Pericyclic transmission

Abstract

A pericyclic transmission having at least one input shaft (58) rotatable about a rotational axis and at least one tilting bearing housing (55, 56) fastened to the input shaft, wherein the tilting bearing housing is oriented at an inclination angle relative to the rotational axis of the input shaft. Input gears (52, 54) are attached to each tilting bearing housing, wherein the input gears are oriented at the inclination angle and have a rotational axis that is inclined at the inclination angle relative to the rotational axis of the input shaft, whereby after rotation of the input shaft, the input gears perform at least a nutation movement. The transmission further includes intermediate gears (51, 53) meshing with the input gears, wherein the intermediate gears have a rotational axis that coincides with the rotational axis of the input shaft. The intermediate gears communicate with the transmission output.

Description

Technical Field

[0001] The present invention relates to a toroidal transmission which, more precisely, cancels out unbalanced torques or forces by providing different output configurations in order to contrast gears with a reduced number of teeth compared to current state-of-the-art solutions. Background Art

[0002] Figure 1 shows two toroidal gears 10 and 11 meshing with each other in zone 15. Teeth 1 and slots 1 are shown in the fully engaged position. The number of teeth of gears 10 and 11 differs by only one or two. The angle 14 between the input shaft 12 and the output shaft 13 is slightly less than 180°. The two gears 10 and 11 have a conventional arrangement (non-toroidal), but are basic elements of a toroidal transmission.

[0003] A toroidal transmission consists of 4 to 8 bevel gears. Each pair of bevel gears has a shaft angle close to 180°. The number of teeth of each pair of meshing bevel gears differs by one or two. Figure 1 shows a gear pair with almost the same number of teeth and a shaft angle 14 close to 180° in a conventional arrangement (non-toroidal). A toroidal transmission uses two to four pairs of bevel gears as shown in Figure 1 as basic elements and introduces a toroidal nutation motion into two or four of the bevel gears in order to achieve a high reduction ratio.

[0004] The lowest possible shaft angle difference from 180° of the paired bevel gears as shown in Figure 1 is defined by the entire depth of the teeth. In order for the teeth to mesh in only one zone 15 at the circumference and disengage at the opposite side - zone 16, the shaft angle needs to be at least

[0005] 180° - arctan{[(hole depth)*2 + clearance] / (external cone distance)}.

[0006] The amount of clearance 17 needs to be about 50% or more of the entire depth of the teeth in order to allow meshing between two paired gears. The meshing conditions are different from the standard bevel gear ratio of one to five. Due to the shaft angle close to 180°, there is a large engagement zone 15 between the meshing teeth. The size of the engagement zone angle is usually chosen to be below 90°, because a difference of one or two teeth between the paired gears will cause one of the two gears to rotate faster. This means that in the case where the first gear 10 has one more tooth than the second gear 11 and if the tooth number 1 of the second gear engages with the slot number 1 of the first gear, then the tooth number 1 will disengage at the end of the engagement zone and pass through one tooth of the first gear in order to re-engage, but now enter and re-engage with the slot number 2 of the first gear at the other end of the engagement zone. The process of disengagement, passing through one tooth, and re-engaging with the next slot requires not only sufficient clearance between the tips of the paired teeth, but also a sufficient angle of the disengagement zone in order to make it possible to pass through one tooth without interference.

[0007] If the first gear 10 and the second gear 11 are connected to separate shafts (12 and 13) having a shaft angle of less than 180°, as shown in Fig. 1, then the ratio will be the number of teeth of the second gear 11 divided by the number of teeth of the first gear 10 (z 2 / z 1 ). In the case where z 1 = 40 and z 2 = 41, the ratio is typically expressed as 40x41 or 0.9756.

[0008] In a toroidal transmission, bevel gear pairs with a shaft angle close to 180° are utilized in a manner different from that shown in Fig. 1. Fig. 2 shows a gear 20 meshing with a gear 21 in a zone 22. The gear 21 is rigidly connected (or in one piece) to a gear 23 and the gear 23 meshes with a gear 24 in a zone 19. The shaft angle between the gear 20 and the gear 21 is shown by 26 and the shaft angle between the gear 23 and the gear 24 is shown by 27. In order for the transmission in Fig. 2 to have a toroidal function, the central shaft section 30 is eccentrically machined at an angle equal to 180° - angle 26 of 180° - angle 27. The nutating gears 21 and 22 must be arranged with bearings on the angled shaft section 30 such that the pitch lines of the gears 20, 21, 23, and 24 all intersect at a point 50, which is also the intersection point of the shafts 29 and 33. The bearings enable the nutating gears 21 and 23 to rotate freely on the angled shaft 30 such that the contact zones 22 and 19 (which have a 180° rotational offset angle) rotate around the circumferences of the gears 20 and 24. This wobbling motion has the frequency of the input RPM. However, the gears 21 and 23 will rotate only one or two angular pitches per wobble cycle, depending on the tooth number combination between the gear 20 and the gear 21. The tooth number combination between the gear 23 and the gear 24 must be different from the tooth number combination between the gear 21 and the gear 20 in order to achieve a non-zero output rotation 32 (see ratio calculation below).

[0009] The ratio calculation of a toroidal transmission is significantly different from that of a gear transmission. The calculation is explained with the following example:

[0010] Number of teeth of gear 20: z 20 = 40

[0011] Number of teeth of gear 21: z 21 = 41

[0012] Number of teeth of gear 23: z 23 = 61

[0013] Number of teeth of gear 24: z 24 = 60

[0014] The calculation starts with a gear restricted in rotation and a mating gear (in Figure 2, gear 20, which is rigidly connected to the gearbox housing 31 and thus restricted), and gear 21 which is the first gear meshing with the restricted gear. In the toroidal transmission, the input rotation causes the inclined central shaft 30 to rotate, and the central shaft holds gears 21 and 23 (without positive torque connection) via bearings. When the input rotation 28 causes the input shaft 29 connected to the inclined shaft section 30 to rotate, instead of the almost identical rapid rotation of gears 21 and 23, only nutation or wobbling motion occurs. Each nutation of the inclined shaft 30 will rotate gear 21 (and the connected gear 23) backward by one pitch based on the angular pitch of gear 21 The nutation interaction between gears 23 and 24 will rotate gear 24 forward by one pitch based on the pitch of gear 23 This means that for each full rotation of the input shaft 28, the output shaft 32 rotates The ratio of this toroidal transmission is i 周环 = 360° / (-2.7805°) = -129.47368. This ratio calculation is based on the following convention:

[0015] ω 输出 = ω 输入 / i 周环 .

[0016] Another notation for the ratio calculation is:

[0017] i 周环 = [(z 受限 - z 首先不受限 ) / z 首先不受限 + (z 间接受限 - z 其次不受限 ) / z 间接受限 -1

[0018] Where:

[0019] i 周环 … The ratio of the toroidal transmission

[0020] ω 输入 … The angular velocity of the input shaft

[0021] ω 输出 … The angular velocity of the output shaft

[0022] z 受限 … Gear 20 (connected to the housing)

[0023] z 首先不受限 … Gear 21 (meshing with the restricted gear)

[0024] z 间接受限 … Gear 23 (indirectly restricted through the connection from 21 to 20)​

[0025] z 其次不受限 … Gear 24 (output gear not limited)

[0026] i 周环 = [(z 20 - z 21 ) / z 21 + (z 23 - z 24 ) / z 24 -1 = [(40 - 41) / 41 + (61 - 60) / 60] -1 =

[0027] -129.47368

[0028] The transmission shown in Figure 2 (see, for example, Lemanski's US 7,147,583) functions well, but it generates fluctuating axial forces due to the imbalance of the intermediate gears 21 and 23. Although the rotation of gears 21 and 23 is slow compared to the input RPM (RPM 21 / 23 = RPM 输入 / i 周环 ), the nutation oscillation motion is fast and has the same frequency (1 / min) as the input RPM. The nutation oscillation motion will cause a fluctuating torque about axis 50, which alternates between the clockwise (cw) direction 26 and the counterclockwise (ccw) direction 27 acting on the gearbox housing 31. The structural vibrations generated due to the imbalance are unacceptable for all applications with an input speed higher than approximately 100 RPM.

[0029] The current state-of-the-art for eliminating the imbalance is achieved by connecting a second mirror annulus unit to the first annulus unit, as shown in Figure 3 (see, for example, Mathur et al., "Pericyclic Transmission Prototype: Detailed Component Design, Analysis and Fabrication", AHS - Vertical Flight Society, May 2019). Gear 40 is equal to gear 24, gear 41 is equal to gear 23, gear 43 is equal to gear 21 and gear 42 is equal to gear 20. The output gear 34 is located between gears 24 and 40 and is rigidly connected to said gears. The input shaft 29 is rigidly connected to shaft sections 30, 33, 35 and 44. The reaction components (gears 20 and gear 42) are connected to the gearbox housing 31 and thus cannot rotate. The input rotation 28 is transmitted to the output 45, where the output 45 has a reduced rotational speed.

[0030] ​The two units in Figure 3 are connected to the output gear 34. Gear 40 is a mirror image of gear 24. Gear pairs 41 and 43 are mirror images of gear pairs 21 and 23 and gear 42 is a mirror image of gear 20. Gear 42 is rigidly connected to the gearbox housing 31 in the same way as gear 20. The shaft sections 29, 30, 33, 35, and 44 are rigidly connected as a single solid piece. The nutation oscillatory motions of the two intermediate gear pairs 21 and 23 and 41 and 43 in Figure 3 have opposite directions, which results in the complete elimination of any system-related imbalance. The output gear 34 is rigidly connected to gears 24 and 40. The ratio between the input shaft 29 and the output gear 34 is the same as that of the transmission in Figure 2.

[0031] Significant disadvantages of current state-of-the-art solutions include the fact that the number of gears required to balance the epicyclic transmission must be doubled. The size of the transmission also increases to approximately twice the size of the transmission shown in Figure 2. Another disadvantage is the central position of the output gear 34, which requires additional gears meshing with gear 34 to provide a rotating output shaft. Summary of the Invention

[0032] The present invention relates to an epicyclic transmission that cancels out unbalanced torques or forces by providing different output configurations with a reduced number of gears compared to current state-of-the-art solutions.

[0033] The epicyclic transmission includes at least one input shaft rotatable about a rotational axis and at least one tilting bearing block fastened to the input shaft, wherein the tilting bearing block is oriented at an inclination angle relative to the rotational axis of the input shaft. An input gear is attached to each tilting bearing block, wherein the input gear is oriented at the inclination angle and has a rotational axis that is inclined at the inclination angle relative to the rotational axis of the input shaft, whereby after the input shaft rotates, the input gear performs at least a nutation motion. The transmission further includes an intermediate gear meshing with the input gear, wherein the intermediate gear has a rotational axis that coincides with the rotational axis of the input shaft. The intermediate gear is in communication with the transmission output. Description of the Drawings

[0034] Figure 1 illustrates two annular gears with a tooth difference.

[0035] Figure 2 shows a conventional epicyclic transmission.

[0036] Figure 3 shows a conventional balanced epicyclic transmission.

[0037] Figure 4 Describe a reverse epicyclic transmission with an output passing through the side of the transmission housing.

[0038] Figure 5 Describe a reverse epicyclic transmission with the input shaft and the output shaft in a straight line.

[0039] Figure 6 Shows an advanced reverse epicyclic transmission.

[0040] Figure 7 Shows Figure 6 the separation of two nutating members.

[0041] Figure 8 Describes the nutating members of Figure 7 after rotation and after modifying the input and output shafts.

[0042] Figure 9 Shows the placement of an electric motor between Figure 8 the two transmission halves.

[0043] Figure 10 Shows a transmission unit connected to a differential shaft and a idler gear.

[0044] Figure 11 Describes additional couplings and clutches for torque vectoring and traction control.

[0045] Figure 12 Shows a dual-motor arrangement. Detailed Description

[0046] The terms "invention", "the invention", and "this invention" as used in this specification are intended to broadly refer to all the subject matter of this specification and any appended patent claims. Statements containing these terms should not be construed as limiting the subject matter described herein or the meaning or scope of any appended patent claims. Furthermore, this specification does not seek to describe or limit the subject matter covered by any claim to any particular portion, paragraph, statement, or drawing of this application. The subject matter should be understood by reference to the entire specification, all the drawings, and any appended claims. The present invention can use other configurations and can be practiced or implemented in various ways. Also, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be regarded as restrictive.

[0047] Details of the present invention will now be discussed with reference to the drawings, which illustrate the present invention by way of example only. In the drawings, like features or components will be referred to by like reference numerals. For the purposes of clarity or detailed explanation, the size and relative size of certain aspects or elements may be exaggerated. For better understanding of the present invention and ease of viewing, doors, housings, internal or external protection, etc. may be omitted from the drawings.

[0048] As used herein, the use of "comprising", "having", "including" and variations thereof are intended to cover the items listed hereinafter and their equivalents as well as additional items. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise, and the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0049] Although the following may refer to directions such as upper, lower, upward, downward, backward, bottom, top, front, rear, etc. when describing the drawings, for convenience, these references are made with respect to the drawings (as normally observed). These directions are not intended to be taken literally or to limit the present invention in any way. Additionally, unless explicitly stated, terms such as "first", "second", "third", etc. are used herein for descriptive purposes and are not intended to indicate or imply importance or significance.

[0050] Figure 4 The first embodiment of the inventive solution shown in FIG. reverses the concept of FIG. 2 and uses a centrally mounted intermediate gear pair 51 and 53 attached to shaft section 57, where the gear pair consists of two equal gears, preferably straight bevel toroidal gears, oriented back-to-back and having cylindrical gears 59 with teeth 59 located on their outer peripheries. Gears 51 and 53 can be manufactured by non-generating or generating methods. The cylindrical gears 59 on the outer circumferences of gear pair 51 and 53 are the toroidal transmission outputs. When the input shaft 58 causes the angular bearing blocks 55 and 56 to rotate about their respective axes that are inclined relative to the rotational axis of the input shaft 58, the toroidal motion is achieved through tooth engagement between gears 52 and 51 and between gears 54 and 53. The tooth engagement zone rotates around the circumferences of the input gears 52 and 54 while gears 52 and 54 oscillate without rotating.

[0051] The input gears 52 and 54 are preferably the same internal gears, preferably non-generating straight internal bevel gears, which are mounted in a mirror image orientation and perform the nutation motion initiated by the angular bearing blocks 55 and 56. Alternatively, the internal gears can be face gears or the internal gears can include curved teeth. The rotation of gears 52 and 54 is restricted by the oscillating pins 61 and 62 engaged in the slots 63, 64 inside the transmission housing 60. The input shaft 58 is rigidly connected to shaft sections 55, 57, 56 and 65. This arrangement causes gears 52 and 54 to be the reaction gears of nutation and gears 51, 53 and 59 to be the slow-rotating output units. The input shaft 58 and sections 55, 57 and 56 and 65 can be formed from a single piece of material (e.g., steel).

[0052] If, for example, the input gears 52 and 54 have 41 teeth and the intermediate gears 51 and 53 have 40 teeth, then each revolution of the input shaft 58 will nutate (i.e., wobble) without rotating the input gears 52 and 54 and thus rotating the intermediate gear pair 51, 53 in the opposite direction by one pitch. It is preferred if the difference in the number of teeth between the input gear and the paired intermediate gear is in the range of 1 to 5, more preferably 1 or 2.

[0053] The rotation will be transmitted via the spur gear 59 to a second spur gear external to the transmission housing 60 mounted on an output shaft (not shown in the figure). If the input shaft 58 rotates 40 times, then the gear 59 will rotate forward one revolution (ratio i 周环 = [1 / 40] -1 = 40).

[0054] i 周环 = [(z 受限 - z 首先不受限 ) / z 首先不受限 -1

[0055] i 周环 = [(z 52 - z 51 ) / z 51 -1 = [(z 53 - z 54 ) / z 54 -1 = [(41 - 40) / 40] -1 = 40

[0056] Figure 5 Another embodiment of the present invention is shown in which the output shaft 87 is in line with the input shaft 78. Figure 5 The concept in also reverses the concept of FIG. 2 by using a centrally mounted intermediate gear pair 71 and 73. The intermediate gear pair 71 and 73 is connected to the gearbox housing 70, while the gears 72 and 74 perform a nutation movement initiated by the tilting bearing blocks 75 and 76. The intermediate gear pair 71 and 73 are identical gears oriented back to back in a single unit. The nutation gears 72 and 74 are also identical but are mounted in a mirror orientation. Each revolution of the input shaft 78 rotates the two angled bearing blocks 75 and 76 and effects a complete nutation movement, which will rotate the gears 72 and 74 by one or two angular pitches (depending on the gear ratio). This rotation is transmitted via slots 83 and 85 to pins 80 and via slots 84 and 86 to pins 81. The pins 80 and 81 transmit the rotation to a flange 82 that is part of the output tube 87.

[0057] The input shaft 78 is rigidly connected to the shaft sections 75, 77, 76, and 79. If, for example, gears 72 and 74 each have 41 teeth and gears 71 and 73 each have 40 teeth, then each full rotation of the input shaft 78 will rotate gears 72 and 74 by one pitch. The rotation is transmitted via pins 80 and 81 to the flange 82 of the output tube 87. If the input shaft 78 rotates 41 times (ratio i 周环 =-41), then the output tube 87 will rotate backward one full turn.

[0058] i 周环 =[(z 受限 -z 首先不受限 ) / z 首先不受限 -1

[0059] i 周环 =[(z 71 -z 72 ) / z 72 -1 =[(z 73 -z 74 ) / z 74 -1 =[(40 - 41) / 41] -1 =-41

[0060] Figure 6 Figure Figure 6 shows a preferred embodiment of the present invention, which also reverses the concept of Figure 2 by using a centrally mounted idler gear pair 91 and 93. The idler gear pair 91 and 93 is connected to the gearbox housing 90, while gears 92 and 94 perform a nutation motion initiated by the tilting bearing blocks 95 and 96. Gears 92 and 94 engage the idler gears 91 and 93, which serve as reaction members, at the outer halves 102 and 103 of their face widths. The input shaft 98 is rigidly connected to the shaft sections 95, 97, 96, and 99. If gears 92 and 94 perform one full nutation rotation, then each of them will rotate by one or two angular pitches (depending on the gear ratio). For example, if gears 92 and 94 have 41 teeth and gears 91 and 93 have 40 teeth, then each full rotation of the input shaft 98 will rotate gears 92 and 94 by one pitch.

[0061] In Figure 6 ​​​In it, the rotation of gears 92 and 94 is transmitted to the output shaft, to flange 112 and output shaft 106 via the centrally mounted transmission gear pair 104 and 105 via transmission pins 100 and 101. The transmission gear pair 104 and 105 is positioned centered on shaft 97 and can rotate freely around shaft 97, where the teeth engage with the inner halves 107 and 108 of the tooth face widths of gears 92 and 94. The number of teeth between gear 92 and 104 and between gear 94 and 105 is the same, which enables the exact rotational component (excluding the nutation oscillation component) of the movement of gears 92 and 94 to be transmitted to flange 112 via transmission pins 100 and 101 and then to output shaft 106. If the input shaft 98 rotates 40 times (ratio i 周环 =-41), then the output shaft 106 will rotate backward one revolution.

[0062] i 周环 =[(z 受限 -z 首先不受限 ) / z 首先不受限 -1

[0063] i 周环 =[(z 91 -z 102 ) / z 102 -1 =[(z 93 -z 103 ) / z 103 -1 =[(40 - 41) / 41] -1 =-41

[0064] Holes 109 and 110 provide a sufficient amount of clearance to transmission pins 100 and 101 when the gear pair 104 / 105 meshes and rotates with gears 92 and 94. To maintain the clearance between pins 100 and 101 and holes 109 and 110, the number of teeth of gears 92 and 104 and 94 and 105 needs to be the same.

[0065] The following are some application examples of electric vehicle drives.

[0066] Electric vehicles are propelled by high-speed electric motors. Those electric motors operate at RPMs 3 to 5 times higher than those of internal combustion engines. Therefore, it is obvious that a very high ratio reduction drive is required between the electric motor and the drive wheels. Due to the fact that the relative movement between the meshing teeth is much lower than that of a conventional high-speed cylindrical gearbox, the toroidal transmission can achieve the required high ratio and allow a high input speed without the risk of flank scoring.

[0067] When a drive unit with a motor and a transmission must fit between the drive wheels, a compact solution is required. Figure 4 、​​​5 The power density and compact layout of the inventive transmission examples in FIGS. 6 seem to be more suitable for the deceleration task in electric vehicles. One requirement for the final drive unit is an output shaft on both sides of the transmission. The drive shaft to the wheel must be connected to the output shaft (or output flange).

[0068] Figure 7 The transmission shown is cut vertically in the center into two halves. Figure 6 After separating the two nutating members, each half rotates 180° about the vertical axis. Figure 8 The result of this rotation is shown in FIGS. The input shaft and the output shaft have also been reversed so that the electric motor can be placed between the two units and the drive shaft to the wheel can be connected outside the two units.

[0069] Figure 9 FIG. shows an arrangement including the placement of an electric motor 140 between two transmission units in FIGS. Figure 8 The units in FIGS. do not have differential functionality. This functionality is required if the vehicle goes through a curve and the outer wheels travel a longer distance (and must rotate faster) compared to the inner wheels. Figure 9 The example shown in FIGS. solves the task of differential functionality between the two output shafts 125, 126 by adding a connecting shaft with two pinions and an idler gear. The two reaction members 91 and 93 (

[0070] Figure 10 ) are no longer connected to the transmission housing but have teeth formed on their outside and are now numbered 120 and 121. The gear 121 meshes with the idler pinion 122 of the pinion 123 on the drive shaft 124. The shaft 124 is rigidly connected to the pinion 127 that meshes with the gear 120. The pinions 122, 123, and 127 have the same number of teeth. This arrangement acts like a differential between the output shafts 125 and 126. If a vehicle driven through this unit goes through a curve, the speed of the vehicle remains constant, but if the shaft 125 is connected to the wheel driven on the outside of the curve, the shaft 125 will rotate a certain amount faster than the motor RPM and the shaft 126 will rotate the same amount slower than the motor RPM in order to maintain the vehicle speed and accommodate the different arc lengths that the two drive wheels must travel when going through a curve. Figure 6 )

[0071] Figure 11 FIG. shows the addition of a coupling and two clutches for torque vectoring and traction control. The coupling 133 is placed between the two half shafts 131 and 132. The additional clutches 134 and 135 can connect or disconnect the shafts 131 and / or 132 to the transmission housing when the coupling 133 is disconnected. This arrangement allows control of the amount of torque transmitted to the output shafts 125 and 126. Such functionality is called "torque vectoring" or "traction control".

[0072] If the motor 140 is replaced by two separately controlled motors 141 and 142( Figure 12 ), then electronically controlled torque vectoring via the two motors can also be achieved. A side effect of this arrangement is the fact that the two nutation gears change their angular phase relationship (if the first motor rotates faster than the second motor), which will result in a certain imbalance of the unit.

[0073] Figure 12 A dual-motor arrangement is shown. By independently controlling each motor 141, 142, torque for separately vectoring traction control can be achieved without the need for a mechanical differential.

[0074] While the invention has been described with reference to preferred embodiments, it is to be understood that the invention is not limited to its details. Without departing from the spirit and scope of the appended claims, the invention is intended to embrace modifications that are obvious to those skilled in the art.

Claims

1. A circumferential transmission, comprising, at least one input shaft rotatable about a rotational axis, at least one inclined bearing housing fastened to the at least one input shaft, the at least one inclined bearing housing being oriented at an inclination angle relative to the rotational axis of the at least one input shaft, an input gear attached to each of the at least one inclined bearing housing, the input gear being oriented at the inclination angle and having a rotational axis inclined at the inclination angle relative to the rotational axis of the at least one input shaft, whereby after the at least one input shaft rotates, the input gear performs at least a nutation motion, an intermediate gear meshing with the input gear, the intermediate gear having a rotational axis coinciding with the rotational axis of the at least one input shaft, the intermediate gear being in communication with at least one transmission output, two intermediate gears arranged back-to-back, two input gears arranged facing each other in a mirror image orientation, wherein, rotation of the two input gears about their respective rotational axes is restricted and wherein the two intermediate gears are rotatable about their respective rotational axes, and wherein the two intermediate gears include an outer periphery and further include spur gears formed at the outer periphery, the spur gears being the transmission output.

2. A circumferential transmission, comprising, at least one input shaft rotatable about a rotational axis, at least one inclined bearing housing fastened to the at least one input shaft, the at least one inclined bearing housing being oriented at an inclination angle relative to the rotational axis of the at least one input shaft, an input gear attached to each of the at least one inclined bearing housing, the input gear being oriented at the inclination angle and having a rotational axis inclined at the inclination angle relative to the rotational axis of the at least one input shaft, whereby after the at least one input shaft rotates, the input gear performs at least a nutation motion, an intermediate gear meshing with the input gear, the intermediate gear having a rotational axis coinciding with the rotational axis of the at least one input shaft, the intermediate gear being in communication with at least one transmission output, two intermediate gears arranged back-to-back, two input gears arranged facing each other in a mirror image orientation, wherein, the two input gears are rotatable about their respective rotational axes and wherein rotation of the two intermediate gears about their respective rotational axes is restricted, and wherein rotation of the two input gears is transmitted to the output via a plurality of drive pins extending between the two input gears and the output.

3. A circumferential transmission, comprising, at least one input shaft rotatable about a rotational axis, at least one inclined bearing housing fastened to the at least one input shaft, the at least one inclined bearing housing being oriented at an inclination angle relative to the rotational axis of the at least one input shaft, an input gear attached to each of the at least one inclined bearing housing, the input gear being oriented at the inclination angle and having a rotational axis inclined at the inclination angle relative to the rotational axis of the at least one input shaft, whereby after the at least one input shaft rotates, the input gear performs at least a nutation motion, An intermediate gear meshing with the input gear, the intermediate gear having a rotational axis coinciding with the rotational axis of the at least one input shaft, the intermediate gear communicating with at least one transmission output, two intermediate gears arranged back-to-back, two input gears arranged facing each other in a mirror orientation, wherein, the two input gears are rotatable about their respective rotational axes and wherein the rotation of the two intermediate gears about their respective rotational axes is restricted, and a pair of rotatable transmission gears concentrically arranged within the two restricted intermediate gears, wherein the rotation of the two input gears is transmitted to the output via a plurality of transmission pins extending between the transmission gear pair and the output, wherein the two input gears and the transmission gear pair each have the same number of teeth.

4. The transmission according to any one of claims 1 to 3, wherein the input gear comprises an internal bevel gear or an internal face gear.

5. The transmission according to claim 4, wherein the internal bevel gear or the internal face gear comprises straight teeth.

6. The transmission according to any one of claims 1 to 3, wherein the input gear has a first number of teeth and the intermediate gear has a second number of teeth, and wherein the first number of teeth differs from the second number of teeth by 1 or 2.

7. The transmission according to any one of claims 1 to 3, comprising a first input shaft rotatable about the rotational axis and a second input shaft rotatable about the rotational axis, wherein the first input shaft and the second input shaft are axially aligned with each other and arranged end-to-end, the transmission further comprising a first output associated with the first input shaft and a second output associated with the second input shaft.

8. The transmission according to claim 7, comprising a first input gear and a second input gear, wherein the first input gear and the second input gear are arranged back-to-back and axially spaced apart, and the first input gear and the second input gear are rotatable.

9. The transmission according to claim 8, further comprising a first intermediate gear and a second intermediate gear, wherein the first intermediate gear and the second intermediate gear are arranged facing each other in a mirror orientation, restricting the rotation of the first intermediate gear and the second intermediate gear.

10. The transmission according to claim 9, further comprising a first rotatable toothed flange integral with the first output and a second rotatable toothed flange integral with the second output, the first rotatable toothed flange being concentrically arranged within the restricted first intermediate gear and the second rotatable toothed flange being concentrically arranged within the restricted second intermediate gear, the first rotatable toothed flange meshing with the first input gear and the second rotatable toothed flange meshing with the second input gear, whereby the rotation of the first input gear and the second input gear is transmitted to the corresponding first output and second output via the respective first rotatable toothed flange and second rotatable toothed flange.

11. The transmission according to claim 7 further includes a motor connected to each of the first input shaft and the second input shaft, whereby rotation is imparted to each of the first input shaft and the second input shaft by the motor.

12. The transmission according to claim 7 further includes a first motor connected to the first input shaft and a second motor connected to the second input shaft, the first motor and the second motor being separately controllable.

13. The transmission according to claim 9, wherein: the first input shaft, the first input gear, the first intermediate gear, and the first output include a first transmission portion, and the second input shaft, the second input gear, the second intermediate gear, and the second output include a second transmission portion, a motor is disposed between the first transmission portion and the second transmission portion, the motor being connected to each of the first input shaft and the second input shaft.

14. The transmission according to claim 8 further includes: a first intermediate gear and a second intermediate gear, wherein the first intermediate gear and the second intermediate gear are arranged facing each other in a mirror image orientation, the first intermediate gear and the second intermediate gear being rotatable, a differential mechanism connected to the first intermediate gear and the second intermediate gear, whereby a differential function is provided between the first output and the second output.

15. The transmission according to claim 14, wherein the differential mechanism further includes a coupling member and two clutches, whereby the amount of torque transmitted to the first output and the second output is controllable.

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