transmission, power unit, power generation unit, traveling device, and robot

Abstract

The application provides a transmission, which comprises a housing, a epicyclic gear train and a clutch mechanism. The epicyclic gear train comprises a first sun gear, a first planet gear, a first ring gear and a first carrier. The first sun gear or the first ring gear serves as a power input unit, and the first carrier serves as a power output unit; when the power input unit reaches a predetermined rotating speed, the clutch mechanism relatively fixes two of the first sun gear, the first ring gear and the first carrier. A transmission bypass is arranged between the first sun gear and the first ring gear; the transmission bypass comprises a reverse transition unit and a first one-way bearing; the reverse transition unit connects the first sun gear and the first ring gear in opposite rotating directions. The scheme simultaneously has a two-gear transmission and a deceleration reverse function; when the power input unit is lower than the predetermined rotating speed and the clutch mechanism is in a disconnected working state, the deceleration reverse function is still available, and the structure is simple and compact.

Description

Technical Field

[0001] The present invention relates to a transmission, as well as a power unit, a power generation unit, a driving device, and a robot having the transmission. Background Technology

[0002] The main problem with existing two-speed transmissions is their complex structure. Transmissions with reverse gear function are even more complex, occupying a larger volume and weight, and are more expensive.

[0003] Description

[0004] The primary objective of this invention is to provide a compact transmission.

[0005] To achieve the above objectives, the transmission of the present invention includes a housing, a planetary gear train, and a clutch mechanism. The planetary gear train includes a first center gear, a first planetary gear, a first outer gear, and a first planetary carrier. The first center gear or the first outer gear serves as a power input unit, and the first planetary carrier serves as a power output unit. When the power input unit reaches a predetermined speed, the clutch mechanism fixes two of the first center gear, the first outer gear, and the first planetary carrier relative to each other. A transmission bypass is provided between the first center gear and the first outer gear; the transmission bypass includes a reverse transition unit and a first one-way bearing; the reverse transition unit connects the first center gear and the first outer gear in opposite directions of rotation.

[0006] When the first central wheel is used as the power input unit, a second one-way bearing is installed between the first outer wheel and the housing. The transmission ratio of the transmission bypass is greater than the ratio of the pitch circle diameter between the first outer wheel and the first central wheel. When the first central wheel rotates in the forward direction, the second one-way bearing stops the first outer wheel from rotating, and the first one-way bearing blocks the transmission of power from the first central wheel to the first outer wheel through the transmission bypass. When the first central wheel rotates in the reverse direction, the second one-way bearing allows the first outer wheel to rotate, and the first one-way bearing allows the first central wheel to transmit power to the first outer wheel through the transmission bypass.

[0007] When the first outer wheel is used as the power input unit, a second one-way bearing is installed between the first central wheel and the housing. The transmission ratio of the bypass is greater than the ratio of the pitch circle diameter between the first central wheel and the first outer wheel. When the first outer wheel rotates in the forward direction, the second one-way bearing stops the first central wheel from rotating and prevents the first outer wheel from transmitting power to the first central wheel through the bypass. When the first outer wheel rotates in the reverse direction, the second one-way bearing allows the first central wheel to rotate and allows the first outer wheel to transmit power to the first central wheel through the bypass.

[0008] As can be seen from the above scheme, the transmission has two different gear ratios: the first gear ratio is a reduction gear ratio, and the second gear ratio is 1:1. When the power input unit is below the predetermined speed, the first one-way bearing blocks the power transmission through the transmission bypass, and the second one-way bearing stops the first center wheel or the first outer wheel from rotating, thereby achieving deceleration output. When the power input unit reaches the predetermined speed, the clutch mechanism fixes two of the first center wheel, the first planetary carrier, and the first outer wheel relative to each other. The first center wheel or the first outer wheel then rotates in reverse and is no longer restricted by the second one-way bearing, thus switching to the second gear ratio. After switching to the second gear ratio, the transmission bypass is activated. Because the transmission bypass is equipped with a reverse transition unit that connects the first center wheel and the first outer wheel in opposite directions, the power transmission of the transmission bypass between the first center wheel and the first outer wheel is still blocked by the first one-way bearing, and no gear ratio conflict occurs. When reversing, the power input unit rotates in the opposite direction, and the second one-way bearing allows the first center wheel or the first outer wheel connected to it to rotate. The first one-way bearing allows power to be transmitted through the transmission bypass. In differential mode, the first center wheel and the first outer wheel achieve the deceleration output of the first planetary carrier. This solution has both two-speed transmission and deceleration reversing functions; the deceleration reversing function is still available when the power input unit is below the predetermined speed and the clutch mechanism is in an open working state; and the structure is simple and compact.

[0009] A further proposed solution is to use a centrifugal clutch as the clutch mechanism. This solution eliminates the need for electronic or hydraulic control systems to achieve two-speed automatic transmission and deceleration / reverse functions, simplifying the system hierarchy and resulting in a more concise and compact structure.

[0010] A further proposed solution is to position the centrifugal clutch between the first center wheel and the first outer wheel. This allows for fuller utilization of space, increasing the clutch size and raising the upper limit of transmission power.

[0011] A further design involves a planetary gear train as the reverse transition unit, comprising a second central gear, a second planetary gear, a second outer gear, and a second planetary carrier. The second planetary carrier is fixed to the housing, the second outer gear is connected to the first outer gear, and the second central gear is connected to the first central gear. This design improves the overall compactness and structural strength of the structure.

[0012] A further option is to place the first one-way bearing on the second center wheel or between the first and second center wheels. This option helps to further save overall space.

[0013] A further option is to place the first one-way bearing on the second outer wheel or between the first and second outer wheels. This option helps to further save overall space.

[0014] The second objective of this invention is to provide a power unit.

[0015] To achieve the above objectives, the power unit of the present invention includes an electric motor or a hydraulic motor, and further includes any of the aforementioned transmissions, wherein the electric motor or hydraulic motor inputs power to the transmission through its output shaft. This design allows for deceleration starting at low speeds and switching to direct drive output at high speeds, reducing the starting load.

[0016] A third objective of this invention is to provide a power generation unit.

[0017] To achieve the above objectives, the power generation unit of the present invention includes a generator and further includes any of the aforementioned transmissions, the transmissions transmitting power to the generator via their output shaft. This design enables low-speed deceleration starting and switches to direct-drive input at high speeds, reducing the starting load. If it is a wind turbine generator, it can achieve starting in light winds.

[0018] The fourth objective of this invention is to provide a driving device.

[0019] To achieve the above objectives, the driving device of the present invention provides driving power through the aforementioned power unit. This solution enables low-speed deceleration and starting, and switches to direct drive output at high speeds, which can increase starting traction, reduce the overall weight of the driving device, and save internal space of the driving device.

[0020] The fifth objective of this invention is to provide a robot.

[0021] To achieve the above objectives, the robot of the present invention is powered by the aforementioned power unit. This design features low-speed deceleration start-up and switching to direct drive output at high speeds, enabling the robot to move steadily and powerfully at slow speeds, while allowing the power unit to operate at higher efficiency and reduce energy consumption during high-speed operation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the first embodiment of the transmission;

[0023] Figure 2 This is a schematic diagram of the second embodiment of the transmission;

[0024] Figure 3 This is a schematic diagram of the third embodiment of the transmission;

[0025] Figure 4 This is a schematic diagram of the fourth embodiment of the transmission;

[0026] Figure 5 This is a schematic diagram of the fifth embodiment of the transmission;

[0027] Figure 6 This is a schematic diagram of the sixth embodiment of the transmission;

[0028] Figure 7 This is a schematic diagram of an embodiment of the power unit;

[0029] Figure 8This is a schematic diagram of an embodiment of the power generation unit;

[0030] Figure 9 This is a perspective view of the power unit in an embodiment of the driving device;

[0031] Figure 10 yes Figure 9 View with end cap omitted;

[0032] Figure 11 yes Figure 9 AA section view;

[0033] Figure 12 yes Figure 11 An enlarged view of the centrifugal clutch in the image;

[0034] Figure 13 This is a perspective view of the second embodiment of the centrifugal clutch;

[0035] Figure 14 This is a front view of the third embodiment of the centrifugal clutch;

[0036] Figure 15 yes Figure 14 BB cross-sectional view. Specific Implementation

[0037] The transmission ratio is the ratio of the speeds of the primary transmission unit and the secondary transmission unit. The unit closer to the power source is the primary transmission unit, and the unit farther from the power source is the secondary transmission unit.

[0038] First embodiment of the transmission

[0039] like Figure 1 As shown, the transmission 100 includes a housing 110, a planetary gear train 120, and a clutch mechanism 130. The planetary gear train 120 includes a first central gear 121, a first planetary gear 122, a first outer gear 123, and a first planetary carrier 124. The first central gear 121 serves as a power input unit, and the first planetary carrier 124 serves as a power output unit. When the power input unit reaches a predetermined speed, the clutch mechanism 130 fixes the first central gear 121 and the first outer gear 123 relative to each other. A transmission bypass 140 is provided between the first central gear 121 and the first outer gear 123. The transmission bypass 140 includes a first one-way bearing 141 and a planetary gear train 150 serving as a reverse transition unit. The reverse transition unit connects the first central gear 121 and the first outer gear 123 with opposite rotation directions.

[0040] The planetary gear train 150 includes a second central gear 151, a second planetary gear 152, a second outer gear 153, and a second planetary carrier 154. The second planetary carrier 154 is fixed to the housing 110. The second outer gear 153 is connected to the first outer gear 123, and the second central gear 151 is connected to the first central gear 121. Specifically, the second outer gear 153 is connected to the first outer gear 123 via an external connecting part 143, and the second central gear 151 is connected to the first central gear 121 via an input shaft 126.

[0041] A second one-way bearing 142 is installed between the first outer wheel 123 and the housing 110. The transmission ratio of the transmission bypass 140 is greater than the ratio of the pitch circle diameter between the first outer wheel 123 and the first center wheel 121. At this time, the transmission ratio of the transmission bypass 140 is the speed ratio between the second center wheel 151 and the second outer wheel 153.

[0042] When the first center wheel 121 rotates in the forward direction, the second one-way bearing 142 stops the first outer wheel 123 from rotating, and the first one-way bearing 141 blocks the first center wheel 121 from transmitting power to the first outer wheel 123 through the transmission bypass 140; when the first center wheel 121 rotates in the reverse direction, the second one-way bearing 142 allows the first outer wheel 123 to rotate, and the first one-way bearing 141 allows the first center wheel 121 to transmit power to the first outer wheel 123 through the transmission bypass 140.

[0043] Preferably, the clutch mechanism 130 is a centrifugal clutch.

[0044] The clutch mechanism 130 is not limited to being located in region 131 for connecting the first central gear 121 and the first outer gear 123, but may also be located in region 132 for connecting the first outer gear 123 and the first planetary carrier 124, or in region 133 or region 134 for connecting the first central gear 121 and the first planetary carrier 124. When the power input unit reaches a predetermined speed, the clutch mechanism fixes two of the first central gear 121, the first outer gear 123, and the first planetary carrier 124 relative to each other to switch to the second gear ratio. After the clutch mechanism fixes two of the first central gear 121, the first outer gear 123, and the first planetary carrier 124 relative to each other, the first central gear 121, the first outer gear 123, and the first planetary carrier 124 are simultaneously fixed relative to each other, and there is no longer any relative movement between them.

[0045] Preferably, the first one-way bearing 141 is disposed on the second center wheel 151. The second center wheel 151 includes an inner ring 151a and an outer ring 152b, and the first one-way bearing 141 is located between the inner ring 151a and the outer ring 152b. This helps to save the length of the transmission along the axial direction of the first center wheel 121.

[0046] Obviously, the reducer 100 outputs power through the output shaft 125 of the first planetary carrier 124, while power can be input at both ends of the input shaft 126 connected to the first central wheel 121.

[0047] Obviously, the planetary gear train 120 and the reverse transition unit are not limited to using mechanical gear meshing for power transmission. They can also use magnetic gear meshing for power transmission, or even use friction wheel meshing or belt drive for power transmission.

[0048] Second embodiment of the transmission

[0049] like Figure 2 As shown, the difference between the transmission 200 and the first embodiment is that the first outer wheel 223 serves as the power input unit, a second one-way bearing 242 is installed between the first center wheel 221 and the housing 210, and the transmission ratio of the transmission bypass 240 is greater than the ratio of the pitch circle diameter between the first center wheel 221 and the first outer wheel 223. In this case, the transmission ratio of the transmission bypass 240 is the speed ratio between the second outer wheel 253 and the second center wheel 251.

[0050] When the first outer wheel 223 rotates in the forward direction, the second one-way bearing 242 stops the first center wheel 221 from rotating. The first one-way bearing 241 blocks the transmission of power from the first outer wheel 223 to the first center wheel 221 through the transmission bypass 240. When the first outer wheel 223 rotates in the reverse direction, the second one-way bearing 242 allows the first center wheel 221 to rotate. The first one-way bearing 241 allows the first outer wheel 223 to transmit power to the first center wheel 221 through the transmission bypass 240.

[0051] The housing 210 preferably has an independent opening (not shown) through which external power is input to the first outer wheel 223.

[0052] The third embodiment of the transmission

[0053] like Figure 3 As shown, the difference between the transmission 300 and the first embodiment lies in the arrangement of the first one-way bearing 341. The first one-way bearing 341 is located on the drive shaft between the first center wheel 321 and the second center wheel 351.

[0054] Obviously, the first one-way bearing 341 is not limited to being arranged between the first center wheel 321 and the second center wheel 351. It can also be arranged at position 354 of the second outer wheel 353, or at position 356 between the first outer wheel 323 and the second outer wheel 353, that is, on the outer connecting part 343.

[0055] Fourth embodiment of the transmission

[0056] The meshing relationship between the first planetary gear and the first outer gear is not limited to internal meshing; it can also be external meshing.

[0057] like Figure 4 As shown, the difference between the transmission 400 and the first embodiment is that the first planetary gear 422 is externally meshed with the first central gear 421 and the first outer gear 423, respectively. The first planetary gear 422 includes an inner planetary gear 422a and an outer planetary gear 422b.

[0058] Fifth embodiment of the transmission

[0059] The reverse transition unit is not limited to planetary gear trains.

[0060] like Figure 5 As shown, the difference between the transmission 500 and the first embodiment is that the reverse transition unit 550 includes a second center wheel 551, a transition wheel 552 and a second outer wheel 553, and the transition wheel 552 is rotatably mounted on the housing 510 via a shaft 554.

[0061] The sixth embodiment of the transmission

[0062] In the reverse transition unit, internal meshing is not required.

[0063] like Figure 6 As shown, the difference between the transmission 600 and the fifth embodiment is that the transition wheel 652 meshes externally with the two center wheels 651 and the second outer wheel 653 respectively. The transition wheel 652 includes an inner transition wheel 652a and an outer transition wheel 652b; the inner transition wheel 652a is rotatably mounted on the housing 610 via a shaft 654a, and the outer transition wheel 652b is rotatably mounted on the housing 610 via a shaft 654b.

[0064] Power unit embodiment

[0065] like Figure 7 As shown, the power unit 1100 includes a transmission 100 and a motor 10. The output shaft 11 of the motor 10 is connected to the input shaft 126 of the transmission 100 via a coupling 12. The motor 10 is connected to the housing 110 of the transmission 100 via a connecting part 13.

[0066] This embodiment is not limited to using a transmission 100; other embodiments of the transmission may also be used.

[0067] This embodiment is not limited to using an electric motor 10 to generate power; it can also use a generator. The generator is not limited to a diesel engine; it can also be a gasoline engine, a methanol engine, or other fuel-powered engine.

[0068] Power generation unit embodiment

[0069] like Figure 8As shown, the power generation unit 2100 includes a transmission 100 and a generator 20. The input shaft 21 of the generator 20 is connected to the output shaft 125 of the transmission 100 via a coupling 22. The generator 20 is connected to the housing 110 of the transmission 100 via a connecting part 23. The power generation unit receives power through the input shaft 126, for example, by mounting a wind turbine propeller on the input shaft 126.

[0070] This embodiment is not limited to using a transmission 100; other embodiments of the transmission may also be used.

[0071] Example of a driving device

[0072] like Figure 9 As shown, the power unit 3700 includes a transmission 700, a motor 30, and a differential unit 40.

[0073] like Figure 10 As shown, the output shaft 31 of the motor 30 transmits power to the input shaft 726 of the transmission 700 through gears 32 and 33.

[0074] like Figure 11 As shown, the output shaft 725 of the transmission 700 transmits power to the differential unit 40 via gears 41 and 42, and then outputs power to the actuator (not shown) of the driving device via the half shaft 43 of the differential 40.

[0075] The working principle of differential 700 is similar to that of differential 300.

[0076] The transmission 700 includes a housing 710, a planetary gear train 720, and a clutch mechanism 730. The planetary gear train 720 includes a first center gear 721, a first planetary gear 722, a first outer gear 723, and a first planetary carrier 724. The first center gear 721 serves as a power input unit, and the first planetary carrier 724 serves as a power output unit. When the power input unit reaches a predetermined speed, the clutch mechanism 730 fixes the first center gear 721 and the first outer gear 723 relative to each other. A transmission bypass 740 is provided between the first center gear 721 and the first outer gear 723. The transmission bypass 740 includes a first one-way bearing 741 and a planetary gear train 750 serving as a reverse transition unit. The reverse transition unit connects the first center gear 721 and the first outer gear 723 with opposite rotation directions.

[0077] The planetary gear train 750 includes a second central gear 751, a second planetary gear 752, a second outer gear 753, and a second planetary carrier 754. The second planetary carrier 754 is fixed to the housing 710. The second outer gear 753 is connected to the first outer gear 723, and the second central gear 751 is connected to the first central gear 721. Specifically, the second outer gear 753 is connected to the first outer gear 723 via an external connecting part 743, and the second central gear 751 is connected to the first central gear 721 via an input shaft 726.

[0078] The first center wheel 721 serves as the power input unit. A second one-way bearing 742 is installed between the first outer wheel 723 and the housing 710. The transmission ratio of the transmission bypass 740 is greater than the pitch circle diameter ratio between the first outer wheel 723 and the first center wheel 721. When the first center wheel 721 rotates in the forward direction, the second one-way bearing 742 stops the first outer wheel 723 from rotating, and the first one-way bearing 741 blocks the first center wheel 721 from transmitting power to the first outer wheel 723 through the transmission bypass 740. When the first center wheel 721 rotates in the reverse direction, the second one-way bearing 742 allows the first outer wheel 723 to rotate, and the first one-way bearing 741 allows the first center wheel 721 to transmit power to the first outer wheel 723 through the transmission bypass 740.

[0079] like Figure 12 As shown, the centrifugal clutch 730 includes a seat 731, a sling block 732, and a return spring 733. The sling block 732 is slidably mounted on the seat 731 via a guide rod 734, and a friction plate 735 is provided on the outer side of the sling block 732. The seat 731 is mounted on the input shaft 726 of the transmission 700 through its central hole 736. When the input shaft 726 reaches a predetermined speed, the sling block 732 overcomes the tension of the spring 733 and moves radially away from the central hole 736 until the friction plate 735 abuts against the inner wall of the outer connecting part 743. The frictional force drives the outer connecting part 743 to rotate with the sling block 732, thereby achieving relative fixation between the first central wheel 721 and the first outer wheel 723.

[0080] The clutch mechanism is not limited to the specific structural form of the centrifugal clutch 730.

[0081] like Figure 13 As shown, the centrifugal clutch 830 includes a seat 831, a sling block 832, and a return spring 833. The sling block 832 is slidably mounted on the seat 831 via a guide rod 834. A friction plate 835 is provided on the outer side of the sling block 832. The three sling blocks 832 share a coiled return spring 833.

[0082] like Figure 14 and Figure 15As shown, the centrifugal clutch 930 has a base 931, a sling block 932, a push block 935, and a housing 939. The housing 939 includes an end cover 939a and a cylinder 939b, with the end cover 939a fixed to the cylinder 939b by screws. A coiled return spring 933 provides a radial return force to the sling block 931 towards the center hole 936, and a return spring 934 brings the two push blocks 935 closer together and abuts against the axial end face of the sling block 932. A friction plate 938 is provided on the side of the push block 935 near the end cover 939a, and a friction plate 937 is provided on the side of the end cover 939a near the push block 935. The axial end face of the sling block 932 abutting against the push block 935 is a conical surface. The conical portion of the sling block 932, the part radially near the center hole 936, has a larger axial length.

[0083] The center hole 936 is used for mounting on the input shaft 726 of the transmission 700, while the housing 939 can be fixed on the outer connecting part 743 of the transmission 700. When the input shaft 726 reaches the predetermined speed, the throwing block 932 overcomes the force of the coil return spring 933 and the return spring 934 and moves radially outward. Through the conical surface extrusion, it causes the push block 935 to move axially, thereby causing the friction plate 937 and the friction plate 938 to abut, thus completing the relative fixation of the first center wheel 721 and the first outer wheel 723.

[0084] The clutch mechanism is not limited to the specific structural form of the centrifugal clutch mentioned above. As long as the power input unit can achieve relative fixation of any two of the first center gear, the first outer gear, and the first planetary carrier when the predetermined speed is reached, it is acceptable.

[0085] The clutch mechanism in the above embodiments is not limited to a centrifugal clutch, but can also be an electronically controlled or hydraulically controlled clutch.

[0086] Differential unit 40 is not necessary. The transmission 700 of power unit 3700 mounted on the frame of the driving unit can directly output power to the actuators of the driving unit, such as wheels, paddles or air paddles.

[0087] The propulsion device is not limited to vehicles; it can also be an aircraft, ship, submarine, amphibious vehicle, or ground effect vehicle, etc.

[0088] The power unit of the present invention is not limited to being installed on a driving device, but can also be installed on a robot to drive the robot's joints or walking mechanism.

[0089] The driving device of the present invention is not limited to manned driving, but can also be unmanned driving, and is not limited to transportation, but can also be a toy.

[0090] The robot of this invention is not limited to commercial or household robots, but can also be a toy robot.

[0091] The above is a detailed description of the present invention in conjunction with specific embodiments, and it should not be construed that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, any equivalent substitutions or obvious modifications made without departing from the concept of the present invention, and which have the same performance or use, should be considered to fall within the patent protection scope defined by the submitted claims.

Claims

1. A transmission, including a housing, a gear train, and a clutch mechanism; The planetary gear train includes a first central gear, a first planetary gear, a first outer gear, and a first planet carrier; Its features are: The first center wheel or the first outer wheel serves as the power input unit, and the first planetary carrier serves as the power output unit. When the power input unit reaches the predetermined speed, the clutch mechanism fixes two of the first center wheel, the first outer wheel, and the first planetary carrier in relative position. A transmission bypass is provided between the first center wheel and the first outer wheel; The transmission bypass includes a reverse transition unit and a first one-way bearing; The reverse transition unit connects the first center wheel and the first outer wheel in opposite directions of rotation; When the first center wheel serves as the power input unit, a second one-way bearing is installed between the first outer wheel and the housing. The transmission ratio of the transmission bypass is greater than the pitch circle diameter ratio between the first outer wheel and the first center wheel. When the first center wheel rotates in the forward direction, the second one-way bearing stops the first outer wheel from rotating, and the first one-way bearing blocks the first center wheel from transmitting power to the first outer wheel through the transmission bypass. When the first center wheel rotates in the reverse direction, the second one-way bearing allows the first outer wheel to rotate, and the first one-way bearing allows the first center wheel to transmit power to the first outer wheel through the transmission bypass. When the first outer wheel is used as the power input unit, a second one-way bearing is installed between the first center wheel and the housing. The transmission ratio of the transmission bypass is greater than the pitch circle diameter ratio between the first center wheel and the first outer wheel. When the first outer wheel rotates in the forward direction, the second one-way bearing stops the first center wheel from rotating, and the first one-way bearing blocks the first outer wheel from transmitting power to the first center wheel through the transmission bypass. When the first outer wheel rotates in the reverse direction, the second one-way bearing allows the first center wheel to rotate, and the first one-way bearing allows the first outer wheel to transmit power to the first center wheel through the transmission bypass.

2. The transmission according to claim 1, characterized in that: The clutch mechanism is a centrifugal clutch.

3. The transmission according to claim 2, characterized in that: The centrifugal clutch is disposed between the first center wheel and the first outer wheel.

4. The transmission according to claim 2, characterized in that: The reverse transition unit is a planetary gear train, which includes a second central gear, a second planetary gear, a second outer gear, and a second planetary carrier; The second planetary carrier is fixed to the housing; The second outer wheel is connected to the first outer wheel; The second center wheel is connected to the first center wheel.

5. The transmission according to claim 4, characterized in that: The first one-way bearing is disposed on the second center wheel or between the first center wheel and the second center wheel.

6. The transmission according to claim 4, characterized in that: The first one-way bearing is disposed on the second outer wheel or between the first outer wheel and the second outer wheel.

7. A power unit, comprising an electric motor or a diesel generator, characterized in that: It also includes the transmission described in any one of claims 1 to 6; The motor or the oil pump inputs power to the transmission via its output shaft.

8. A power generation unit, comprising a generator, characterized in that: It also includes the transmission described in any one of claims 1 to 6; The transmission supplies power to the generator via its output shaft.

9. A traveling device, characterized in that, The power unit described in claim 7 provides the power for driving.

10. A robot, characterized in that, The power unit described in claim 7 provides the power for the motion.

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