transmission mechanism

Abstract

The application discloses a transmission mechanism, comprising a first external gear, a first planetary gear shift mechanism, a flange, the first planetary gear shift mechanism being arranged between the first external gear and the flange, the first planetary gear shift mechanism being capable of moving oppositely with the first external gear along a first radial direction and moving oppositely with the flange along a second radial direction, a second planetary gear shift mechanism and a second external gear, the second planetary gear shift mechanism being arranged in mirror image with the first planetary gear shift mechanism relative to the flange, the second external gear being arranged in mirror image with the first external gear relative to the flange, a transmission shaft comprising a first eccentric part and a second eccentric part, the first external gear being mounted on the first eccentric part, the second external gear being mounted on the second eccentric part, an output part being arranged on one side of the first external gear or the second external gear, a connecting assembly for connecting the output part and the flange, and a housing being engaged with the external teeth of the first external gear and the second external gear. The application effectively reduces the machining and assembling difficulty of the transmission mechanism and reduces the overall thickness of the transmission mechanism.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission technology, and more particularly to a transmission mechanism. Background Technology

[0002] In the prior art, the eccentric oscillating transmission mechanism has an internal gear, symmetrically eccentrically arranged external gears meshing with the internal gear, and an eccentric body that causes the external gears to oscillate. The eccentric body rotates under the drive of a motor, and drives the two external gears to oscillate back and forth inside the internal gear, thereby causing the external gears to rotate.

[0003] Currently, eccentric oscillating types, such as cycloidal pinwheel transmission mechanisms, typically employ two flanges positioned on either side of two external gears. A planetary transmission mechanism distributes the power from each external gear to the flanges on either side. A planetary carrier then secures the two flanges together to output power. For high-precision robot joint transmission mechanisms, the planetary carrier contains numerous high-precision components, making manufacturing and assembly difficult and costly. Furthermore, controlling the preload of the two flanges during assembly is particularly challenging, leading to poor product quality stability and hindering quality control. Summary of the Invention

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

[0005] An embodiment of the present invention provides a transmission mechanism, comprising: a first external gear, a first planetary conversion mechanism, and a flange, wherein the first planetary conversion mechanism is disposed between the first external gear and the flange; wherein the first planetary conversion mechanism is capable of relative movement with respect to the first external gear along a first radial direction, and is capable of relative movement with respect to the flange along a second radial direction, the first radial direction and the second radial direction being perpendicular; a second planetary conversion mechanism and a second external gear, the second planetary conversion mechanism and the first planetary conversion mechanism being mirror images of each other with respect to the flange, and the second external gear and the first external gear being mirror images of each other with respect to the flange; a transmission shaft, including a first eccentric portion and a second eccentric portion, the first external gear... A wheel is mounted on the first eccentric portion, and a second external gear is mounted on the second eccentric portion; at least one output component is disposed on one side of the first external gear or the second external gear, for outputting power from the first external gear and the second external gear; a connecting assembly passes through at least one of the first external gear and the second external gear, for connecting the flange to at least one of the output components, so that at least one of the output components and the flange rotate synchronously; a housing is provided with internal teeth, which are sleeved on the first external gear and the second external gear, and mesh with the external teeth of the first external gear and the second external gear; a first bearing or a first bearing roller is provided between the flange and the housing.

[0006] Compared with the existing technology, the technical effects achieved by adopting this technical solution are as follows: The flange is located between the first external gear and the second external gear. Only high-precision machining of the flange is required. Compared with the existing structure of two-sided flanges, the number of parts is reduced, and there is no need to control the preload and precision of the two-sided flanges, thus reducing the difficulty of manufacturing and assembly. The transmission shaft is driven to rotate by a motor. During the rotation of the transmission shaft, the first eccentric part pushes the first external gear to move horizontally through the bearing, and the second eccentric part pushes the second external gear to move horizontally through the bearing.

[0007] With the outer casing fixed, when the drive shaft rotates by an angle, the first external gear performs planetary motion and moves in a straight line relative to the first planetary conversion mechanism along the first radial direction. At the same time, the first planetary conversion mechanism moves in a straight line relative to the flange along the second radial direction. Since the first external gear meshes with the internal gear ring with a difference in the number of teeth, the first external gear rotates in the opposite direction by an angle equal to the difference in the number of teeth while performing planetary motion relative to the outer casing. During rotation, the flange is driven to rotate synchronously through the first planetary conversion mechanism.

[0008] Similarly, when the drive shaft rotates by an angle, the second external gear performs planetary motion and moves in a straight line relative to the second planetary conversion mechanism along the first radial direction. At the same time, the second planetary conversion mechanism moves in a straight line relative to the flange along the second radial direction. Since the second external gear meshes with the internal gear ring with a difference in the number of teeth, the second external gear rotates in the opposite direction by an angle equal to the difference in the number of teeth while performing planetary motion relative to the housing. During rotation, the flange is driven to rotate synchronously through the second planetary conversion mechanism, thereby realizing that the first external gear and the second external gear simultaneously transmit power to the flange for output.

[0009] With the output component fixed, the flange component is also fixed. Each time the first external gear and the second external gear move once, they push the internal teeth of the housing to rotate in the same direction by an angle different from the number of teeth, thereby outputting power through the housing.

[0010] A first bearing or first bearing roller is provided between the flange and the housing, which can reduce the bearing between the output component and the housing, significantly reduce the overall thickness of the transmission mechanism, and greatly reduce the assembly difficulty of the output components on both sides because there is no need to consider the preload between the output components on both sides.

[0011] Furthermore, the first external gear includes at least one first protrusion extending toward the flange; the first planetary conversion mechanism includes a first cross drive member and a first rolling member, the first cross drive member including a first drive arm extending along the first radial direction, and the first rolling member being disposed between the first drive arm and the first protrusion member to allow the first cross drive member and the flange member to slide relative to each other.

[0012] The technical effect achieved by adopting this technical solution is as follows: the first protrusion moves with the first external gear, and the first rolling element transmits the thrust of the first protrusion, thereby pushing the first transmission arm to translate along the first radial direction.

[0013] Furthermore, the flange includes at least one second protrusion extending toward the first external gear; the first planetary conversion mechanism further includes a second rolling element; the first cross transmission member further includes a second transmission arm extending along the second radial direction, the second rolling element being disposed between the second transmission arm and the second protrusion to allow the first cross transmission member and the first external gear to slide relative to each other; the first transmission arm and the second transmission arm are perpendicular to each other.

[0014] The technical effects achieved by adopting this technical solution are as follows: During the translation of the first transmission arm along the first radial direction, the second transmission arm pushes the second rolling member, causing the second protrusion to move in a relatively linear motion relative to the second transmission arm along the second radial direction, while the second protrusion rotates relative to the axis of the output shaft. The flange rotates with the second protrusion, thereby outputting rotational power to the output member.

[0015] Furthermore, the output component includes: a first output component and a first connecting post, the first output component being located on the side of the first external gear away from the first planetary conversion mechanism, the first connecting post being located on the side of the first output component facing the first external gear and extending into the first external gear; the connecting assembly includes a first fastener, the first fastener passing through the flange, the first connecting post and the first output component, for fixing the first output component and the flange and rotating synchronously.

[0016] The technical effects achieved by adopting this technical solution are as follows: the first connecting column is used to stably install the first fastener, so that the flange and the first output component can rotate synchronously, and the first output component and the flange form a planetary carrier with sufficiently high rigidity, so that the first output component can stably output rotational power.

[0017] Furthermore, the second external gear includes at least one third protrusion extending toward the flange; the second planetary conversion mechanism includes a second cross drive member and a third rolling member, the second cross drive member including a third drive arm extending along the first radial direction, the third rolling member being disposed between the third drive arm and the third protrusion member to allow the second cross drive member and the flange to slide relative to each other.

[0018] The technical effect achieved by adopting this technical solution is as follows: the second protrusion moves with the second external gear, and the third rolling element transmits the thrust of the third protrusion, thereby pushing the third transmission arm to translate along the first radial direction.

[0019] Furthermore, the flange includes at least one fourth protrusion extending toward the second external gear; the second planetary conversion mechanism further includes a fourth rolling element; the second cross transmission member further includes a fourth transmission arm extending along the second radial direction, the fourth rolling element being disposed between the fourth transmission arm and the fourth protrusion to allow the second cross transmission member and the second external gear to slide relative to each other; the third transmission arm and the fourth transmission arm are perpendicular to each other.

[0020] The technical effects achieved by adopting this technical solution are as follows: During the translation of the third transmission arm along the first radial direction, the fourth transmission arm pushes the fourth rolling member, causing the fourth protrusion to move in a relatively linear motion relative to the fourth transmission arm along the second radial direction, while the fourth protrusion rotates relative to the axis of the output shaft. The flange rotates with the fourth protrusion, thereby outputting rotational power to the output member.

[0021] Furthermore, the output component also includes: a second output component and a second connecting post, the second output component being located on the side of the second external gear away from the second planetary conversion mechanism, and the second connecting post being located on the side of the second output component facing the second external gear and extending into the second external gear; the connecting assembly also includes a second fastener, the second fastener passing through the flange, the second connecting post and the second output component, for fixing the second output component and the flange and rotating synchronously.

[0022] The technical effect achieved by adopting this technical solution is as follows: the second connecting column is used to stably install the second fastener, so that the flange and the second output component can rotate synchronously, and the second output component can stably output rotational power.

[0023] Furthermore, the first fastener and the second fastener are coaxially arranged and are an integral structure.

[0024] The technical effects achieved by adopting this technical solution are as follows: the first fastener and the second fastener are an integral structure, that is, the output parts and flange parts on both sides are fixed by a single fastener, such as a single pin, which improves the installation efficiency. At the same time, it enables the output parts on both sides to rotate more stably and synchronously.

[0025] Furthermore, the first connecting column and the first output component are either separate or integrated structures.

[0026] The technical effect achieved by adopting this technical solution is that when the first connecting column and the first output component are separate, it is convenient to process the first connecting column and the first output component.

[0027] Furthermore, the second connecting column and the second output component are either separate or integrated structures.

[0028] The technical effect achieved by adopting this technical solution is that when the second connecting column and the second output component are separate, it is convenient to process the second connecting column and the second output component.

[0029] Furthermore, a second bearing or a second bearing roller is provided between the flange and the drive shaft.

[0030] The technical effect achieved by adopting this technical solution is that the flange is driven by the first planetary conversion mechanism and the second planetary conversion mechanism, so that the flange can rotate more smoothly.

[0031] Furthermore, a third bearing or a third bearing roller is provided between the drive shaft and the output component.

[0032] The technical effect achieved by adopting this technical solution is that the output component can rotate more smoothly when it rotates synchronously with the flange component.

[0033] Furthermore, the first external gear, the second external gear, and the housing are made of resin material.

[0034] The technical effects achieved by adopting this technical solution are as follows: using resin materials makes the first external gear, the second external gear, and the housing lighter and easier to use in a lightweight manner.

[0035] Furthermore, the first bearing is a crossed roller bearing, or the rollers of the first bearing are arranged in a crossed manner.

[0036] The technical effect achieved by adopting this technical solution is that crossed roller bearings or crossed rollers can provide good support in both the axial and radial directions, and can bear both radial and axial forces.

[0037] Furthermore, the inner teeth of the outer shell are circular arc teeth or needle rollers.

[0038] The technical effect achieved by adopting this technical solution is as follows: when the first and second external gears use cycloidal teeth, the internal teeth of the outer shell need to be meshed with circular arc teeth or needle rollers.

[0039] Furthermore, the outer casing includes two internal gear rings arranged sequentially along the axis.

[0040] The technical effects achieved by adopting this technical solution are as follows: when the outer shell is divided into two internal gear rings, it is convenient to process the groove for installing the first bearing or the first bearing roller, and it is also convenient to install the first bearing or the first bearing roller between the outer shell and the flange.

[0041] Further A fourth bearing or a fourth bearing roller is provided between the output component and the housing.

[0042] The technical effect achieved by adopting this technical solution is as follows: A fourth bearing or fourth bearing roller is provided between the first output component and / or the second output component and the housing, forming a double-row bearing with the first bearing or first bearing roller between the flange component and the housing, which can greatly improve the load-bearing capacity of the transmission mechanism and have higher overturning rigidity.

[0043] Furthermore, the output component also includes a second output component, which is located on the side of the second external gear away from the second planetary conversion mechanism. The second output component is fixed to the housing, and the connecting assembly is detached from the second output component.

[0044] The technical effects achieved by adopting this technical solution are as follows: The second output component is fixedly connected to the input end and the outer casing as the end cover of the transmission mechanism. Since the power of the first external gear and the second external gear is simultaneously transmitted to the flange component located in the middle through the first planetary conversion mechanism and the second planetary conversion mechanism, respectively, and the flange component is fixedly connected to the first output component through the first connecting column, the power is output only through the synchronous rotation of the first output component and the flange component. This arrangement not only ensures the power output of all inner gears, but also reduces the number of second connecting columns and second fasteners between the flange component and the second output component, and can further reduce the overall thickness of the transmission mechanism.

[0045] In summary, the above embodiments of this application can have one or more of the following advantages or beneficial effects: i) The flange is located between the first external gear and the second external gear, eliminating the need to control the preload and precision of the flanges on both sides. Only the precision of the flange located between the first external gear and the second external gear needs to be ensured, thus improving processing efficiency and reducing the overall thickness of the transmission device; ii) The transmission shaft drives the first external gear and the second external gear to translate through the first eccentric part and the second eccentric part. With the outer shell fixed, the first external gear transmits power to the flange through the first planetary conversion mechanism, and the second external gear transmits power to the flange through the second planetary conversion mechanism, enabling the flange to rotate relative to the axis. Under the joint drive of the first planetary conversion mechanism and the second planetary conversion mechanism, the rotation of the flange is more stable; iii) The first planetary conversion mechanism and the second planetary conversion mechanism adopt a cross-drive component and a rolling component structure, so that when the first external gear and the second external gear output torque, the radial force of the eccentric bearing on the transmission shaft is minimized, which helps to significantly improve the service life of the eccentric bearing. ;iv) The first fastener and the second locking member are used to realize the synchronous rotation of the first output member, the second output member and the flange member. The first fastener and the second fastener are an integral structure, which can improve the installation efficiency and ensure the positional accuracy of the first output member and the second output member. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a front view of a transmission mechanism provided in an embodiment of the present invention.

[0048] Figure 2 for Figure 1 A sectional view along the A1-A2 direction.

[0049] Figure 3 for Figure 1 A sectional view along the A1-A3 direction.

[0050] Figure 4 for Figure 1 Right view of the transmission mechanism.

[0051] Figure 5 for Figure 4 A cross-sectional view along the BB direction.

[0052] Figure 6 for Figure 4 A cross-sectional view along the CC direction.

[0053] Figure 7 for Figure 2 Front view of the first external gear.

[0054] Figure 8 for Figure 7 A cross-sectional view along the DD direction.

[0055] Figure 9 for Figure 2 Front view of the second external gear.

[0056] Figure 10 for Figure 9 A cross-sectional view along the EE direction.

[0057] Figure 11 for Figure 2 Front view of the middle flange.

[0058] Figure 12 for Figure 2 Right view of the middle flange.

[0059] Explanation of key component symbols:

[0060] 100 is the transmission mechanism; 110 is the first external gear; 111 is the first protrusion; 120 is the first planetary conversion mechanism; 121 is the first cross transmission member; 121a is the first transmission arm; 121b is the second transmission arm; 122 is the first rolling element; 123 is the second rolling element; 130 is the flange; 131 is the second protrusion; 132 is the fourth protrusion; 133 is the first bearing roller; 134 is the second bearing; 140 is the second planetary conversion mechanism; 141 is the second cross transmission member; 14 1a is the third transmission arm; 141b is the fourth transmission arm; 142 is the third rolling element; 143 is the fourth rolling element; 150 is the second external gear; 151 is the third protrusion; 160 is the transmission shaft; 161 is the first eccentric part; 162 is the second eccentric part; 163 is the third bearing; 170 is the housing; 171 is the internal gear ring; 181 is the first output element; 182 is the first connecting post; 183 is the second output element; 184 is the second connecting post; 191 is the first fastener; 192 is the second fastener. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] See Figures 1-12This invention provides a transmission mechanism 100, comprising: a first external gear 110, a first planetary conversion mechanism 120, and a flange 130. The first planetary conversion mechanism 120 is disposed between the first external gear 110 and the flange 130. The first planetary conversion mechanism 120 is capable of relative movement with the first external gear 110 along a first radial direction and relative movement with the flange 130 along a second radial direction, the first and second radial directions being perpendicular. A second planetary conversion mechanism 140 and a second external gear 150 are also included. The second planetary conversion mechanism 140 and the first planetary conversion mechanism 120 are mirror images of each other about the flange 130, and the second external gear 150 and the first external gear 110 are mirror images of each other about the flange 130. A transmission shaft 160 includes a first eccentric portion 161 and a second eccentric portion. 162, a first external gear 110 is mounted on a first eccentric part 161, and a second external gear 150 is mounted on a second eccentric part 162; at least one output member is disposed on one side of the first external gear 110 or the second external gear 150 to output power from the first external gear 110 and the second external gear 150; a connecting assembly passes through at least one of the first external gear 110 and the second external gear 150 to connect the flange 130 to at least one output member, so that at least one output member and the flange 130 rotate synchronously; a housing 170 is provided with internal teeth, which are sleeved on the first external gear 110 and the second external gear 150 and mesh with the external teeth of the first external gear 110 and the second external gear 150; a first bearing or a first bearing roller 133 is provided between the flange 130 and the housing 170.

[0063] In this embodiment, the flange 130 is located between the first external gear 110 and the second external gear 150. Only the flange 130 needs to be machined with high precision. Compared with the existing structure of flanges on both sides, the number of parts is reduced and there is no need to control the preload and precision of the flanges on both sides, thus reducing the difficulty of manufacturing and assembly. The drive shaft 160 is driven to rotate by a motor. During the rotation of the drive shaft 160, the first eccentric part 161 pushes the first external gear 110 to move in translation through the bearing, and the second eccentric part 162 pushes the second external gear 150 to move in translation through the bearing.

[0064] On the one hand, with the outer casing 170 fixed, when the drive shaft 160 rotates by an angle, the first external gear 110 performs planetary motion and moves in a linear motion relative to the first planetary conversion mechanism 120 along the first radial direction. At the same time, the first planetary conversion mechanism 120 moves in a linear motion relative to the flange 130 along the second radial direction. Since the first external gear 110 and the internal gear ring 171 have a tooth difference meshing, the first external gear 110 rotates in the opposite direction by an angle of the tooth difference while performing planetary motion relative to the outer casing 170. During rotation, the flange 130 is pushed to rotate synchronously through the first planetary conversion mechanism 120.

[0065] Similarly, when the drive shaft 160 rotates by an angle, the second external gear 150 performs planetary motion and moves in a linear motion relative to the second planetary conversion mechanism 140 along the first radial direction. At the same time, the second planetary conversion mechanism 140 moves in a linear motion relative to the flange 130 along the second radial direction. Since the second external gear 150 meshes with the internal gear ring 171 with a difference in the number of teeth, the second external gear 150 rotates in the opposite direction by an angle equal to the difference in the number of teeth while performing planetary motion relative to the outer casing 170. During rotation, the flange 130 is driven to rotate synchronously through the second planetary conversion mechanism 140. Thus, the first external gear 110 and the second external gear 150 simultaneously transmit power to the flange 130 for output.

[0066] On the other hand, with the output component fixed, the flange 130 is fixed. Each time the first external gear 110 and the second external gear 150 move once, they push the internal teeth of the housing 170 to rotate in the same direction by a difference of a tooth angle, thereby outputting power through the housing 170.

[0067] Among them, a first bearing or a first bearing roller 133 is provided between the flange 130 and the housing 170, which can reduce the bearing between the output component and the housing 170, significantly reduce the overall thickness of the transmission mechanism 100, and greatly reduce the assembly difficulty of the output components on both sides because there is no need to consider the preload between the output components on both sides.

[0068] In one specific embodiment, the first external gear 110 includes at least one first protrusion 111 extending toward the flange 130; the first planetary conversion mechanism 120 includes a first cross transmission member 121 and a first rolling member 122. The first cross transmission member 121 includes a first transmission arm 121a extending along a first radial direction, and the first rolling member 122 is disposed between the first transmission arm 121a and the first protrusion 111, so that the first cross transmission member 121 and the first protrusion 111 achieve relative linear motion through rolling friction. Simultaneously, when the first external gear 110 rotates, the first protrusion 111 pushes the first transmission arm 121a to rotate synchronously.

[0069] Preferably, the first cross-shaped transmission member 121 has two first transmission arms 121a arranged opposite to each other. Each first transmission arm 121a has two first protrusions 111 on both sides. A plurality of first rolling elements 122 are arranged between the first protrusions 111 on each side of the first transmission arm 121a and the first transmission arm 121a. The plurality of first rolling elements 122 are arranged along a first radial direction to achieve relative sliding between the first protrusions 111 and the first transmission arm 121a.

[0070] Preferably, the first transmission arm 121a has a rolling element receiving groove on the side facing the first protrusion 111, and the first rolling element 122 rolls in the rolling element receiving groove to prevent it from sliding out of the gap between the first transmission arm 121a and the first protrusion 111. Of course, the rolling element receiving groove can be provided on the side of the first protrusion 111 facing the first transmission arm 121a, or it can be provided on both the first transmission arm 121a and the first protrusion 111; there is no limitation here.

[0071] Preferably, the first rolling element 122 can be a cylindrical roller, and the axis of the first rolling element 122 is parallel to the axis of the transmission shaft 160. That is, the first rolling element 122 can roll along the first radial direction in the gap between the first transmission arm 121a and the first protrusion 111, so that the relative linear motion between the first transmission arm 121a and the first protrusion 111 is smoother.

[0072] Preferably, the number of first rolling elements 122 on each side of the first transmission arm 121a can be 2, 3, 4, or 5, and there is no limitation here.

[0073] In one specific embodiment, the flange 130 includes at least one second protrusion 131 extending toward the first external gear 110; the first planetary conversion mechanism 120 further includes a second rolling element 123; the first cross transmission element 121 further includes a second transmission arm 121b extending along a second radial direction, the second rolling element 123 being disposed between the second transmission arm 121b and the second protrusion 131 to allow the first cross transmission element 121 and the flange 130 to roll relative to each other; the first transmission arm 121a and the second transmission arm 121b are perpendicular to each other. The first external gear 110 translates relative to the first planetary conversion mechanism 120 along a first radial direction, simultaneously pushing the first transmission arm 121a. Since the first transmission arm 121a and the second transmission arm 121b are an integral component, the second transmission arm 121b, through the second rolling element 123, performs a relative linear motion relative to the flange 130 along the second radial direction, simultaneously pushing the second protrusion 131, causing the flange 130 to rotate, thereby outputting the rotational power to the output component.

[0074] Preferably, the first cross-shaped transmission member 121 has two opposing second transmission arms 121b, each second transmission arm 121b having two second protrusions 131 on both sides, and a plurality of second rolling elements 123 arranged between the second protrusions 131 on each side of the second transmission arm 121b and the second transmission arm 121b. The plurality of second rolling elements 123 are arranged along a second radial direction to achieve relative rolling between the second protrusions 131 and the second transmission arm 121b.

[0075] Preferably, a rolling element receiving groove can also be provided between the second transmission arm 121b and the second protrusion 131 to prevent the second rolling element 123 from slipping out; the second rolling element 123 can also be a cylindrical roller, and the number of second rolling elements 123 on each side of the second transmission arm 121b can be 2, 3, 4, or 5, which will not be elaborated here.

[0076] In one specific embodiment, the output component includes a first output component 181 and a first connecting post 182. The first output component 181 is located on the side of the first external gear 110 away from the first planetary conversion mechanism 120. The first connecting post 182 is located on the side of the first output component 181 facing the first external gear 110 and extends into the first external gear 110. The connecting assembly includes a first fastener 191, which passes through the flange 130, the first connecting post 182, and the first output component 181, and is used to fix the first output component 181 and the flange 130 and rotate them synchronously. The first connecting post 182 is used to stably install the first fastener 191, so that the flange 130 and the first output component 181 can rotate synchronously, and the first output component 181 can stably output rotational power.

[0077] Preferably, the hole on the first external gear 110 for accommodating the first connecting post 182 has sufficient clearance between the hole and the side of the first connecting post 182, so that the first external gear 110 will not be interfered with by the first connecting post 182 during translation, and the flange 130 can output power to the first output member 181 more smoothly.

[0078] Preferably, the first output component 181 may be provided with multiple mounting holes for connecting to the next mechanism and outputting power to the next mechanism.

[0079] Preferably, the first connecting post 182 and the first output component 181 are either separate or integrated. When the first connecting post 182 and the first output component 181 are separate, it facilitates individual processing of both components, and the positional accuracy of the first connecting post 182 on the first output component 181 does not need to be considered during processing, resulting in higher processing efficiency. However, when the first connecting post 182 and the first output component 181 are integrated, the strength and rigidity between them are higher.

[0080] In one specific embodiment, the second external gear 150 includes at least one third protrusion 151 extending toward the flange 130; the second planetary conversion mechanism 140 includes a second cross transmission member 141 and a third rolling member 142. The second cross transmission member 141 includes a third transmission arm 141a extending along a first radial direction. The third rolling member 142 is disposed between the third transmission arm 141a and the third protrusion 151, so that the second cross transmission member 141 and the third protrusion 151 achieve relative linear motion through rolling friction. Simultaneously, when the second external gear 150 rotates, the third protrusion 151 pushes the third transmission arm 141a to rotate synchronously.

[0081] Preferably, the second cross transmission member 141 has two oppositely arranged third transmission arms 141a, and the third rolling members 142 are located on both sides of the third transmission arms 141a; the number and shape of the third rolling members 142 are the same as those of the first rolling members 122, so that the second cross transmission member 141 and the first cross transmission member 121 can be mirrored about the flange member 130 and move synchronously, so that the forces on both sides of the flange member 130 are balanced and the flange member 130 rotates more smoothly.

[0082] It should be noted that the first radial direction refers to the length direction of the first transmission arm 121a and the third transmission arm 141a.

[0083] In one specific embodiment, the flange 130 includes at least one fourth protrusion 132 extending toward the second external gear 150; the second planetary conversion mechanism 140 further includes a fourth rolling element 143; the second cross transmission member 141 further includes a fourth transmission arm 141b extending along a second radial direction, the fourth rolling element 143 being disposed between the fourth transmission arm 141b and the fourth protrusion 132 to allow the second cross transmission member 141 and the flange 130 to roll relative to each other; the third transmission arm 141a and the fourth transmission arm 141b are perpendicular to each other. The second external gear 150 translates relative to the second planetary conversion mechanism 140 along a first radial direction, simultaneously pushing the third transmission arm 141a. Since the third transmission arm 141a and the fourth transmission arm 141b are an integral component, the fourth transmission arm 141b moves relatively linearly relative to the flange 130 along the second radial direction via the fourth rolling element 143, simultaneously pushing the fourth protrusion 132, causing the flange 130 to rotate, thereby outputting the rotational power to the output member. It should be noted that the second radial direction refers to the length direction of the second transmission arm 121b and the fourth transmission arm 141b; the movement of the second external gear 150 and the second cross transmission member 141 is mirrored with the movement of the first external gear 110 and the first cross transmission member 121 about the flange member 130, which will not be elaborated here.

[0084] In one specific embodiment, the output component further includes, for example, a second output component 183 and a second connecting post 184. The second output component 183 is located on the side of the second external gear 150 away from the second planetary conversion mechanism 140, and the second connecting post 184 is located on the side of the second output component 183 facing the second external gear 150 and extends into the second external gear 150. The connecting assembly further includes a second fastener 192, which passes through the flange 130, the second connecting post 184, and the second output component 183, for fixing the second output component 183 and the flange 130 and rotating them synchronously. The second connecting post 184 is used to stably mount the second fastener 192, enabling the flange 130 and the second output component 183 to rotate synchronously, and the second output component 183 to stably output rotational power.

[0085] Preferably, the second connecting post 184 and the second output component 183 are either separate or integrated. When the second connecting post 184 and the second output component 183 are separate, it facilitates individual processing of both, and the positional accuracy of the second connecting post 184 on the second output component 183 does not need to be considered during processing, resulting in higher processing efficiency. However, when the second connecting post 184 and the second output component 183 are integrated, the strength and rigidity between them are higher.

[0086] Preferably, the first fastener 191 and the second fastener 192 are coaxially arranged and are an integral structure. That is, a single fastener, such as a single pin, passes through the first output part 181, the first connecting post 182, the first protrusion 111, the flange 130, the second protrusion 131, the second connecting post 184, and the second output part 183 in sequence, thereby fixing the first output part 181, the second output part 183, and the flange 130, which improves installation efficiency. At the same time, the first output part 181 and the second output part 183 can rotate more stably and synchronously.

[0087] In one specific embodiment, a second bearing 134 or a second bearing 134 roller is provided between the flange 130 and the drive shaft 160. The flange 130 is driven by the first planetary conversion mechanism 120 and the second planetary conversion mechanism 140, so that the flange 130 can rotate more smoothly.

[0088] Preferably, the drive shaft 160 limits the second bearing 134 by means of a shoulder or retaining ring, so that the installation of the second bearing 134 and the flange 130 is more stable.

[0089] In one specific embodiment, a third bearing 163 or a roller bearing 163 is provided between the drive shaft 160 and the output component. Specifically, at least one of the first output component 181 and the second output component 183 is provided with a third bearing 163 or a roller bearing 163 between itself and the drive shaft 160. When the housing 170 is fixed, the first output component 181 and the second output component 183 output power, and at this time, the third bearing 163 or the roller bearing 163 can make the rotation of the first output component 181 and the second output component 183 smoother.

[0090] In one specific embodiment, the first external gear 110, the second external gear 150, and the housing 170 are made of resin material. Using resin material makes the first external gear 110, the second external gear 150, and the housing 170 lighter and easier to use in a lightweight manner.

[0091] In one specific embodiment, the first bearing is a crossed roller bearing, or the first bearing rollers 133 are cross-arranged rollers. The crossed roller bearing or the cross-arranged rollers can provide good support in both the axial and radial directions, capable of bearing both radial and axial forces.

[0092] Preferably, the cross-arranged rollers are, for example, cylindrical rollers, with adjacent cylindrical rollers arranged at a 90° angle.

[0093] In one specific embodiment, the internal teeth of the housing 170 are circular arc teeth or needle rollers. When the first external gear 110 and the second external gear 150 are cycloidal teeth, the internal teeth of the housing 170 need to be engaged with circular arc teeth or needle rollers.

[0094] In one specific embodiment, the housing 170 includes two internal gear rings 171 arranged axially in sequence. When the housing 170 is divided into two internal gear rings 171, it is convenient to machine a groove for mounting the first bearing or the first bearing roller 133, and it is also convenient to install the first bearing or the first bearing roller 133 between the housing 170 and the flange 130.

[0095] In one specific embodiment, a fourth bearing or fourth bearing roller is provided between the output component and the housing 170. The fourth bearing or fourth bearing roller is provided between the first output component 181 and / or the second output component 183 and the housing 170, forming a double-row bearing with the first bearing or first bearing roller between the flange 130 and the housing 170, which can significantly improve the load-bearing capacity of the transmission mechanism 100 and have higher overturning rigidity.

[0096] In another specific embodiment, a fourth bearing or fourth bearing roller is provided between the first output component 181 and the housing 170, while the second output component 183 is located on the side of the second external gear 150 away from the second planetary conversion mechanism 140, and the second output component 183 is fixed to the housing 170, with the connecting assembly and the second output component 183 detached. That is, there is no second connecting post 184 connecting and fixing the second output component 183 to the flange component 130.

[0097] The second output component 183 is fixedly connected to the input end and housing 170 as an end cover of the transmission mechanism 100. Since the power from the first external gear 110 and the second external gear is simultaneously transmitted to the flange 130 located in the middle via the first planetary converter 120 and the second planetary converter 140 respectively, and the flange 130 is fixedly connected to the first output component 181 via the first connecting post 182, power is output only through the synchronous rotation of the first output component 181 and the flange. This arrangement ensures power output to all inner gears, reduces the need for the second connecting post 184 and the second fastener 192 between the flange 130 and the second output component 183, and further reduces the overall thickness of the transmission mechanism.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transmission mechanism, characterized in that, include: The system comprises a first external gear, a first planetary conversion mechanism, and a flange, wherein the first planetary conversion mechanism is disposed between the first external gear and the flange; wherein the first planetary conversion mechanism is capable of moving relative to the first external gear along a first radial direction and relative to the flange along a second radial direction, and the first radial direction and the second radial direction are perpendicular to each other; The second planetary conversion mechanism and the second external gear are mirror images of the first planetary conversion mechanism with respect to the flange; the second external gear and the first external gear are mirror images of the flange. The drive shaft includes a first eccentric part and a second eccentric part, wherein the first external gear is mounted on the first eccentric part and the second external gear is mounted on the second eccentric part; At least one output component is disposed on one side of the first external gear or the second external gear, which outputs power from the first external gear and the second external gear; A connecting assembly passing through at least one of the first external gear and the second external gear, for connecting the flange to at least one of the output components, such that at least one of the output components and the flange rotate synchronously; The outer casing is provided with internal teeth, which are sleeved on the first external gear and the second external gear, and mesh with the external teeth of the first external gear and the second external gear. A first bearing or a first bearing roller is provided between the flange and the housing.

2. The transmission mechanism according to claim 1, characterized in that, The first external gear includes at least one first protrusion extending into the flange; The first planetary conversion mechanism includes a first cross-shaped transmission member and a first rolling member. The first cross-shaped transmission member includes a first transmission arm extending along the first radial direction. The first rolling member is disposed between the first transmission arm and the first protrusion to allow the first cross-shaped transmission member and the flange to slide relative to each other.

3. The transmission mechanism according to claim 2, characterized in that, The flange includes at least one second protrusion extending toward the first external gear; The first planetary conversion mechanism further includes: a second rolling element; The first cross-shaped transmission member further includes a second transmission arm extending along the second radial direction, and the second rolling member is disposed between the second transmission arm and the second protrusion to allow the first cross-shaped transmission member and the first external gear to slide relative to each other; The first transmission arm and the second transmission arm are perpendicular to each other.

4. The transmission mechanism according to claim 3, characterized in that, The output component includes: a first output component and a first connecting post. The first output component is located on the side of the first external gear away from the first planetary conversion mechanism, and the first connecting post is located on the side of the first output component facing the first external gear and extends into the first external gear. The connecting assembly includes a first fastener that passes through the flange, the first connecting post, and the first output component, for fixing the first output component and the flange and rotating them synchronously.

5. The transmission mechanism according to claim 4, characterized in that, The second external gear includes at least one third protrusion extending into the flange; The second planetary conversion mechanism includes a second cross transmission member and a third rolling member. The second cross transmission member includes a third transmission arm extending along the first radial direction. The third rolling member is disposed between the third transmission arm and the third protrusion to allow the second cross transmission member and the flange to slide relative to each other.

6. The transmission mechanism according to claim 5, characterized in that, The flange includes at least one fourth protrusion extending toward the second external gear; The second planetary conversion mechanism also includes: a fourth rolling element; The second cross-shaped transmission member further includes a fourth transmission arm extending along the second radial direction, wherein the fourth rolling member is disposed between the fourth transmission arm and the fourth protrusion to allow the second cross-shaped transmission member and the second external gear to slide relative to each other; The third transmission arm and the fourth transmission arm are perpendicular to each other.

7. The transmission mechanism according to claim 6, characterized in that, The output component further includes: a second output component and a second connecting post, wherein the second output component is located on the side of the second external gear away from the second planetary conversion mechanism, and the second connecting post is located on the side of the second output component facing the second external gear and extends into the second external gear; The connecting assembly further includes a second fastener that passes through the flange, the second connecting post, and the second output member, for fixing the second output member and the flange and rotating them synchronously.

8. The transmission mechanism according to claim 7, characterized in that, The first fastener and the second fastener are coaxially arranged and are an integral structure.

9. The transmission mechanism according to claim 4, characterized in that, The first connecting column and the first output component are either separate or integrated structures.

10. The transmission mechanism according to claim 7, characterized in that, The second connecting column and the second output component are either separate or integrated structures.

11. The transmission mechanism according to claim 1, characterized in that, A second bearing or a second bearing roller is provided between the flange and the drive shaft.

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

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

14. The transmission mechanism according to claim 1, characterized in that, The first bearing is a crossed roller bearing, or the rollers of the first bearing are arranged in a crossed manner.

15. The transmission mechanism according to claim 1, characterized in that, The inner teeth of the outer shell are circular arc teeth or needle rollers.

16. The transmission mechanism according to claim 1, characterized in that, The outer casing includes two internal gear rings arranged sequentially along the axis.

17. The transmission mechanism according to claim 1, characterized in that, A fourth bearing or a fourth bearing roller is provided between the output component and the housing.

18. The transmission mechanism according to claim 6, characterized in that, The output component further includes a second output component, which is located on the side of the second external gear away from the second planetary conversion mechanism. The second output component is fixed to the housing, and the connecting assembly is detached from the second output component.

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