Transmission mechanism

Abstract

The present invention discloses a transmission mechanism, comprising: a first external gear set, a second external gear set, and a flange member, the flange member being sandwiched between the first and second external gear sets; a transmission shaft comprising a first eccentric shaft portion and a second eccentric shaft portion spaced apart; an output member for outputting power from the first and second external gear sets; a planetary conversion mechanism for converting the planetary motion of the first and second external gear sets into the rotational motion of the flange member; a connecting assembly for enabling the output member and the flange member to rotate synchronously; a housing meshing with the first and second external gear sets; and a first bearing or a first bearing roller disposed between the flange member and the housing. The present invention effectively addresses the difficulty of machining and assembling the transmission mechanism and reduces the overall thickness of the transmission mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission, and in particular to a transmission mechanism. Background Art

[0002] In the prior art, an eccentric oscillating transmission mechanism comprises an internal gear, a symmetrically arranged eccentric external gear meshing with the internal gear, and an eccentric body that causes the external gear to oscillate. Driven by a motor, the eccentric body rotates, pushing the two external gears to oscillate back and forth within the internal gear, causing the external gear to rotate.

[0003] Currently, eccentric oscillating transmissions, such as cycloidal pinwheel transmissions, typically utilize two flanges positioned on either side of two external gears. A planetary conversion mechanism transmits power from each external gear to the flanges on either side. The two flanges are then fixed together by a planetary carrier to deliver power. This requires high precision for robot joint transmissions, as the planetary carrier requires numerous high-precision components, making manufacturing and assembly difficult and costly. In particular, controlling the preload force between the two flanges is difficult, resulting in poor product quality stability and hindering quality control. Summary of the Invention

[0004] Therefore, an embodiment of the present invention provides a transmission mechanism that effectively solves the problems of the above-mentioned similar eccentric swing type transmission mechanisms, greatly reduces the difficulty of manufacturing and assembly, and has stable product quality.

[0005] A transmission mechanism provided by an embodiment of the present invention includes: a first external gear set, a second external gear set and a flange member, wherein the flange member is sandwiched between the first external gear set and the second external gear set, and the first external gear set and the second external gear set each include at least one external gear; a transmission shaft including a first eccentric shaft portion and a second eccentric shaft portion spaced apart, the first external gear set being sleeved on the first eccentric shaft portion, and the second external gear set being sleeved on the second eccentric shaft portion; an output member, wherein the output member is arranged on one side of the first external gear set or the second external gear set to output power of the first external gear set and the second external gear set; a planetary conversion mechanism, wherein the planetary conversion mechanism A mechanism is arranged between the flange member and the first external gear set, and between the flange member and the second external gear set, and is used to convert the planetary motion of the first external gear set and the second external gear set into the rotational motion of the flange member; a connecting component, which passes through at least one of the first external gear set or the second external gear set, and is used to connect the output member and the flange member so that the output member and the flange member rotate synchronously; a housing, which is provided with internal teeth, is sleeved on the first external gear set and the second external gear set, and is engaged with the external teeth of the first external gear set and the second external gear set; a first bearing or a first bearing roller is provided between the flange member and the housing.

[0006] Compared with the existing technology, the technical effect achieved after adopting this technical solution is: the flange is arranged between the first external gear set and the second external gear set, and only the flange needs to be processed with high precision. In particular, when the planetary conversion mechanism is a cylindrical pin, only several holes or cylindrical pins on the flange need to be processed with high precision. Compared with the structure of the existing transmission mechanism, there is no need to perform high-precision processing on the flange holes or cylinders on both sides respectively, so the amount of high-precision processing required is greatly reduced.

[0007] A first bearing or a first bearing roller is provided between the flange and the housing, which can reduce the bearing between the output member and the housing and significantly reduce the overall thickness of the transmission mechanism. Since there is no need to consider the preload force between the output members on both sides, the assembly difficulty of the output members on both sides is greatly reduced.

[0008] The first external gear set is installed to the first eccentric shaft portion, for example, by bearings or bearing rollers, and the second external gear set is installed to the second eccentric shaft portion, for example, by bearings or bearing rollers. Under the eccentric rotation of the first eccentric shaft portion and the second eccentric shaft portion, the first external gear set and the second external gear set are pushed by the transmission shaft to achieve translation. On the basis of the fixed outer shell, the first external gear set and the second external gear set rotate the flange member through the planetary conversion mechanism. Since the flange member and the output member are fixed together by the connecting assembly, the output member and the flange member rotate synchronously, and the output member outputs power. On the basis of the fixed output member, the flange member is also fixed, and the first external gear set and the second external gear set push the outer shell to rotate, and the outer shell outputs power.

[0009] Furthermore, the first external gear set and the second external gear set each include at least one external gear.

[0010] The technical effect achieved by adopting this technical solution is as follows: an external gear is eccentrically arranged on each side of the flange, the number of parts is small, the overall dynamic balance of the reducer can be achieved, and the thickness of the transmission mechanism can be greatly reduced.

[0011] Furthermore, the output member includes: a first output member and a second output member, the first output member and the second output member are respectively located on both sides of the first external gear set and the second external gear set; the connecting assembly includes at least two connecting columns, the connecting columns pass through the first external gear set and the second external gear set, and fixedly connect the first output member, the flange member and the second output member, so that the first output member, the flange member and the second output member rotate synchronously.

[0012] The technical effect achieved by adopting this technical solution is that symmetrical output can be achieved on both sides of the transmission mechanism. When the housing is fixed, the connecting column secures the first and second output members to the flange, enabling rotation of the first and second output members. When the first and second output members are fixed, the connecting column is used to limit the rotation of the flange, allowing the first and second external gear sets to drive the housing to rotate during translation, thereby outputting power from the housing. The first and second output members can both be used to connect to the outside, allowing both sides of the transmission mechanism to be used for power output.

[0013] Furthermore, the connecting column and the first output member are integrally formed, and / or the connecting column and the second output member are integrally formed, and / or the connecting column and the flange member are integrally formed.

[0014] The technical effect achieved by adopting this technical solution is: after the connecting column is connected to any output component, there is no need to install bearings or bearing rollers between the other output component and the housing, which can ensure the rigidity of the transmission mechanism and improve the installation efficiency; the connecting column and the flange component can also achieve the above effect as a whole.

[0015] Furthermore, the first external gear set includes: a first external gear and a second external gear, the first eccentric shaft portion includes a first eccentric segment and a second eccentric segment, the first external gear is matched with the first eccentric segment, and the second external gear is matched with the second eccentric segment; wherein, the transmission shaft includes a transmission shaft body, and the direction of eccentricity of the first eccentric segment relative to the transmission shaft body is opposite to the direction of eccentricity of the second eccentric segment relative to the transmission shaft body.

[0016] Furthermore, the second external gear set includes: a third external gear and a fourth external gear, the second eccentric shaft portion includes a third eccentric segment and a fourth eccentric segment, the third external gear is matched with the third eccentric segment, and the fourth external gear is matched with the fourth eccentric segment; wherein, the direction of eccentricity of the third eccentric segment relative to the transmission shaft body is opposite to the direction of eccentricity of the fourth eccentric segment relative to the transmission shaft body.

[0017] This technical solution achieves the following: Two eccentrically arranged external gears are used on either side of the flange, achieving dynamic balance on both sides and overall dynamic balance. This allows each cylindrical pin on either side of the flange to be subjected to force simultaneously, which improves flange balance and significantly reduces bending moment stress at the base of the cylindrical pins, thereby improving load-bearing capacity. Furthermore, the forces transmitted to the drive shaft by each external gear are completely offset, thus facilitating force absorption on the drive shaft.

[0018] Furthermore, the first output member and the second output member include a mounting structure connected to the outside.

[0019] The technical effect achieved by adopting this technical solution is: the mounting structure connects the first output member and the second output member to the outside, thereby outputting power to the outside, such as a threaded hole, a pin hole, etc.

[0020] Furthermore, the planetary conversion mechanism adopts cylindrical pins; the first external gear set and the second external gear set include first pin holes, and the first pin holes cooperate with the planetary conversion mechanism.

[0021] The technical effect achieved by adopting this technical solution is that the planetary conversion mechanism, through the engagement of cylindrical pins with the first pin holes of the first and second external gear sets, converts the planetary motion of the first and second external gear sets into the rotational motion of the flange.

[0022] Furthermore, the connecting assembly adopts a cylindrical pin; the first external gear set and the second external gear set include a second pin hole, and the second pin hole cooperates with the connecting assembly to fix the flange member and the output member to be fixedly connected, and the flange member and the output member rotate synchronously. At the same time, the connecting assembly is used to convert the planetary motion of the first external gear set and the second external gear set into the rotational motion of the flange member.

[0023] The technical effect achieved by adopting this technical solution is that the connecting assembly directly connects the output member and the flange member through a cylindrical pin, thereby realizing synchronous rotation of the flange member and the output member.

[0024] Furthermore, the first external gear set and the second external gear set are axially symmetrically arranged with respect to the flange.

[0025] The technical effect achieved after adopting this technical solution is: on the basis that the eccentric directions of the first external gear and the second external gear are opposite, the eccentric direction of the first external gear is the same as that of the fourth external gear, and the eccentric direction of the second external gear is the same as that of the third external gear, and the second external gear and the third external gear are close to the flange, and the first external gear and the fourth external gear are far away from the flange, so that the torque of the transmission shaft is balanced and the movement of the transmission mechanism is smoother.

[0026] Furthermore, a second bearing or a second bearing roller is provided between the flange and the transmission shaft.

[0027] The technical effect achieved by adopting this technical solution is as follows: the transmission shaft is installed in the flange through the second bearing or the second bearing roller, thereby reducing the overall thickness of the transmission mechanism.

[0028] Furthermore, a third bearing or a third bearing roller is provided between the transmission shaft and the output member.

[0029] The technical effect achieved by adopting this technical solution is: when single-piece external gears are used on both sides of the flange, the transmission shaft is installed on the output member through the third bearing or the third bearing roller, making the operation of the transmission shaft smoother.

[0030] Furthermore, the first external gear set, the second external gear set and the housing are made of resin material.

[0031] The technical effect achieved by adopting this technical solution is that the first external gear set, the second external gear set and the housing are lighter and easier to use in a lightweight manner.

[0032] Furthermore, the first bearing is a cross roller bearing, or the first bearing rollers are cross-arranged rollers.

[0033] The technical effect achieved after adopting this technical solution is that the cross roller bearings or cross-arranged rollers can provide good support in both axial and radial directions, and can bear both radial and axial forces.

[0034] Furthermore, the inner teeth of the housing are arc teeth or needle rollers.

[0035] The technical effect achieved by adopting this technical solution is: when the first external gear set and the second external gear set use cycloid teeth, the internal teeth of the outer shell need to use arc teeth or needle rollers for meshing.

[0036] In summary, the above-mentioned embodiments of the present application may have one or more of the following advantages or beneficial effects: i) the flange is arranged between the first external gear set and the second external gear set, and a first bearing or a first bearing roller is arranged between the flange and the outer shell, which can effectively reduce the difficulty of processing and assembly, reduce the overall thickness of the transmission mechanism, and thus reduce the volume of the transmission mechanism; ii) the transmission shaft pushes the first external gear set and the second external gear set to move linearly, and on the basis of fixing the outer shell, the first external gear set and the second external gear set convert the planetary motion of the first external gear set and the second external gear set into the rotation of the flange through the planetary conversion mechanism, and then the rotational power of the flange is converted through the connecting assembly. The first and second external gear sets are arranged symmetrically about the flange member, so that the torque of the transmission shaft is balanced, and the operation of the transmission mechanism is more stable and less jittery. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 A schematic structural diagram of a transmission mechanism provided in an embodiment of the present invention.

[0039] Figure 2 for Figure 1 Cross-sectional view in the II direction.

[0040] Figure 3 for Figure 2 Another structural diagram of the transmission mechanism.

[0041] Figure 4 for Figure 3 A partial enlarged view of area A in the middle.

[0042] Figure 5 for Figure 1 Structural diagram of the transmission mechanism from another perspective.

[0043] Figure 6 for Figure 1 Exploded diagram of the transmission mechanism.

[0044] Figure 7 for Figure 6 A partial enlarged view of area B in the middle.

[0045] Description of main component symbols:

[0046] 100 is a transmission mechanism; 110 is a first external gear set; 111 is a first external gear; 112 is a second external gear; 120 is a second external gear set; 121 is a third external gear; 122 is a fourth external gear; 130 is a flange; 140 is a transmission shaft; 141 is a first eccentric section; 142 is a second eccentric section; 143 is a third eccentric section; 144 is a fourth eccentric section; 150 is a planetary conversion mechanism; 160 is a housing; 161 is a housing unit; 170 is a cylindrical roller; 180 is a connecting column; 191 is a first output member; 192 is a second output member. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0048] See also Figure 1-Figure 7, which is an embodiment of the present invention and provides a transmission mechanism 100, comprising: a first external gear set 110, a second external gear set 120 and a flange 130, wherein the flange 130 is sandwiched between the first external gear set 110 and the second external gear set 120; a transmission shaft 140, comprising a first eccentric shaft portion and a second eccentric shaft portion spaced apart, wherein the first external gear set 110 is sleeved on the first eccentric shaft portion, and the second external gear set 120 is sleeved on the second eccentric shaft portion; an output member, which is arranged on one side of the first external gear set 110 or the second external gear set 120, and outputs the power of the first external gear set 110 and the second external gear set 120; a planetary conversion mechanism 150, which is a planetary gear conversion mechanism. The conversion mechanism 150 is arranged between the flange 130 and the first external gear set 110, and between the flange 130 and the second external gear set 120, and is used to convert the planetary motion of the first external gear set 110 and the second external gear set 120 into the rotational motion of the flange 130; the connecting component passes through at least one of the first external gear set 110 or the second external gear set 120, and is used to connect the output member and the flange 130, so that the output member and the flange 130 rotate synchronously; the outer shell 160, the outer shell 160 is provided with internal teeth, is sleeved on the first external gear set 110 and the second external gear set 120, and engages with the external teeth of the first external gear set 110 and the second external gear set 120.

[0049] In this embodiment, if Figure 2-Figure 4 As shown, the flange 130 is disposed between the first external gear set 110 and the second external gear set 120. This arrangement simplifies the structure of the transmission mechanism 100 while providing greater rigidity and a higher load-bearing capacity. When the planetary conversion mechanism 150 is a cylindrical pin, it is only necessary to machine a few holes in the flange 130 to ensure the positional accuracy of the holes, insert a corresponding number of cylindrical pins into the holes, and then protrude from the flange on both sides to achieve planetary motion. On the one hand, the cylindrical pins on both sides of the flange 130 are machined into a single piece with the flange 130 to enhance the load-bearing capacity of the cylindrical pins; on the other hand, the ends of the cylindrical pins can also be inserted into corresponding positions on the output member, thereby improving the stress state of the cylindrical pins and further enhancing the load-bearing capacity of the cylindrical pins. Compared to the structure of existing transmission mechanisms, this greatly reduces the amount of processing required.

[0050] Preferably, the transmission mechanism is, for example, a reducer.

[0051] In a specific embodiment, a first bearing or a first bearing roller is provided between the flange 130 and the housing 160, which can reduce the bearing between the output member and the housing 160 and significantly reduce the overall thickness of the transmission mechanism 100. Since there is no need to consider the preload force between the output members on both sides, the difficulty of assembling the output members on both sides is greatly reduced.

[0052] Preferably, the first bearing is a crossed roller bearing, or the first bearing rollers are arranged crosswise, so that the flange 130 supports the housing 160. The crossed roller bearing or the crossed rollers can bear both radial and axial forces, providing good support in both axial and radial directions, thereby improving the rotational stability of the housing 160.

[0053] For example, if Figure 2 、 Figure 6 and Figure 7 As shown, cylindrical rollers 170 are arranged crosswise between the flange 130 and the housing 160. The diameter and length of the cylindrical rollers 170 are equal. On the circumference of the flange 130, adjacent cylindrical rollers 170 are alternately arranged at 90 degrees to each other.

[0054] Furthermore, housing 160 is formed, for example, from two housing units 161 axially joined together, facilitating both machining of housing 160 and assembly of housing 160 and cylindrical roller 170. The two housing units 161 have 45° bevels on their facing sides for mating with cylindrical roller 170. Correspondingly, the outer side of flange 130 has 90° grooves matching cylindrical roller 170 to facilitate installation of the inner and outer rings of cylindrical roller 170.

[0055] The two housing units 161 may be connected by a plurality of circumferentially arranged bolts, which is not limited here.

[0056] In a specific embodiment, the first external gear set 110 is mounted to the first eccentric shaft portion, for example, via bearings or bearing rollers, and the second external gear set 120 is mounted to the second eccentric shaft portion, for example, via bearings or bearing rollers. Under the eccentric rotation of the first eccentric shaft portion and the second eccentric shaft portion, the first external gear set 110 and the second external gear set 120 achieve linear motion.

[0057] Preferably, the first external gear set 110 and the second external gear set 120 may be connected to the transmission shaft 140 via a plurality of cylindrical rollers 170 uniformly surrounding the transmission shaft 140 , which is not limited here.

[0058] Furthermore, with the output member fixed, flange 130 is also fixed, and first external gear set 110 and second external gear set 120 drive housing 160 to rotate, thereby outputting power. The number of internal teeth on housing 160 is greater than the number of external teeth on first external gear set 110, and the number of internal teeth on housing 160 is also greater than the number of external teeth on second external gear set 120.

[0059] Furthermore, the housing 160 has a tooth number difference of 1 or 2 with the first external gear set 110 and the second external gear set 120. When the first external gear set 110 and the second external gear set 120 move 360° in a translation, the housing 160 is pushed to rotate 1 or 2 teeth in the same direction, thereby achieving the purpose of deceleration.

[0060] Furthermore, on the basis of the fixed housing 160, the transmission shaft 140 rotates 360°, the first external gear set 110 and the second external gear set 120 move back and forth once, and the flange 130 is rotated in the opposite direction by 1 or 2 teeth through the planetary conversion mechanism 150, thereby realizing the reverse deceleration operation of the flange 130, and then the connecting assembly between the flange 130 and the output member is fixed, so that the output member and the flange 130 rotate synchronously, and the output member achieves decelerated output power.

[0061] In one specific embodiment, each of the first external gear set 110 and the second external gear set 120 includes at least one external gear. The presence of an external gear on each side of the flange 130 reduces the number of parts, enabling overall dynamic balance of the reducer while significantly reducing the thickness of the transmission mechanism. The external gear on the left side of the flange 130 meshes with one side of the housing 160 to achieve transmission, while the external gear on the right side of the flange 130 meshes with the other side of the housing 160 to achieve transmission, thereby stably outputting power to the housing 160. For example, if each of the first and second external gear sets 110 and 120 has only one external gear (not shown), the eccentricity of the first external gear set 110 relative to the drive shaft body is opposite to the eccentricity of the second external gear set 120 relative to the drive shaft body. The first and second external gear sets 110 and 120 respectively mesh with opposite ends of the housing 160, achieving dynamic balance for the transmission mechanism 100.

[0062] Preferably, the first external gear set 110 includes, for example, a first external gear 111 and a second external gear 112. The first eccentric shaft portion includes a first eccentric segment 141 and a second eccentric segment 142. The first external gear 111 is engaged with the first eccentric segment 141, and the second external gear 112 is engaged with the second eccentric segment 142. The transmission shaft 140 includes a transmission shaft body. The eccentricity of the first eccentric segment 141 relative to the transmission shaft body is opposite to the eccentricity of the second eccentric segment 142 relative to the transmission shaft body. The meshing of the first external gear 111 corresponding to the first eccentric segment 141 with the housing 160 and the meshing of the second external gear 112 corresponding to the second eccentric segment 142 with the housing 160 ensures that the eccentricity of the first external gear 111 is opposite to that of the second external gear 112. This allows for dynamic balancing of the first external gear set 110 on the left side of the flange 130.

[0063] Similarly, the second external gear set 120 includes a third external gear 121 and a fourth external gear 122. The second eccentric shaft portion includes a third eccentric segment 143 and a fourth eccentric segment 144. The third external gear 121 engages with the third eccentric segment 143, and the fourth external gear 122 engages with the fourth eccentric segment 144. The eccentricity of the third eccentric segment 143 relative to the drive shaft body is opposite to the eccentricity of the fourth eccentric segment 144. This ensures dynamic balance for the second external gear set 120 on the right side of the flange 130. Because each side of the flange 130 utilizes two independently eccentrically arranged external gears, each side achieves dynamic balance, while also achieving overall dynamic balance. This allows each cylindrical pin on each side of the flange 130 to be subjected to simultaneous force, further balancing the flange 130 and significantly reducing bending moment stress at the base of the cylindrical pins, thereby improving load-bearing capacity. Furthermore, the forces transmitted to the drive shaft 140 by the external gears are completely symmetrical, thus facilitating force distribution on the drive shaft 140.

[0064] In one specific embodiment, the first external gear set 110 and the second external gear set 120 are arranged axially symmetrically about the flange 130. For example, while the first external gear 111 and the second external gear 112 have opposite eccentricities, the first external gear 111 and the fourth external gear 122 are located farther from the flange 130, with the first external gear 111 and the fourth external gear 122 having the same eccentricity. The second external gear 112 and the third external gear 121 are located closer to the flange 130, with the second external gear 112 and the third external gear 121 having the same eccentricity. The torques acting on the first and second eccentric shaft portions on either side of the flange 130 are balanced, ensuring smoother rotation of the transmission shaft 140.

[0065] In a specific embodiment, see Figure 2 、 Figure 5 and Figure 6 The output member includes, for example, a first output member 191 and a second output member 192, which are respectively located on both sides of the first external gear set 110 and the second external gear set 120; the connecting component includes at least two connecting columns 180, which pass through the first external gear set 110 and the second external gear set 120, and fixedly connect the first output member 191, the flange member 130 and the second output member 192, so that the first output member 191, the flange member 130 and the second output member 192 rotate synchronously.

[0066] Preferably, the connection assembly further includes screws; a connecting post 180 connected to the first output member 191, having a threaded hole on the side facing the flange 130; and a second output member 192, and a connecting post 180 connected to the second output member 192, each having a through hole. The screws are inserted from the side of the second output member 192 away from the flange 130, pass through the flange 130, and engage with the threaded holes, thereby connecting the first output member 191, the flange 130, and the second output member 192.

[0067] Preferably, the side where the second output member 192 is located is the motor side. The motor's output shaft is inserted into the transmission shaft 140 from the center of the second output member 192. The transmission shaft 140 has a stepped shaft hole that mates with the motor's output shaft. Accordingly, the side where the first output member 191 is located is farther away from the motor. The threaded hole of the threaded column connected to the first output member 191 does not need to pass through the first output member 191. This leaves more space on the outside of the first output member 191 for threaded holes, facilitating the installation of the next output mechanism to output the power of the first output member 191.

[0068] Preferably, the connecting post 180 is integrally formed with the first output member 191, and / or the connecting post 180 is integrally formed with the second output member 192, and / or the connecting post 180 is integrally formed with the flange 130. After the flange 130 is connected to any output member, no bearings or bearing rollers are required between the other output member and the housing 160. This integral processing ensures the rigidity of the flange 130 and the output member, and improves assembly efficiency. Integrating the connecting post 180 with the flange 130 can also achieve the same aforementioned effects.

[0069] In another specific embodiment, the connecting assembly may also utilize cylindrical pins; the first external gear set 110 and the second external gear set 120 include second pin holes that engage with the connecting assembly. The connecting assembly can directly connect the output member and the flange 130 via the cylindrical pins, achieving synchronous rotation of the flange 130 and the output member. Alternatively, the connecting assembly can convert the planetary motion of the first and second external gear sets 110 and 120 into rotational motion of the flange 130, thereby performing the same function as the planetary conversion mechanism 150 and improving the load-bearing capacity of the transmission mechanism 100.

[0070] Preferably, at least one connecting component is connected to the first output member 191 and the second output member 192 through a cylindrical pin, that is, the first output member 191 and the second output member 192 are provided with pin holes, and the connecting component is docked with the pin holes through the cylindrical pin to achieve synchronous rotation of the first output member 191, the flange member 130 and the second output member 192.

[0071] It should be noted that when the outer shell 160 is fixed, the first external gear set 110 and the second external gear set 120 realize the rotation of the first output member 191 and the second output member 192 through the planetary conversion mechanism 150; when the first output member 191 and the second output member 192 are fixed, the first external gear set 110 and the second external gear set 120 enable the outer shell 160 to output power through the planetary conversion mechanism 150; wherein, the first output member 191 and the second output member 192 can both be used to connect to the outside, so that both sides of the transmission mechanism 100 can be used to output power.

[0072] Preferably, the first output member 191 and the second output member 192 include an external mounting structure (not shown). The mounting structure can be any structure such as a threaded hole, a pin hole, a slot, a buckle, etc., to facilitate the connection of the first output member 191 and the second output member 192 to the external environment, which is not limited here.

[0073] In a specific embodiment, the planetary conversion mechanism 150 may also utilize cylindrical pins. The first external gear set 110 and the second external gear set 120 include first pin holes that engage with the planetary conversion mechanism 150. The planetary conversion mechanism 150 utilizes cylindrical pins that engage with the first pin holes of the first external gear set 110 and the second external gear set 120 to convert the planetary motion of the first external gear set 110 and the second external gear set 120 into the rotational motion of the flange 130.

[0074] Preferably, at least one planetary conversion mechanism 150 is connected to the first output member 191 and the second output member 192 via cylindrical pins, thereby achieving synchronous rotation of the first output member 191 , the flange member 130 and the second output member 192 .

[0075] Preferably, multiple planetary conversion mechanisms 150 and connecting components are evenly arranged around the transmission shaft 140. For example, 4 connecting components are evenly arranged around the circumference, and 8 planetary conversion mechanisms 150 are evenly arranged around the circumference. There are two planetary conversion mechanisms 150 between any two adjacent connecting components, which is not limited here.

[0076] In one specific embodiment, a second bearing or second bearing roller is disposed between the flange 130 and the transmission shaft 140. The output member is stably mounted on the transmission shaft 140 via the second bearing or second bearing roller, further stabilizing the output member's axial position and preventing axial movement. The transmission shaft 140 is mounted within the flange 130 via the second bearing or second bearing roller, reducing the overall thickness of the transmission mechanism 100.

[0077] In a specific embodiment, a third bearing or a third bearing roller is provided between the transmission shaft 140 and the output member. The transmission shaft 140 is mounted on the output member via the third bearing or the third bearing roller, so that the transmission shaft 140 runs more smoothly.

[0078] In a specific embodiment, the first external gear set 110 , the second external gear set 120 and the housing 160 are made of resin material, so that the first external gear set 110 , the second external gear set 120 and the housing 160 are lighter and easier to use.

[0079] In a specific embodiment, the first external gear set and the second external gear set may also use cycloid teeth to mesh with the housing. In this case, the internal teeth of the housing are arc teeth or needle rollers.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A transmission mechanism, characterized in that: include: a first external gear set, a second external gear set, and a flange, wherein the flange is sandwiched between the first external gear set and the second external gear set, and each of the first external gear set and the second external gear set includes at least one external gear; The transmission shaft comprises a first eccentric shaft portion and a second eccentric shaft portion which are spaced apart from each other, the first external gear set being sleeved on the first eccentric shaft portion, and the second external gear set being sleeved on the second eccentric shaft portion; an output member, the output member being disposed on one side of the first external gear set or the second external gear set, and outputting power from the first external gear set and the second external gear set; a planetary conversion mechanism, the planetary conversion mechanism being disposed between the flange and the first external gear set, and between the flange and the second external gear set, for converting the planetary motion of the first external gear set and the second external gear set into the rotational motion of the flange; a connecting assembly passing through at least one of the first external gear set or the second external gear set, and configured to connect the output member and the flange member so as to allow the output member and the flange member to rotate synchronously; a housing, wherein the housing is provided with internal teeth, is sleeved on the first external gear set and the second external gear set, and meshes with the external teeth of the first external gear set and the second external gear set; A first bearing or a first bearing roller is provided between the flange and the housing; A second bearing or a second bearing roller is provided between the flange and the transmission shaft; The first external gear set is mounted to the first eccentric shaft portion via bearings or bearing rollers, and the second external gear set is mounted to the second eccentric shaft portion via bearings or bearing rollers. Under the eccentric rotation of the first eccentric shaft portion and the second eccentric shaft portion, the first external gear set and the second external gear set achieve translational motion.

2. The transmission mechanism according to claim 1, characterized in that: The output member includes: a first output member and a second output member, wherein the first output member and the second output member are respectively located on both sides of the first external gear set and the second external gear set; The connecting assembly includes at least two connecting columns, which pass through the first external gear set and the second external gear set to fixedly connect the first output member, the flange member and the second output member, so that the first output member, the flange member and the second output member rotate synchronously.

3. The transmission mechanism according to claim 2, characterized in that: The connecting post and the first output member are integrally formed, and / or the connecting post and the second output member are integrally formed, and / or the connecting post and the flange member are integrally formed.

4. The transmission mechanism according to claim 1, characterized in that: The first external gear set includes: a first external gear and a second external gear, the first eccentric shaft portion includes a first eccentric segment and a second eccentric segment, the first external gear is matched with the first eccentric segment, and the second external gear is matched with the second eccentric segment; The transmission shaft includes a transmission shaft body, and the eccentric direction of the first eccentric section relative to the transmission shaft body is opposite to the eccentric direction of the second eccentric section relative to the transmission shaft body.

5. The transmission mechanism according to claim 1, characterized in that: The second external gear set includes: a third external gear and a fourth external gear, the second eccentric shaft portion includes a third eccentric segment and a fourth eccentric segment, the third external gear is matched with the third eccentric segment, and the fourth external gear is matched with the fourth eccentric segment; The eccentric direction of the third eccentric segment relative to the transmission shaft body is opposite to the eccentric direction of the fourth eccentric segment relative to the transmission shaft body.

6. The transmission mechanism according to claim 1, characterized in that: The planetary conversion mechanism adopts cylindrical pins; The first external gear set and the second external gear set include first pin holes that cooperate with the planetary conversion mechanism.

7. The transmission mechanism according to claim 1, characterized in that: The connecting assembly adopts a cylindrical pin; The first external gear set and the second external gear set include a second pin hole, which cooperates with the connecting assembly to fix the flange member and the output member. The flange member and the output member rotate synchronously. At the same time, the connecting assembly is used to convert the planetary motion of the first external gear set and the second external gear set into the rotational motion of the flange member.

8. The transmission mechanism according to claim 2, characterized in that: The first output member and the second output member include a mounting structure connected to the outside.

9. The transmission mechanism according to claim 1, characterized in that: The first external gear set and the second external gear set are axially symmetrically arranged with respect to the flange member.

10. The transmission mechanism according to claim 1, characterized in that: A third bearing or a third bearing roller is provided between the transmission shaft and the output member.

11. The transmission mechanism according to claim 1, characterized in that: The first external gear set, the second external gear set and the housing are made of resin material.

12. The transmission mechanism according to claim 1, wherein: The first bearing is a cross roller bearing, or the first bearing rollers are cross-arranged rollers.

13. The transmission mechanism according to claim 1, characterized in that: The inner teeth of the housing are arc teeth or needle rollers.

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