In Figure 2 the embodiment, the interconnecting mechanism 7 includes a housing 17 and an interconnecting gear 8 represented by the first transmission stage fixed annulus 16 and the first transmission stage planet gear 13 of the set 12.

[0373] The first transmission stage planet carrier 15 of course serves as the first transmission stage output planet carrier 38.

[0374] By combining Figure 1 and 2 the features of the embodiment, it is easy to imagine that another embodiment of the gear transmission 1 according to the present invention (not shown in the figure) can be obtained, in which the second transmission stage compound planet gear 24 is also not of the hybrid type (as Figure 2 shown), but instead includes three sets of planet gears (as Figure 1 shown), however this time they are all second transmission stage planet gears, and they are implemented, for example, in such a way that their implementation parameters are set to the same parameter values suitable for and optimized for torque transmission, and these parameter values are, for example, different from the corresponding implementation parameter values given to the components of the first transmission stage 2.

[0375] Obviously, in such an embodiment, the execution of all components can again be optimized according to the operating conditions, while obtaining a slightly less compact configuration.

[0376] Figures 3 to 5 Another embodiment of a gear transmission according to the invention is shown, which is in many respects similar to Figure 1 the embodiment of

[0377] However, in the Figures 3 to 5 embodiment, the first transmission stage 2 no longer includes the first transmission stage fixed annulus 16, nor the first transmission stage planet carrier 15. Instead, this time the first transmission stage planet gears 13 are respectively the first transmission stage compound planet gears 41, forming pairs 42 of stepped first transmission stage planet gears 43 and 44 that are fixedly interconnected.

[0378] These first transmission stage compound planet gears 41 more specifically form a first set 45 of circumferentially spaced first transmission stage planet gears 43 and a second set 46 of circumferentially spaced first transmission stage planet gears 44. The first set 45 is composed of the first planet gears 43 of each aforementioned pair 42 of first transmission stage planet gears 43 and 44, and the second set 46 is composed of the second planet gears 44 of each aforementioned pair 42 of first transmission stage planet gears 43 and 44.

[0379] The first planet gears 43 and 44 are concentrically arranged around the first transmission stage input shaft 5.

[0380] Furthermore, each aforementioned second planet gear 44 of the circumferentially spaced first transmission stage compound planet gears 41 meshes with a corresponding first transmission stage output element 6, which is formed by the first transmission stage output planet gears 9 of the set 32.

[0381] Figures 3 to 5 Another feature of the shown embodiment is that the intermediate planet carrier 21 is provided with a plurality of circumferentially spaced secondary intermediate carrier planet gear shafts 47, which are fixedly or rotatably mounted on the intermediate planet carrier 21.

[0382] These secondary intermediate carrier planet gear shafts 47 each support the aforementioned first transmission stage compound planet gears 41.

[0383] Thereby, each secondary intermediate carrier planet gear shaft 47 extends in the bisecting plane BB' of a corresponding pair of planes AA' and CC'.

[0384] Each plane AA' and CC' in the pair extends through the central axis EE' of the second transmission stage output shaft 20 and through one of two consecutive primary intermediate carrier planet gear shafts 22.

[0385] Figure 4 This is clearly shown.

[0386] It should be noted that, in the embodiment of Figures 3 to 5 , the first transmission stage output element 6 is again formed by the first transmission stage output planet gear 9, and the first transmission stage output planet gear 9 is interconnected with the second transmission stage planet gear 26 that forms the second transmission stage input element 33, as is the case in the embodiment of Figure 1 .

[0387] Thus, the interconnection between the first transmission stage 2 and the second transmission stage 3 again conforms to the third interconnection configuration mentioned above.

[0388] In addition, the interconnection mechanism 7 only includes the first transmission stage compound planet gear 41 at this time.

[0389] As Figures 3 to 5 shown, this embodiment of the gear transmission 1 has the advantage that it does not require the first transmission stage fixed ring gear 16 and the first transmission stage planet carrier 15, which makes the gear transmission 1 lighter and more compact.

[0390] The first transmission stage 2 and the second transmission stage 3 are also executed by assigning different parameter values to certain execution parameters in each of the transmission stages 2 and 3, as has been explained in detail before, but according to the present invention this is not a necessary requirement.

[0391] Figure 6 shows Figures 3 to 5 a variant of the previous embodiment, in which the gear transmission 1 is made more compact.

[0392] In particular, in this embodiment of Figure 6 , the input shaft 5 extends inwards into the free space 48 in the second transmission stage 3 at the center of the intermediate planet carrier 21.

[0393] The actuator 19 is integrated in the same free space 48.

[0394] As Figure 6 shown, this embodiment is very compact and can be easily installed in a narrow space, such as in the joint of a prosthetic limb or a robot.

[0395] In Figure 7 , another embodiment of the gear transmission 1 according to the present invention is shown, which includes the same elements as the embodiment of Figures 3 to 5 and has an almost identical structure.

[0396] However, the difference is that, in Figure 7In an embodiment, each primary intermediate carrier planet gear shaft 22 and its corresponding secondary intermediate carrier planet gear shaft 47 are disposed in a single radially extending plane DD' including the central axis EE' of the second transmission stage output shaft 20.

[0397] The gears are also rearranged, with the first transmission stage compound planet gear 41 being slightly closer to the center, closer to the central axis EE' of the second transmission stage output shaft 20.

[0398] Figure 8 An embodiment of the gear transmission 1 is shown, which is almost identical to Figure 7 the embodiment of, but at this time clutches 49, 50, and 51 are included in this configuration.

[0399] These clutches 49, 50, and 51 are mounted between a pair of elements of the gear transmission 1 and are configured to transmit torque between the relevant elements in one direction and to prevent torque transmission between the relevant elements in the opposite direction.

[0400] In Figure 8 the embodiment of, shown in dashed lines, for example, clutch 49 can be mounted between the first transmission stage input shaft 5 and the first transmission stage inlet gear 4 or the first transmission stage input sun gear 11.

[0401] Furthermore, it may be useful to mount such a clutch between any of the planet gear shafts 22, 47 and the planet gears mounted on the planet gear shafts 22 or 47.

[0402] In Figure 8 there is another dashed line indicating a set of clutches 50, which are mounted between each secondary intermediate carrier planet gear shaft 47 and the corresponding first transmission stage compound planet gear 41.

[0403] Similarly, the dashed lines show that a set of clutches 51 can be mounted between each primary intermediate carrier planet gear shaft 22 and the corresponding hybrid compound planet gear 34.

[0404] In a possible embodiment, the clutches 49, 50, and 51 can be of such a type that a controllable locking-unlocking device is provided for unlocking the situation where torque transmission is blocked in the opposite direction.

[0405] Such clutches 49, 50, and 51 contribute to controlling the movement in the gear transmission 1 and thus also to controlling the movement between the first transmission stage input shaft 5 and the second transmission stage output shaft 20.

[0406] By activating or not activating the above-mentioned locking-unlocking device, the total gear ratio R can be changed, and the energy stored in elements (such as springs) connected to the gear transmission 1 can be stored and released, which is a very interesting feature, for example, in prosthetics and orthotics.

[0407] Figure 9 The embodiment of the gear transmission 1 according to the invention shown also corresponds to Figure 7 The embodiments are almost the same.

[0408] In this case, the rotational drive movement of the actuator 19 is controlled by a brake 52 which is additionally arranged at the actuator shaft 53 .

[0409] More generally, the gear transmission 1 according to the present invention may include one or more such brakes 52, which are arranged between one or more elements of the gear transmission 1 and the housing 17 to control the rotational speed of parts of the gear transmission 1, such as the first transmission stage input shaft 5, the second transmission stage output shaft 20, the planetary gears, the conventional gears, the planetary carriers 21 and 15 or the rotatable ring wheel 30.

[0410] exist Figure 10 , an embodiment of a gear transmission 1 according to the invention is shown, which has a second transmission stage 3 and a part of a first transmission stage 1, which is connected to Figure 1 The corresponding transmission stage 3 of the illustrated embodiment is partly identical to the transmission stage 1 .

[0411] In particular, Figure 10 In the embodiment of the present invention, the first transmission stage output element 6 is also the first transmission stage output planetary gear 9 , and each planetary gear is meshed with the first transmission stage output sun gear 18 .

[0412] However, the first transmission stage outlet sun gear 18 is not interconnected with the first transmission stage planet carrier 15 in this case, since the first transmission stage 2 is not provided with a first transmission stage planetary gear assembly 10 at all.

[0413] on the contrary, Figure 10 In the exemplary embodiment shown, the first gear stage input shaft 5 is aligned in a direction FF′ which is perpendicular to the direction EE′ of the second gear stage output shaft 20 .

[0414] In order to transmit the rotation speed and torque at the first gear stage input shaft 5 to the first gear stage output element 6 , in this embodiment, the first gear stage 2 includes an interconnection mechanism 7 including an interconnection gear 8 , which is a first gear stage bevel gear 54 .

[0415] More specifically, the first transmission stage 2 is equipped with a first transmission stage compound interconnecting gear 55 which is constituted on the one hand by the aforementioned first transmission stage bevel gear 54 and on the other hand by the first transmission stage outlet sun gear 18 .

[0416] The first-stage compound interconnected gear 55 is rotatably mounted on a shaft 56 which extends in a direction GG' aligned with the central axis EE' of the second-stage output shaft 20.

[0417] The first-stage bevel gear 54 of the first-stage compound interconnected gear 55 meshes with the first-stage input gear 4. For this purpose, the first-stage input gear 4 is also implemented as a first-stage input bevel gear 57.

[0418] Figure 10 The function of the embodiment of the gear transmission 1 shown does not require further explanation and is exactly similar to the foregoing case.

[0419] Obviously, in Figures 7 to 10 all the embodiments shown, the first stage 2 and the second stage 3 are interconnected again according to the third interconnection configuration described above.

[0420] Figure 11 The embodiment shown is in many respects similar to Figure 10 the case, but also different in many respects.

[0421] For example, in Figure 11 a first-stage hypoid gear arrangement 58 is used instead of a pair of bevel gears 54 and 57 in order to transmit torque at a right angle.

[0422] A hypoid gear arrangement is a type of spiral bevel gear arrangement whose axes do not intersect.

[0423] The first-stage input gear 4 is implemented as a first-stage hypoid gear arrangement pinion 59, while the first-stage bevel gear 54 is now replaced by a first-stage hypoid gear arrangement crown wheel 60.

[0424] Another difference from Figure 10 the embodiment shown is that the first-stage hypoid gear arrangement crown wheel 60 serves as a single first-stage output element 37, as in the case of the first-stage planet carrier 38 in Figure 2 the embodiment shown.

[0425] Therefore, Figure 11 the embodiment of is a case where there is no interconnection mechanism 7 for indirectly interconnecting the first-stage input gear 4 to the first-stage output element 37, but rather the first-stage input gear 4 interacts directly with a single first-stage output element 37, represented in this case by the first-stage hypoid gear arrangement crown wheel 60.

[0426] The crown gear 60 of the first stage hypoid gear unit remains part of the compound gear 61, but the other gear 62 of the compound gear 61 now forms part of the second stage 3.

[0427] In this case, the compound gear 61 is a hybrid compound gear 61, in which the crown gear 60 of the first stage hypoid gear unit and the other gear 62 perform in different ways.

[0428] As explained previously with respect to other embodiments, the reason why a gear can be considered part of the first stage 2 rather than the second stage 3 and vice versa may be related to the performance parameters used. The performance parameters in the first stage 2 are different in nature compared to the second stage 3, but this is not necessarily the case.

[0429] Another reason is simply by definition.

[0430] In the introduction, it was also explained that from another perspective, one stage of the gear transmission 1 can be considered part of the gear transmission 1, and the gear transmission 1 can be axially positioned near consecutive stages, whereby torque and speed are transmitted from one stage to another through the interconnection of components of each stage that are axially separated from each other.

[0431] Such a definition clearly applies to all the embodiments that have been described.

[0432] Another second stage gear 62 of the hybrid compound gear 61 (which is also the case in the Figure 2 embodiment) fulfills the role of a single second stage input element 39, and more specifically, the role of a single second stage input sun gear 40.

[0433] The single second stage input sun gear 40 formed by the other second stage gears 62 meshes directly with each second stage planet gear 26 of the second stage compound planet gear 24.

[0434] Thus, the interconnection between the first stage 2 and the second stage 3 is achieved according to the first interconnection configuration mentioned above.

[0435] Obviously, in other embodiments of the planetary gear 1 according to the present invention, other interconnection mechanisms 7 or any other mechanism capable of transmitting rotational speed and torque at an angle can be applied, such as an interconnection mechanism including a torsion cable.

[0436] The relevant angle can be 90°, or any other angle.

[0437] When the broader definition of which stage the gear transmission 1 can be is accepted, Figure 11The embodiment can also be described in another way.

[0438] exist Figure 11 In the embodiment, from another perspective, the compound gear 61 can be considered to be completely part of the first transmission stage 2, in which case its gear 62 forms a single first transmission stage output element 37, which is a sun gear that interacts with the group 29 of second transmission stage planetary gears 26 that form the second transmission stage input element 33.

[0439] In this case, the first transmission stage 2 is partially surrounded by the second transmission stage 3 in the radial direction.

[0440] It is obvious that the other aforementioned embodiments can also be described in a similar alternative manner when a larger definition of the transmission stages of the gear transmission is used.

[0441] Figures 12 to 14 Another embodiment of the gear transmission 1 according to the present invention is shown. Figures 3 to 5 The embodiment shown is similar, but more complex.

[0442] In particular, the first transmission stage 2 and the second transmission stage 3 are interconnected again according to the third interconnection configuration proposed above.

[0443] exist Figures 11 to 14 In the illustrated embodiment, the first transmission stage 2 includes a primary stage 63 and a secondary stage 64 .

[0444] As in Figures 3 to 5 In the embodiment of FIG. 4 , primary 63 includes first gear stage primary compound planet gears 41 forming first and second sets 45 , 46 of circumferentially spaced primary planet gears 65 and 66 represented by first gear stage planet gears 43 and 44 , respectively.

[0445] The secondary stage 64 includes first gear stage secondary compound planet gears 67 that form first and second sets 68 , 69 of circumferentially spaced secondary planet gears 70 and 71 .

[0446] The primary planet gears 65 of the first set 45 intermesh with the first gear stage inlet sun gear 11 , and the primary planet gears 66 of the second set 46 each intermesh with a corresponding secondary planet gear 70 of the first set 68 of secondary planet gears 70 .

[0447] Finally, the secondary planetary gears 71 of the second set 69 each mesh with a corresponding first gear stage output element 6 , which is again represented by the first gear stage output planetary gears 9 .

[0448] The first transmission stage primary compound planetary gears 41 are still each supported by the secondary intermediate carrier planetary gear shaft 47, which is also Figures 3 to 5For the case of the embodiments.

[0449] In order to support each first transmission stage secondary compound planetary gear 67, the intermediate planet carrier 21 is provided with a plurality of circumferentially spaced third-stage intermediate carrier planet gear shafts 72, which are fixedly or rotatably mounted on the intermediate planet carrier 21.

[0450] Furthermore, as can be seen from Figure 13 each third-stage intermediate carrier planet gear shaft 72 extends in the bisecting plane HH' of a corresponding pair of planes II' and JJ', in particular the first plane II' and the second plane JJ', where the first plane II' and the second plane JJ' each extend through the central axis EE' of the second transmission stage output shaft 20, and the first plane II' additionally extends through the primary intermediate carrier planet gear shaft 22, while the second plane JJ' additionally extends through the nearby secondary intermediate carrier planet gear shaft 47.

[0451] Each secondary intermediate carrier planet gear shaft 47 still extends in the bisecting plane between two consecutive primary intermediate carrier planet gear shafts 22, as is the case in the Figures 3 to 5 embodiments.

[0452] This embodiment of the gear transmission 1 according to the invention is very suitable for use in prosthetics or orthotics or robotic applications.

[0453] In a typical example of a robotic application, the following conditions apply:

[0454] - The maximum torque at the first transmission stage input shaft 5 is approximately 0.15 Nm;

[0455] - The maximum torque at the second transmission stage output shaft 20 is approximately 50 Nm;

[0456] - The maximum rotational speed at the first transmission stage input shaft 5 is approximately 15000 rpm;

[0457] - The maximum rotational speed at the second transmission stage 20 output shaft is approximately 40 rpm;

[0458] - The gear ratio of the gear transmission R (defined as the rotational speed of the second transmission stage output shaft divided by the rotational speed of the first transmission stage input shaft) is approximately 1:400.

[0459] The conditions of the intermediate stage of the gear transmission 1 are generally as follows:

[0460] - The maximum torque after the primary 63 of the first transmission stage 2 is approximately 0.5 Nm;

[0461] - The maximum rotational speed after the primary 63 of the first transmission stage 2 is approximately 4000 rpm;

[0462] - The maximum torque after the secondary 64 of the first transmission stage 2 is approximately 2 Nm;

[0463] - The maximum rotational speed after the secondary 64 of the first transmission stage 2 is approximately 1000 rpm;

[0464] The first transmission stage input gear 4 and the first transmission stage primary planetary gears 65 and 66 are typically made of plastic.

[0465] The first transmission stage secondary planetary gears 70 and 71 are typically made of plastic (such as nylon, polyethylene, polyether ether ketone, etc.) or made of light metal (such as brass or aluminum, etc.).

[0466] The second transmission stage fixed annulus 28, the second transmission stage rotatable annulus 30, and the second transmission stage planetary gears 26 and 27 and the first transmission stage output planetary gear 9 are typically made of gear steel, such as heat-treated steel, case-hardened steel, or nitrided steel.

[0467] Obviously, in Figures 12 to 14 the embodiment, the implementation of the gears is inconsistent with the fact that they are part of the first transmission stage 2 or the second transmission stage 3, as is the case in many of the foregoing embodiments.

[0468] In addition, it is easy to understand that by implementing different stages 63 and 64 of the elements of the first transmission stage 2 and the second transmission stage 3 with increasingly strong and heavy materials, the ability to transmit torque increases in the direction of the second transmission stage output shaft 20 along the torque transmission path TTP1.

[0469] On the other hand, along the torque transmission path TTP2 from the second transmission stage output shaft 2 to the first transmission stage input shaft 5, the materials become lighter and lighter, resulting in reduced energy loss and improved transmission efficiency.

[0470] The present invention does not exclude the complete application of other implementation parameters for manufacturing the gear transmission 1 according to the present invention, considering more or less implementation parameters and / or more or less differentiating the implementation of different components along the torque transmission path, so as to obtain an overall high efficiency in the first transmission stage 2 and / or an overall high torque transmission capacity in the second transmission stage 3, or to achieve certain trends and overall performance of the gear transmission 1.

[0471] In Figure 15 is shown yet another embodiment of a gear transmission according to the present invention, which can be considered a general embodiment.

[0472] The first transmission stage 2 and the second transmission stage 3 are interconnected again according to the third interconnection configuration proposed above.

[0473] In this embodiment, the first transmission stage 2 is reduced to the minimum number of components.

[0474] In fact, the first-stage input gear 4 of the first-stage input sun gear 11 still directly meshes with the first-stage output element 6 formed by the first-stage output planetary gear 9.

[0475] The second transmission stage 3 is implemented in the same manner as Figure 1 the embodiment of. The second-stage compound planetary gear assembly 23 includes hybrid compound planetary gears 34, each gear being composed of a pair of second-stage planetary gears 26 and 27 interconnected with the first-stage planetary gear 9.

[0476] In the illustrated embodiment, the first-stage input sun gear 11 and the first-stage output planetary gear 9 are implemented with execution parameters set to certain identical parameter values PV1, which are represented in Figure 15 by drawing these parts in white.

[0477] In addition, the second-stage planetary gears 25 and 26, as well as the second-stage fixed annulus 28 and the second-stage rotatable annulus 30, are implemented with corresponding parameters set to certain identical parameter values PV2.

[0478] However, the parameter value PV2 is different from the parameter value PV1, and the corresponding parts are drawn in gray in Figure 15 this.

[0479] The difference is that the total transmission efficiency of the first transmission stage 2 is higher than that of the second transmission stage 3, and / or the ability of the second transmission stage 3 to transmit total torque is higher than that of the first transmission stage 2.

[0480] According to another principle of the present invention, this difference can also be such that when the torque transmission path TTP1 travels towards the second-stage output shaft 20, the ability to transmit torque increases, and when the torque transmission path TTP2 travels in the opposite direction towards the first-stage input shaft 5, the transmission efficiency increases.

[0481] However, in other embodiments, according to the principles described above, the implementation of the components of the gear transmission 1 can be adjusted more precisely.

[0482] The gear transmission 1 according to the present invention is preferably reversibly drivable, that is, the torque applied at the first-stage input shaft 5 is transmitted to the second-stage output shaft 20, and vice versa.

[0483] Figure 16 Another embodiment of the gear transmission 1 according to the present invention is schematically shown, which is very similar to Figures 3 to 5 the illustrated embodiment.

[0484] The first transmission stage 2 and the second transmission stage 3 are interconnected again according to the third interconnection configuration proposed above.

[0485] The difference is that in Figure 16 the embodiment of, the first-stage output planetary gear 9 supported on the primary intermediate carrier planetary gear shaft 22 is at this time the first-stage output planetary gear 9 with internal teeth 73, while in the previous case, the first-stage output planetary gear 9 had external teeth 74.

[0486] The first-stage planetary gear 44 of the first-stage compound planetary gear 41 supported on the secondary intermediate carrier planetary gear shaft 47 still meshes with these first-stage output planetary gears 9, but in Figure 16 the embodiment of, they mesh internally, while in Figures 3 to 5 the embodiment of, they mesh externally.

[0487] The advantage of this internal meshing of the relevant planetary gears 44 and 9 is that, in the same available space, the first-stage output planetary gear 9 can be implemented with a much larger diameter, so that a larger transmission ratio can be achieved.

[0488] Figures 17 to 20 Another embodiment of the gear transmission 1 according to the invention is shown, which has many similarities with the embodiment shown in Figures 12 to 14 The first stage 2 and the second stage 3 are interconnected again according to the third interconnection configuration proposed above.

[0489] Another similarity is that, for example,

[0490] the intermediate planet carrier 21 of the gear transmission is again equipped with a primary intermediate carrier planetary gear shaft 22, a secondary intermediate carrier planetary gear shaft 47 and a tertiary intermediate carrier planetary gear shaft 72. Figures 17 to 20

[0491] Another similarity is that each primary intermediate carrier planetary gear shaft 22 still supports a hybrid compound planetary gear 34, each planetary gear consisting of a pair of second-stage planetary gears 26 and 27 interconnected with the first-stage planetary gear 9.

[0492] On the one hand, the second stage 3 of the gear transmission 1 is still substantially the same as the embodiments of, for example, Figure 1 3 , 6, 9 and 12, because the second-stage planetary gear 26 again meshes with the second-stage fixed annulus 28 fixedly mounted in the housing 17, and the second-stage planetary gear 27 meshes with the second-stage rotatable annulus 30, and the second-stage rotatable annulus 30 is connected to the second-stage output shaft 20.

[0493] Figures 17 to 20 On the other hand, in Figures 17 to 20In the illustrated embodiment, there are three pairs of primary intermediate frame planetary gear shafts 22 of 75 at this time, instead of three single primary intermediate frame planetary gear shafts 22 as in the previous example.

[0494] As in Figures 12 to 14 the embodiment of

[0495] The primary 63 includes a first stage primary compound planetary gear 41, which forms a first set 45 and a second set 46 of circumferentially spaced primary planetary gears 65 and 66.

[0496] These first stage primary compound planetary gears 41 are again supported on secondary intermediate frame planetary gear shafts 47.

[0497] In Figures 17 to 20 this embodiment of

[0498] the secondary 64 includes a first stage secondary compound planetary gear 67, which forms a first set 68 and a second set 69 of circumferentially spaced secondary planetary gears 70 and 71, which are supported on third stage intermediate frame planetary gear shafts 72.

[0499] The primary planetary gears 65 of the first set 45 mesh with the first stage input sun gear 11, while the primary planetary gears 66 of the second set 46 each mesh with a corresponding secondary planetary gear 70 in the first set 68 of secondary planetary gears 70.

[0500] However, these secondary planetary gears 70 are provided with internal teeth 76 in Figures 17 to 20 the embodiment of Figures 12 to 14 instead of external teeth 77 as in the previous embodiment of

[0501] such that the meshing between the primary planetary gear 66 and the corresponding secondary planetary gear 70 is internal meshing in this case, rather than external meshing in the previous embodiment. Figures 17 to 20 The secondary planetary gears 71 of the second set 69 each mesh with the first stage output element 6, and the first stage output element 6 is still represented by the first stage output planetary gear 9. Therefore, in the illustrated embodiment, each secondary planetary gear 71 meshes with a pair of the first stage output planetary gears 9 through its external teeth, and each first stage output planetary gear 9 forms part of a hybrid compound planetary gear 34, which is supported on a pair 75 of the corresponding primary intermediate frame planetary gear shafts 22.

[0502] The advantage of using pairs of these hybrid compound planetary gears 34 mainly in the second gear stage 3 and doubling the pairs of planetary gear structures on the intermediate planet carrier 21 is that a more robust configuration is obtained, which has a higher torque transmission capacity in the second gear stage 3 of the gear transmission 1.

[0503] This clearly requires a rearrangement of the arrangement of certain components in the gear transmission 1, which is shown in more detail in Figure 19 which follows.

[0504] First, the secondary intermediate carrier planetary gear shafts 47 are arranged symmetrically around the first gear stage input shaft 5 at an equal distance X from this shaft 5.

[0505] The secondary intermediate carrier planetary gear shafts 47 each define a plane KK', LL', MM' together with the central axis of the first gear stage input shaft 5.

[0506] Since there are three secondary intermediate carrier planetary gear shafts 47, each such plane KK', LL' and MM' is rotated by more than 120° relative to another plane KK', LL' and MM'.

[0507] Each plane KK', LL' and MM' also contains a first primary intermediate carrier planetary gear shaft 78 of each pair 75 of primary intermediate carrier planetary gear shafts 22, in particular on the side of the plane relative to the first gear stage input shaft 5 which is opposite to the side containing the corresponding secondary intermediate carrier planetary gear shaft 47 of the plane KK', LL' or MM'.

[0508] The primary intermediate carrier planetary gear shafts 22 are arranged at an equal distance Y from the first gear stage input shaft 5, this distance being much greater than the aforementioned distance X.

[0509] The situation described so far is somewhat similar to the situation explained with respect to Figure 4 where each secondary intermediate carrier planetary gear shaft 47 still extends in the bisecting plane between two successive first primary intermediate carrier planetary gear shafts 78.

[0510] In fact, for example, the plane KK' containing the intermediate carrier planetary gear shaft 47 is the bisecting plane between the plane LL' and the plane MM', and the plane LL' and the plane MM' contain their respective first primary intermediate carrier planetary gear shafts 78.

[0511] However, in the Figures 17 to 20 embodiment shown, for each secondary intermediate carrier planetary gear shaft 47 and the nearby first primary intermediate carrier planetary gear shaft 78, a cylindrical sector 79 can be defined (as Figure 19as shown by the shaded lines). This cylindrical sector 79 is delimited by the respective planes KK’, LL’ or MM’ containing the said shafts 47 and 78, and this cylindrical sector 79 also contains the second primary intermediate carrier planet gear shafts 80 of the respective pairs 75 and the respective third stage intermediate carrier planet gear shafts 72.

[0512] The first and second primary intermediate carrier planet gear shafts 78 and 80 of such a cylindrical sector 79 support the hybrid compound planet gear 34 to interact with the first stage transmission secondary compound planet gear 67 supported by the third stage intermediate carrier planet gear shaft 72 of this cylindrical sector 79.

[0513] Similarly, the said first stage transmission secondary compound planet gear 67 interacts with the respective first stage transmission compound planet gear 41. The first stage transmission compound planet gear 41 is supported on the secondary intermediate carrier planet gear shaft 47 of the same cylindrical sector 79.

[0514] In this way, the interactions between all the elements of the Figures 17 to 20 embodiment shown are defined.

[0515] The second primary intermediate carrier planet gear shafts 80 are all placed at the same distance Y from the first stage transmission input shaft 5, as is the case with the first primary intermediate carrier planet gear shafts 78, while the third stage intermediate carrier planet gear shafts 72 are all set at an intermediate distance Z from the first stage transmission input shaft 5, between the above-mentioned distances X and Y.

[0516] Each cylindrical sector 79 can also be divided into three equal sub-sectors 81, 82 and 83, delimited by planes extending radially outwards from the central axis of the first stage transmission input shaft 5.

[0517] In particular, the first sub-sector 81 is delimited by the plane KK’, LL’ or MM’ containing the secondary intermediate carrier planet gear shaft 47 of the corresponding cylindrical sector 79, and the intermediate plane OO’.

[0518] The second sub-sector 82 is delimited by the successive intermediate planes OO’ and PP’, while the third sub-sector 83 is delimited by the last intermediate plane PP’ and the plane KK’, LL’ or MM’ containing the first primary intermediate carrier planet gear shaft 78 of the relevant cylindrical sector 79.

[0519] The aforesaid intermediate plane PP’ forms a plane of symmetry, around which the pairs 75 of the primary intermediate carrier planet gear shafts 78 and 80 are provided with their respective hybrid compound planet gears 34.

[0520] The same intermediate plane PP’ also includes the respective third stage intermediate carrier planet gear shafts 72 of this cylindrical sector 79.

[0521] The corresponding second primary intermediate carrier planet gear shaft 80 is located on another intermediate plane OO'.

[0522] In addition to the structure of this embodiment of the gear transmission 1 according to the invention described herein, in terms of the implementation of some of its components, it also has features similar to those Figures 12 to 14 described in the embodiment shown.

[0523] The corresponding components of the different transmission stages 2 and 3 and the stages 63 and 64 can be implemented in a similar manner, resulting in the same overall features, namely an increase in the ability to transmit torque to the output shaft 20 of the second transmission stage, or an increase in the total transmitted torque in the second transmission stage 3, and an increase in the transmission efficiency in the direction towards the input shaft 5 of the first transmission stage, or an increase in the total transmission efficiency in the first transmission stage 2.

[0524] Using the secondary planet gear 71 with internal teeth 76 results in a greater difference in the gear diameters of the meshing gears 71 and 9, leading to a higher transmission ratio.

[0525] According to the invention, of course, it is not excluded to apply internal teeth to other gears of the gear transmission 1.

[0526] Figure 21 Another embodiment of the gear transmission 1 according to the invention is schematically shown, which in some aspects is Figure 2 and Figure 12 similar to the embodiment shown, but also very different in many aspects.

[0527] The first transmission stage 2 includes two stages 63 and 64 having the first transmission stage compound planet gears 41 and 67, which interact with each other and with the first transmission stage inlet wheel 4 in a similar manner to Figure 12 the embodiment of

[0528] However, the first transmission stage compound planet gears 41 and 67 are rotatably mounted on the first transmission stage carrier 15 at this time. For this purpose, the first transmission stage carrier 15 is respectively provided with a primary first transmission stage carrier planet gear shaft 81 and a secondary first transmission stage carrier planet gear shaft 82.

[0529] Each primary intermediate carrier planet gear shaft 81 and its corresponding secondary intermediate carrier planet gear shaft 82 are arranged in a single radially extending plane DD' including the central axis of the first transmission stage input shaft 5 in a similar manner as explained in the embodiment shown in, for example, Figure 7 and Figure 8 The first transmission stage carrier 15 is rotatably mounted around the central axis of the first transmission stage input shaft 5.

[0530] The first transmission stage carrier 15 is rotatably mounted around the central axis of the first transmission stage input shaft 5.

[0531] Figure 21 The second transmission stage 3 of the gear transmission 1 shown is somewhat similar to Figure 2 the second transmission stage 3 of the embodiment shown. It includes a second transmission stage compound planetary gear assembly 23, which includes a second transmission stage compound planetary gear 24, which consists only of a pair of stepped second transmission stage planetary gears 26 and 27 that are fixedly interconnected and interact with a second transmission stage fixed annulus 28 and a second transmission stage rotatable annulus 30.

[0532] The second transmission stage planetary gear 26 forms a second transmission stage input element 33.

[0533] However, in Figure 21 the embodiment shown, although the secondary planetary gears 71 are not directly interconnected with the second transmission stage planetary gear 26 that forms the second transmission stage input element 33, they interact with each other in a somewhat complex manner through an intermediate planet carrier 21.

[0534] In fact, in Figure 21 the example of, the intermediate planet carrier 21 is implemented using an intermediate planet carrier annulus 83 with internal teeth 84.

[0535] These internal teeth 84 of the intermediate planet carrier annulus 83 mesh with the external teeth 85 of the secondary planetary gears 71, forming an internal meshing between the corresponding gears 71 and 83.

[0536] In this way, the rotational movement of the secondary planetary gears 71 drives the intermediate planet carrier annulus 83, causing the intermediate planet carrier 21 to rotate about its axis, which coincides with the central axis of the first transmission stage input shaft or the central axis EE' of the second transmission stage output shaft 20, which is the same in multiple embodiments shown.

[0537] The rotational movement of the intermediate planet carrier 21 causes the rotation of the second transmission stage planetary gears 26 and 27, and through further interaction with the second fixed annulus 28 and the second transmission stage rotatable annulus 30, the second transmission stage output shaft 20 is driven.

[0538] Of course, as mentioned before, the drive side can be reversed.

[0539] In Figure 21 the embodiment shown, the intermediate planet carrier annulus 83 should be considered as the first transmission stage output element 6, which is fixedly interconnected with the intermediate planet carrier 21, because it is through this intermediate planet carrier annulus 83 that the interconnection with the second transmission stage 3 is achieved.

[0540] Therefore, in this embodiment, the interconnection between the first transmission stage 2 and the second transmission stage 3 is achieved according to the fourth interconnection configuration protected as required above.

[0541] Similarly, the first transmission stage 2 is preferably a high-speed - low-torque transmission stage 35, and the second transmission stage 3 is a low-speed - high-torque transmission stage 36, and the gears of the gear transmission 1 and possibly other elements are preferably executed in such a way using certain execution parameters set to appropriate parameter values that the overall efficiency in the first transmission stage 2 is higher compared to the overall efficiency in the second transmission stage 3, and / or the ability to transmit the total torque in the second transmission stage 3 is higher than that in the first transmission stage 2, or, according to another principle of the present invention, executed such that the ability to transmit torque increases along the torque transmission path TTP1 towards the output shaft 20 of the second transmission stage, and the transmission efficiency increases along the torque transmission path TTP2 in the opposite direction.

[0542] Figure 22 Finally, yet another embodiment of the gear transmission 1 according to the present invention is shown, which can be considered a variant of the previous embodiment, in which Figure 1 the features of the shown embodiment are introduced.

[0543] The first transmission stage 2 and the second transmission stage 3 are interconnected again according to the third interconnection configuration proposed above.

[0544] In fact, Figure 22 the second transmission stage 3 in the shown embodiment is exactly the same as Figure 21 the one in the shown embodiment.

[0545] However, at this time, at the output of the first transmission stage 2, the first transmission stage planetary gear 9 is interconnected with the second transmission stage planetary gear 26, and the second transmission stage planetary gear 26 still serves as the second transmission stage input element 33, thereby forming a hybrid compound planetary gear 34.

[0546] In Figure 22 the embodiment of, the first transmission stage 3 includes a third stage 86, which includes a third stage annulus 87 having internal teeth 88 and is equivalent to the intermediate planet carrier annulus 83 in the previous embodiment.

[0547] The third stage annulus 87 is rotatably mounted in the housing 17 about a central axis that coincides with the central axis EE' of the first transmission stage input shaft 5 and the second transmission stage output shaft 20.

[0548] The first transmission stage outlet sun gear 18 is fixedly mounted on the third stage annulus 87 or forms an integral unit with the third stage annulus 87, thereby forming a first transmission stage third stage compound planetary gear 89.

[0549] The first transmission stage outlet sun gear 18 meshes with the first transmission stage output planetary gear 9, which is also the case in Figure 1 the embodiment of.

[0550] InFigures 1 to 22 The embodiments of the gear transmission 1 of the present invention shown therein are all of such a type that the second transmission stage 3 forms a so-called ring differential gear device 117, wherein the second transmission stage fixed ring gear 28 is fixedly connected to the housing 17, forming the first component 118 of the gear transmission 1, which serves as a torque resistance or torque control device 119.

[0551] In these examples, the second transmission stage 3 also always includes a second transmission stage rotatable ring gear 30, which is fixedly connected to the second transmission stage output shaft 20 and forms, in the terminology of the present invention, the second component 120 of the gear transmission 1.

[0552] As a possible alternative, the fixed connection between the relevant ring gear 28 and the housing 17 can be replaced by a connection in which the rotation of the ring gear 28 can be hindered or blocked by a brake, or in which a control device is applied to set the torque applied to the ring gear 28.

[0553] Such a control device can, for example, include a combination of an actuator and a brake, but any other device or system suitable for this purpose can also be used.

[0554] The gear transmission 1 according to the present invention will be described in a more general manner below.

[0555] Figure 23 is a very simple schematic diagram of such a gear transmission 1 / 90 of the present invention, which has a high transmission ratio R and an improved efficiency W and / or an increased ability U to transmit torque.

[0556] The gear transmission can be described as being essentially composed of a first transmission stage 2 and a second transmission stage 3, both of which are represented by boxes or rectangles 91 and 92, and which are connected to each other and / or interact with each other (as Figure 23 shown by the arrow 93 in

[0557] to transmit torque and speed from the first transmission stage input shaft 5 to the second transmission stage output shaft 20, and / or vice versa.

[0558] Figure 24 and Figure 25 describe very generally how the first transmission stage 2 is composed, while Figure 26 the same applies to the second transmission stage 3.

[0559] In particular, the first transmission stage 2 should at least include a first transmission stage input gear 4. The first transmission stage input gear 4 is fixedly mounted on the first transmission stage input shaft 5 and interacts with a single first transmission stage output element 37 or multiple first transmission stage output elements 6 to transmit rotational speed and torque.

[0560] The interaction between the first transmission stage input gear 4 and one or more first transmission stage output elements 6 or 37 can be in a direct manner (as Figure 24 shown and indicated by arrow 94), or indirectly through an interconnecting mechanism 7 including one or more interconnecting gears 8 (this case is shown in Figure 25 and the interaction is indicated by arrows 95 and 96).

[0561] Obviously, the description of the first transmission stage 2 is completely equivalent to what has been described before, and in practice, the first transmission stage 2 can be implemented in exactly the same way as in the example described with respect to Figures 1 to 22 and other implementation forms of the first transmission stage 2 are of course not excluded from the present invention.

[0562] Figure 26 The constitution of the second transmission stage 3 is also described in a very general way.

[0563] Regarding Figures 1 to 22 the example of the second transmission stage 3 described conforms to this general description, but only relates to the second transmission stage 3 implemented in the form of an annular differential gear device 117, while Figure 26 describes a broader concept of the second transmission stage 3, which includes other types of second transmission stages 3, such as the second transmission stage 3 implemented as a sun differential gear device 97 or a planet carrier differential gear device 98 or other differential gear devices.

[0564] As Figure 26 shown, according to the present invention, the second transmission stage 3 is a differential gear device including a planetary gear system 99, and the planetary gear system is implemented in a quasi-duplicate form composed of an input side 100 and an output side 101.

[0565] The input side 100 includes a first set of planetary gear devices 102, while the output side 101 includes a second set of planetary gear devices 103. They are mutually quasi-identical but slightly different from each other.

[0566] The first set of planetary gear devices 102 and the second set of planetary gear devices 103 interact with the first and second interaction gear devices 104 and 105 of the input side 100 and the output side 101 respectively.

[0567] The sets of planetary gear devices 102 and 103 are rotatably supported on their respective separate planet carriers 106 and 107, or together on a common planet carrier 108.

[0568] Each of the planetary gear sets 102 and 103 also includes a plurality of planetary gear set elements 109 and 110 which are circumferentially arranged on their supporting planet carriers 106, 107 or 108 and which are preferably but not necessarily equidistant from each other.

[0569] The first planetary gear set 102 and the second planetary gear set 103 are linked to form a linkage mechanism 111 for transmitting torque and / or speed between the input side 100 and the output side 101 of the second gear stage 3.

[0570] Another important feature of the second gear stage 3 of the gear transmission 1 according to the invention is that a first component 118 (i.e. the sun gear or the ring gear of the second gear stage 3 of the gear transmission 1, or a separate planet carrier 106) forms a torque resistance or torque control device 119 which is permanently blocked or impeded in a controllable manner.

[0571] Furthermore, depending on the type of component of the first component 118, there is always a complementary second component 120 (i.e. the rotatable sun gear or the rotatable ring gear of the second gear stage 3 respectively, or the rotatable planet carrier 7 of the gear transmission 1 which is interconnected or interacts with the output shaft 20 of the second gear stage).

[0572] In Figure 26 this is illustrated by a dashed line 121 symbolizing the interaction of the relevant torque resistance device 119 with the housing 17 or the ground, and a dashed line 122 symbolizing the interconnection of the corresponding second component 120 with the output shaft 20 of the second gear stage.

[0573] The advantages of this configuration have been discussed in detail in the introduction.

[0574] It is obvious that according to the invention, in addition to the specific mechanical structure of each gear stage 2 or 3, the gear stages 2 and 3 also still differ in their implementation, with the first gear stage being optimized to obtain increased overall efficiency and the second gear stage being optimized to achieve a higher torque transmission capacity, as has been explained in detail above.

[0575] Now, with the aid of Figures 27 to 29 more practical embodiments of the different second gear stage 3 are described in more detail.

[0576] In Figure 27 it is shown that the second gear stage 3, which is the second gear stage 3 applied in all examples of Figures 1 to 22 is a second gear stage 3 forming an annular differential gear device 117.

[0577] To demonstrate that this particular example is fully suitable for the broader scope of the second transmission stage 3, the second transmission stage 3 has been described with reference to Figure 26 some more abstract categories, and now the more abstract categories will be associated with the more practical previously described ones.

[0578] Obviously, Figure 27 the elements of the second transmission stage 3 shown in Figures 1 to 22 are exactly equivalent to the example of the second transmission stage 3 already described in

[0579] At least the elements shown in Figure 27 are included in the previous example, and the present invention of course does not exclude implementing the second transmission stage 3 with additional elements similar to those shown in the previous example or other additional elements.

[0580] In the case of the second transmission stage 3 of the gear transmission 1 according to the invention as shown in Figure 27 the second transmission stage 3 clearly includes a planetary gear system 99 having an input side 100 and an output side 101, which has a quasi-duplicate form and was previously described as the second transmission stage compound planetary gear assembly 23.

[0581] The first set of planetary gear devices 102 on the input side 100 and the second set of planetary gear devices 103 on the output side 101 are quasi-identical but slightly different from each other, and each includes a plurality of planetary gear device elements 109 and 110, which are of a specific group type and were previously described as the first group 29 and the second group 31 of planetary gears.

[0582] This group type causes the relevant group to include a plurality of planetary gear components 112 and 113 of the group of compound planetary gears 114, previously denoted as the second transmission stage compound planetary gear 24, which is formed by fixedly interconnected stepped second transmission stage planetary gears 26 and 27.

[0583] The said group of planetary gear devices 102 and 103 are rotatably supported on a common planet carrier 108, which was previously described as the intermediate planet carrier 21 separated from the first transmission stage input shaft 5 and the second transmission stage output shaft 20.

[0584] As explained in the introduction, depending on the elements installed in the planet carrier 108, the planet carrier 108 can be considered as part of the second transmission stage 3 or the first transmission stage 2, or neither.

[0585] A link mechanism 111 for transmitting torque and / or speed between the input side 100 and the output side 101 of the second transmission stage 3 links the first set of planetary gear devices 102 and the second set of planetary gear devices 103.

[0586] In this case, the link mechanism 111 is realized by the fixed interconnection 115 of the corresponding components 112 or 113 of the first and second sets of planetary gear devices 102 and 103, forming a compound planetary linkage gear 114, which is supported on a single common planet carrier 108.

[0587] The first set of planetary gear device 102 and the second set of planetary gear device 103 interact with the first and second interacting gear devices 104 and 105 on the input side 100 and the output side 101 respectively. They are of a certain type of interacting gear device. In Figure 27 this case, this type of interacting gear is each composed of a single separate gear 116 (the annular gears 28 and 30 respectively).

[0588] Therefore, the first and second interacting gear devices 104 and 105 together are a pair of annular gears 28 and 30 in this case. They are quasi-identical but slightly different elements.

[0589] Figure 27 The gear transmission 1 shown in

[0590] is an annular differential gear device 117. Therefore, one of the annular gears (i.e., the annular gear 28 of the second transmission stage 3 of the gear transmission 1) forms a first component 118, and this first component 118 serves as a torque resistance or torque control device 119, which is permanently blocked by being fixedly connected to the housing 17.

[0591] As already mentioned, the first transmission stage 2 can be implemented in various ways, and examples thereof have been referred to Figures 1 to 22 shown and discussed.

[0592] According to the type of the first transmission stage 2, elements can be added to the second transmission stage 3 to achieve the interconnection or interaction with the first transmission stage 2, as Figure 27 shown by the arrow 93 in

[0593] For example, a single second transmission stage input sun gear 40 can be added to the second transmission stage 3, which meshes with the first set of planetary gear devices 102 to serve as the second transmission stage input element 39, as Figure 2 shown.

[0594] Generally, the interaction 93 between the first transmission stage 2 and the second transmission stage 3 can be achieved in 4 different ways, where one or more first transmission stage output elements 6 or 37 are fixedly interconnected with one or more second transmission stage input elements 33 or 39, as discussed in the introduction for example.

[0595] Figure 28 The second transmission stage 3 shown in Figure 27 has many similarities with the second transmission stage 3 in

[0596] but is slightly different. The difference is that in this case each of the first and second interacting gear means 104 and 105 is formed by a single separate gear 116 (which is the sun gear 123 or 124 at this time, rather than the annulus gear 28 or 30).

[0597] Thus, in this case, the first and second interacting gear means 104 and 105 together are a pair of sun gears 123 and 124, which are quasi-identical but slightly different elements. Figure 27 Thus, this second transmission stage 3 constitutes a so-called sun differential gear device 97, since it includes a pair of separate sun gears 123 and 124, which form the first and second interacting gear means 104 and 105, while the link mechanism 111 is implemented between the input side 100 and the output side 101 of the second transmission stage in the same way as

[0598] The sun gear 123 serves as the first member 118 fixedly connected to the housing 17 and forms a torque resistance or torque control device 119, while the other sun gear 124 is the second member 120 fixedly connected to the output shaft 20 of the second transmission stage.

[0599] Similar to the type described with reference to Figures 1 to 22 or other types of the first transmission stage 2 can be connected to this second transmission stage 3 in the form of a sun differential gear device 97 in the same manner as described above.

[0600] Figure 29 Another type of the second transmission stage 3 is shown, where the first and second sets of planetary gear means 102 and 103 each include a plurality of planetary gear means elements 109 and 110, which are of some other group type different from the foregoing case.

[0601] At this time, the group type is such that the group includes a plurality of separate simple planetary gears 125 and 126.

[0602] The separate simple planetary gears 125 and 126 of each group 102 or 103 are also rotatably supported on all their separate planetary carriers 106 or 107.

[0603] The first and second interacting gear devices 104 and 105 are also of a certain different type of interacting gear device, which is such that each relevant interacting gear device 104 or 105 is constituted by a pair of gear members 127 and 128 or 129 and 130 of a compound interacting gear, namely a compound interacting gear 131 and a compound interacting gear 132 respectively.

[0604] In particular, the gear members 127 and 129 are the sun gear members 127 and 129 of the compound interacting sun gear 131, while the gear members 128 and 130 are the ring gear members 128 and 130 of the compound interacting ring gear 131.

[0605] Thus, in this example, the first and second interacting gear devices 104 and 105 of the second transmission stage 3 together form a pair of compound gears 131 and 132, which are constituted by a compound sun gear 131 and a compound ring gear 132.

[0606] In Figure 29 the example, the linking mechanism 111 that links the input side 100 of the second transmission stage 3 to the output side 101 is formed by a pair of compound gears 131 and 132, which are constituted by a compound sun gear 131 and a compound ring gear 132, so that a fixed interconnection 115 is actually obtained between the first interacting gear device 104 and the second interacting gear device 105, rather than obtaining a fixed interconnection 115 between the first set of planetary gear devices 102 and the second set of planetary gear devices 103 as in the case of the previous example.

[0607] Obviously, also in Figure 29 the example, the planetary gear system 99 has an input side 100 and an output side 101 that are executed in a quasi - replicated form.

[0608] In particular, the input side 100 and the output side 101 of the second transmission stage 3 of the gear transmission 1 each include an element represented by a planet carrier 106 or 107 in this case, and they together form a pair of separate, quasi - identical but slightly different elements 106 and 107, thus forming the second transmission stage 3 (i.e., the so - called planet carrier differential gear device 98).

[0609] In this case, the pair of separate elements is a pair of separate planet carriers 106 and 107, and each planet carrier 106 or 107 in this pair of planet carriers supports one of the first and second sets of planetary gear devices 102 and 103. The first and second sets of planetary gear devices 102 and 103 are each constituted by a plurality of separate simple planetary gears 125 and 126, and these first and second sets of planetary gear devices 102 and 103 are linked by the fixed interconnection 115 of the first and second interacting gear devices 104 and 105.

[0610] These separate planet carriers 106 and 107 respectively form the first component 118 and the second component 120 of the gear transmission 1, since the planet carrier 106 is fixedly connected to the housing 17 or the ground so as to serve as a torque resistance or torque control device 119, while the planet carrier 107 is fixedly connected to the second transmission stage output shaft 20.

[0611] Figures 30 to 32 Some embodiments of a gear transmission 1 according to the present invention are shown, in which a certain technology is applied.

[0612] In particular, Figure 30 is an embodiment that is completely equivalent to Figure 1 the embodiment shown.

[0613] However, a significant difference from the Figure 1 example is that in the Figure 30 example, there is only one first transmission stage output planet gear 133 at the output of the first transmission stage 2, instead of a plurality of first transmission stage output planet gears 9, the number of which corresponds to the number of planet gears 26 and 27 in the second transmission stage 3, as in Figure 1 the case of

[0614] At this time, the second transmission stage 3 still has a first set 102 and a second set 103 of planet gear devices, which are composed of a plurality of planet gear device elements 109 and 110, and they form a compound planet gear 114. However, only one compound planet gear 134 among these compound planet gears 114 is fixedly connected to the single first transmission stage output planet gear 133, and this one compound planet gear 114 or 24 thus forms a single second transmission stage input element 39.

[0615] The other compound planet gears 135 that are not directly connected to the first transmission stage 2 still contribute to sharing the torque between the two annulus wheels 28 and 30 of the annulus differential gear device 117 constituting the second transmission stage 3.

[0616] This example is the most extreme example, where there is only one single first transmission stage output planet gear 133 instead of a plurality of first transmission stage output planet gears 9. However, the present invention of course does not exclude including such a gear transmission 1, in which the first transmission stage 2 has a certain number N1 of first transmission stage output planet gears 9, and where this number N1 does not correspond to the number N2 of planet gears 26 and 27 in the second transmission stage 3, and N1 is less than N2.

[0617] Compared with the situation where all the planetary gears 26 and 27 in the second transmission stage 3 have their complementary cases in the first transmission stage 2, such an embodiment can be considered as an embodiment in which the first transmission stage 2 is implemented with a slightly lighter execution. On the other hand, in such an embodiment, compared with a very light execution having only a single first transmission stage output planetary gear 133, the first transmission stage 2 includes more first transmission stage output planetary gears 9.

[0618] Figure 31 The embodiment shown is Figure 30 a slightly simplified version of the previous embodiment.

[0619] In fact, the first transmission stage 2 is simplified to a gear transmission that includes a first transmission stage input gear 4 meshing with a single first transmission stage output planetary gear 133, and the interconnecting mechanism 7 of the previous example has been removed.

[0620] Figure 32 Another embodiment of the gear transmission 1 according to the present invention is shown, which is implemented more or less in the same way as the Figure 31 embodiment, but this time a first transmission stage hypoid gear device 58 is added at the inlet of the first transmission stage 2, in exactly the same way as in Figure 11 .

[0621] Thus, the intermediate gear 136 has been used to connect the first transmission stage hypoid gear device 58 to the single first transmission stage output planetary gear 133.

[0622] Obviously, Figure 31 and Figure 32 the examples shown in can also be implemented with a first transmission stage 2 having a certain number N1 of first transmission stage output planetary gears 9, and where the number N1 does not correspond to the number N2 of planetary gears 26 and 27 in the second transmission stage 3, and N1 is less than N2.

[0623] It is obvious that the present invention does not exclude many other possible embodiments.

[0624] The present invention is in no way limited to the embodiments of the gear transmission 1, the infinitely variable mechanical continuously variable transmission IVT, the prostheses or orthoses or robots as described above and shown in the drawings, but rather such a gear transmission 1, the infinitely variable mechanical continuously variable transmission IVT, the prostheses or orthoses or robots can be implemented in different shapes and sizes without departing from the scope of the present invention.

Claims

1. A gear transmission having a high transmission ratio and the ability to increase efficiency and / or increase the transmitted torque, comprising: A first transmission stage and a second transmission stage, which are interconnected and / or interact with each other to transmit torque and rotational speed from the input shaft of the first transmission stage to the output shaft of the second transmission stage, and / or vice versa, the gear transmission being disposed in a housing, characterized in that the first transmission stage includes at least a first transmission stage input gear, the first transmission stage input gear being fixedly mounted on the input shaft of the first transmission stage and interacting with one or more first transmission stage output elements in a direct manner or an indirect manner through an interconnecting mechanism including one or more interconnecting gears to transmit rotational speed and torque; and wherein the second transmission stage includes a second transmission stage compound planetary gear assembly, wherein the second transmission stage is a differential gear device including a planetary gear system, the planetary gear system being executed in a quasi-duplicate form composed of an input side and an output side, respectively including a first group and a second group of planetary gear devices, which are quasi-identical to each other but slightly different from each other, and respectively interacting with the first and second interacting gear devices on the input side and the output side, and these groups are rotatably supported on their respective separate planet carriers or together on a common planet carrier, each group of planetary gear devices being composed of a plurality of planetary gear device elements, the planetary gear device elements being circumferentially disposed on their supporting planet carriers, the first group and the second group of planetary gear devices being linked to form a linking mechanism for transmitting torque and / or speed between the input side and the output side; wherein at least the gears of the first transmission stage and the second transmission stage are executed according to a set of execution parameters affecting the transmission efficiency and / or the ability to transmit torque, and wherein some of the gears of the gear transmission are executed when at least some of their execution parameters are set to different parameter values, such that the overall transmission efficiency considering the first transmission stage as a whole is higher than the overall transmission efficiency considering the second transmission stage as a whole, and / or the ability of the second transmission stage to transmit torque as a whole is higher than the ability of the first transmission stage to transmit torque as a whole; and wherein a first component, namely the sun gear or the ring gear of the second transmission stage or the planet carrier of the gear transmission, forms a torque resistance or torque control device, which is permanently blocked or hindered in a controllable manner; and wherein a second component, namely the rotatable sun gear or the rotatable ring gear of the second transmission stage or the rotatable planet carrier of the gear transmission, is interconnected or interacts with the output shaft.

2. The gear transmission according to claim 1, characterized in that The first and second interacting gear devices of the second transmission stage together are one of the following: A1) A pair of separate ring gears; B1) A pair of separate sun gears; or, C1) A pair of compound gears composed of a compound sun gear and a compound ring gear, and / or The linking mechanism is implemented in one of the following ways: A2) The linking mechanism is formed by the fixed interconnection of the corresponding components forming the first and second sets of planetary gear devices of the compound planetary linkage gear, the compound planetary linkage gear being supported on a single common planet carrier; or, B2) The linking mechanism is formed by a pair of compound gears, the pair of compound gears being composed of a compound sun gear and a compound ring gear, and the first and second sets of planetary gear devices are separated from each other and are each respectively supported on their all separate planet carriers, and / or The second transmission stage is one of the following: a) In the case where the second transmission stage conforms to A1 and A2 and the ring gear forms the first and second components of the second transmission stage, a so-called ring differential gear device; b) In the case where the second transmission stage conforms to B1 and A2 and the sun gear forms the first and second components of the second transmission stage, a so-called sun differential gear device; Or c) In the case where the second transmission stage conforms to C1 and B2 and the separate planet carriers form the first and second components of the second transmission stage, a so-called planet carrier differential gear device.

3. The gear transmission according to any one of the preceding claims, characterized in that it includes an intermediate planet carrier, the intermediate planet carrier being rotatably mounted in the housing and being separated from the first transmission stage input shaft and the second transmission stage output shaft, and wherein intermediate carrier planet gear shafts are provided on the intermediate planet carrier, wherein the second transmission stage includes a second transmission stage compound planetary gear assembly, which includes a second transmission stage fixed ring gear fixedly connected to the housing, a second transmission stage rotatable ring gear rotating simultaneously with the second transmission stage output shaft, and second transmission stage compound planetary gears, the second transmission stage compound planetary gears being each supported on a corresponding primary intermediate carrier planet gear shaft, each first planet gear of such second transmission stage compound planetary gears meshing with the second transmission stage fixed ring gear, and each second planet gear of such second transmission stage compound planetary gears meshing with the second transmission stage rotatable ring gear, wherein the first planet gears of the second transmission stage compound planetary gears form the planetary gear device elements of the first set of planetary gear devices of the second transmission stage, and wherein the second planet gears of the second transmission stage compound planetary gears form the planetary gear device elements of the second set of planetary gear devices of the second transmission stage.

4. The gear transmission according to claim 1, characterized in that At least the gears of the first transmission stage and the second transmission stage are executed according to a set of execution parameters that affect the ability to transfer efficiency and / or transfer torque, and wherein some of the gears of the gear transmission are executed with at least some of their execution parameters set to different parameter values such that along a first torque transfer path (TTP1) through the gear transmission from the input shaft of the first transmission stage to the output shaft of the second transmission stage, the execution differences result in the transfer torque ability of successive gears along the first torque transfer path (TTP1) being the same or increasing, and when along a second torque transfer path (TTP2) through the gear transmission from the output shaft of the second transmission stage to the input shaft of the first transmission stage, the execution differences result in the transfer efficiency of successive gears along the second torque transfer path (TTP2) being the same or increasing, wherein relative to each other, the first transmission stage is a high-speed - low-torque mechanical gear device, the second transmission stage is a low-speed - high-torque mechanical gear device, the first transmission stage includes first transmission stage gears that interact with each other to transfer the rotational speed and torque delivered at the input shaft of the first transmission stage into a reduced rotational speed and increased torque at one or more first transmission stage output elements, the second transmission stage includes second transmission stage gears that interact with each other to transfer the rotational speed and torque at one or more second transmission stage input elements into the rotational speed and torque at the output shaft of the second transmission stage, wherein the first transmission stage gears or other elements of the first transmission stage and the second transmission stage gears or other elements of the second transmission stage are each executed according to a set of execution parameters, and wherein one or more of the first transmission stage gears or other elements of the first transmission stage and one or more of the second transmission stage gears or other elements of the second transmission stage are executed in such a way that the parameter values of one or more of their execution parameters are different in the first transmission stage compared to the corresponding parameter values in the second transmission stage, and the first parameter values of certain mechanical design parameters for the relevant gears or elements of the first transmission stage and the second parameter values of the corresponding mechanical design parameters for the relevant gears or elements of the second transmission stage are different from each other in such a way that relative to each other, the first parameter values increase the efficiency of the high-speed - low-torque mechanical gear device, while the second parameter values increase the robustness, strength, and / or the ability to transfer torque of the low-speed - high-torque mechanical gear device.

5. The gear transmission according to claim 1, characterized in that the gears or other elements of the gear transmission are all executed according to a set of execution parameters, the set of execution parameters including one or more of the following execution parameters that affect the efficiency or the ability to transfer torque of the relevant components: - Module (MOD); - Quality level (QL); - Accuracy (ACC); - Profile shift (PS); - Contact ratio (CR); - Tooth geometry (TG); - Fillet profile (FP); - Roughness (RG); - Material (MA); and - Surface hardness (SH), and - The first pair of gears of the gear transmission is executed using the following parameters: - First module (MOD_PV1); - First quality level (QL_PV1); - First accuracy (ACC_PV1); - First profile modification (PS_PV1); - First contact ratio (CR_PV1); - First tooth geometry (TG_PV1); - First roughness (RG_PV1); - First material (MA_PV1); and - First surface hardness (SH_PV1); wherein - The second pair of gears of the gear transmission is positioned closer to the second-stage output shaft than the first pair of gears on the first torque transfer path (TTP1) of the gear transmission from the first-stage input shaft to the second-stage output shaft, and is executed using the following parameters: - Second module (MOD_PV2); - Second quality level (QL_PV2); - Second accuracy (ACC_PV2); - Second profile modification (PS_PV2); - Second contact ratio (CR_PV2); - Second tooth geometry (TG_PV2); - Second roughness (RG_PV2); - Second material (MA_PV2); and - Second surface hardness (SH_PV2); and wherein one or more of the following conditions are satisfied: - First module (MOD_PV1) is less than second module (MOD_PV2); - First quality level (QL_PV1) is higher than second quality level (QL_PV2); - First accuracy (ACC_PV1) is higher than second accuracy (ACC_PV2); - The level and distribution of the first profile modification (PS_PV1) are optimized for efficiency, and the level and distribution of the second profile modification (PS_PV2) are optimized for robustness; - First contact ratio (CR_PV1) is less than second contact ratio (CR_PV2); - First tooth geometry (TG_PV1) is optimized for efficiency, and second tooth geometry (TG_PV2) is optimized for the ability to increase the transmitted torque; - The roughness (CR_PV1) of the first stage is less than the roughness (CR_PV2) of the second stage; - First material (MA_PV1) is lighter and / or less strong than second material (MA_PV2); and / or - First surface hardness (SH_PV1) is less than second surface hardness (SH_PV2).

6. The gear transmission according to claim 1, characterized in that The first-stage output element is formed by a set of circumferentially spaced first-stage output planetary gears, each of the first-stage output planetary gears being interconnected or formed as a single unit with a corresponding planetary gear of a set of circumferentially spaced second-stage planetary gears representing the second-stage input element, thereby forming a hybrid compound planetary gear, the hybrid compound planetary gear including a series of three planetary gears composed of pairs of second-stage planetary gears and first-stage planetary gears.

7. The gear transmission according to claim 1, characterized in that The first transmission stage output element is a single first transmission stage output element, which is formed by the first transmission stage output planet carrier and is interconnected with the second transmission stage input element, and the second transmission stage input element is a single second transmission stage input element.

8. The gear transmission according to claim 7, wherein: The single second transmission stage input element is the second transmission stage input sun gear of the second transmission stage compound planetary gear assembly, and the second transmission stage input sun gear meshes with each of a set of circumferentially spaced second transmission stage planetary gears formed by the planetary gears of each second transmission stage compound planetary gear.

9. The gear transmission according to claim 1, wherein: The first transmission stage includes a first transmission stage planetary gear assembly, wherein the first transmission stage input gear is the first transmission stage input sun gear of the first transmission stage planetary gear assembly, and the first transmission stage planetary gear assembly further includes a set of circumferentially spaced first transmission stage planetary gears, which are concentrically arranged around the first transmission stage input shaft and each interact with the first transmission stage input sun gear, wherein each of the first transmission stage planetary gears is supported by a first transmission stage planetary gear shaft in a rotatable manner or by being fixedly connected to the first transmission stage planetary gear shaft, and wherein each first transmission stage planetary gear shaft is fixedly or rotatably mounted on a first transmission stage planet carrier that is circumferentially spaced from and concentric with the first transmission stage input shaft, and wherein each of the first transmission stage planetary gears meshes with a first transmission stage fixed ring gear, and the first transmission stage fixed ring gear is concentric with the first transmission stage input shaft and fixedly connected to the housing of the gear transmission.

10. The gear transmission according to claim 9, wherein: The first transmission stage planet carrier is fixedly interconnected with an additional first transmission stage output sun gear, and the first transmission stage output sun gear is axially aligned with the first transmission stage input shaft.

11. The gear transmission according to claim 6 or 9, wherein: The first transmission stage output sun gear meshes with each of the first transmission stage output elements.

12. The gear transmission according to claim 6, wherein: The first transmission stage planetary gears are all first transmission stage compound planetary gears that form a pair of stepped first transmission stage planetary gears with a fixed interconnection, and these first transmission stage compound planetary gears form: - A first set of circumferentially spaced first transmission stage planetary gears, which are formed by the first planetary gears of each of the aforementioned pairs of first transmission stage planetary gears; and - A second set of circumferentially spaced first transmission stage planetary gears, which are formed by the second planetary gears of each of the aforementioned pairs of first transmission stage planetary gears; and wherein the first planetary gears are concentrically arranged around the first transmission stage input shaft.

13. The gear transmission according to claim 1, wherein: The gear transmission includes one or more clutches, which are installed between a pair of elements of the gear transmission, between the input shaft of the first transmission stage and the first transmission stage inlet gear or the first transmission stage inlet sun gear, or between any planetary gear shaft and the planetary gears mounted on the planetary gear shaft, allowing torque to be transmitted between the relevant elements in one direction while preventing torque from being transmitted between the relevant elements in the opposite direction, and / or the gear transmission includes one or more brakes, which are arranged between one or more elements of the gear transmission and the housing to control the rotational speed of the parts of the gear transmission, controlling the rotational speed of the input shaft of the first transmission stage, the output shaft of the second transmission stage, the planetary gears, the ordinary gears, the planet carrier or the rotatable annulus.

14. The gear transmission according to claim 6 or 12 above, characterized in that, the gear transmission includes an actuator, which is installed at the input shaft of the first transmission stage so as to rotatably drive the input shaft of the first transmission stage, and the input shaft extends inward into the free space in the second transmission stage at the center of the intermediate planet carrier, and the actuator is integrated in the same free space.

15. An infinitely variable mechanical continuously variable transmission, characterized in that, it includes at least one gear transmission according to one or more of the preceding claims.

16. A prosthetic limb or orthosis or robot, characterized in that, it includes at least one gear transmission according to one or more of claims 1 to 14, or at least one infinitely variable mechanical continuously variable transmission according to claim 15.

Images