A transmission device and a robot

Abstract

This invention discloses a transmission device and a robot. An eccentric shaft drives an eccentric wheel to rotate. The outer gear ring of the eccentric wheel meshes with the inner gear ring of the housing for transmission. A fixed pin on the eccentric wheel transmits power to a pin on the adjacent side, which then transmits the power to a floating disk. The floating disk continues to transmit power to the pin on the adjacent side, which in turn transmits the power to the connecting shaft of the end cap. Thus, the pin does not need to bear shear stress and is less prone to breakage and bending, increasing load capacity. Furthermore, by changing the mapping relationship between the eccentric wheel and the end cap and using rolling friction instead of sliding friction, the transmission efficiency of the device can be improved, and the processing difficulty and operational precision requirements can be effectively reduced, thereby lowering production costs. This transmission device can also be applied to the joints of a robot to achieve anthropomorphic robot movement.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and particularly relates to a transmission device and a robot. Background Technology

[0002] A speed reducer is a transmission device used between a prime mover and a driven machine. Its purpose is to transmit torque and reduce speed. Speed ​​reducers have wide applications in various industries and are an indispensable mechanical transmission device. There are many types and models of speed reducers, each with different uses.

[0003] Currently, the robotics industry generally uses four types of reducers: RV reducers, harmonic reducers, planetary reducers, and low-tooth-difference reducers. RV reducers and harmonic reducers are too large and heavy, difficult to manufacture, and have low load capacity; while planetary reducers have relatively low precision and are not suitable for applications requiring high precision. Low-tooth-difference reducers are easier to manufacture and can achieve high precision while ensuring high load capacity.

[0004] Existing reducers, such as the planetary reducer structure with a small tooth difference disclosed in CN216009399U, use a first connecting pin protruding on the external gear to transmit power to the pin groove on the floating disc, and then transmit the power to the second connecting pin through the notch. The second connecting pin drives the main body to rotate and output power. This patent has two drawbacks: (1) The connection relationship between the first connecting pin and the pin groove results in sliding friction during rotation. The connection relationship between the notch and the second connecting pin also results in sliding friction during rotation. This causes the entire transmission structure to wear out greatly, making it impossible to output at high speed and resulting in low efficiency. It also heats up quickly during rotation, making it impossible to achieve high load. (2) The first connecting pin is subjected to very large shear stress during rotation, which makes it very easy for the first connecting pin to break and bend.

[0005] Therefore, existing speed reducers suffer from defects such as high wear of the transmission structure and insufficient load capacity, which urgently need to be addressed. Summary of the Invention

[0006] To address the aforementioned problems, the present invention provides a transmission device and a robot.

[0007] The technical solution of this invention is as follows:

[0008] This invention provides a transmission device, comprising:

[0009] An eccentric shaft, which is the power input end;

[0010] At least two eccentric wheels are mounted on an eccentric shaft. Each eccentric wheel is provided with an external gear ring, several fixing pins and several fixing holes. Each fixing pin is located on the side of each corresponding fixing hole.

[0011] At least two floating disks, each of which is rotatably mounted on an eccentric shaft and in contact with a corresponding eccentric wheel;

[0012] Several pivot pins are movably located on the side of each floating disk;

[0013] A housing is sleeved around an eccentric shaft, an eccentric wheel, a floating disk, and several shaft pins. An internal gear ring is provided on the inner wall of the housing, and the internal gear ring meshes with the external gear ring.

[0014] Two end caps are provided, which are the power output ends. The end caps are mounted on the eccentric shaft and are located at both ends of the housing. A floating disk is provided between each end cap and the corresponding eccentric wheel. Several connecting shafts are provided on the end caps, and the connecting shafts are all inserted into corresponding fixing holes.

[0015] Furthermore, the eccentric shaft is provided with at least two eccentric parts, and the adjacent eccentric parts are staggered and fitted together, and the phase difference of all eccentric parts is equal to 360°.

[0016] Furthermore, the floating disk includes a circular hole and several supporting corners. The circular hole is located at the center of the floating disk, and the supporting corners are arranged along the periphery of the circular hole. A pivot pin is assembled on both sides of the supporting corner.

[0017] Furthermore, the two sides of the support corner are provided with recessed positions, and the shaft pin is located on the side of the recessed position.

[0018] Furthermore, the connecting shaft includes a first convex shaft and a second convex shaft. The first convex shaft passes through a fixing hole, and the second convex shaft is located between a fixing pin and a shaft pin, and the second convex shaft is in contact with the shaft pin.

[0019] Furthermore, each of the connecting shafts is provided with a plurality of through holes and connectors, and the connectors are respectively inserted into each of the corresponding through holes.

[0020] Furthermore, the end cap is provided with an inner ring and an outer ring, the inner ring being located at the center of the end cap and the outer ring being located at the edge of the end cap.

[0021] Furthermore, a first bearing is provided on the inner ring, and a second bearing is provided on the outer ring.

[0022] Furthermore, the eccentric wheel is also provided with a central hole, and a third bearing is provided in the central hole.

[0023] The present invention also provides a robot, including a joint and the aforementioned transmission device connected to the joint.

[0024] The beneficial effects of the transmission device of the present invention are as follows:

[0025] A multi-stage transmission method replaces the shaft-driven method. An eccentric shaft drives an eccentric wheel to rotate. The outer gear ring of the eccentric wheel meshes with the inner gear ring of the housing. A fixed pin on the eccentric wheel transmits power to a pin on the adjacent side. This pin then transmits power to a floating disc, which in turn transmits power to another pin on the adjacent side. The pin then transmits power to the connecting shaft of the end cover. As a result, the pin does not need to bear shear stress and is less prone to breakage and bending. By reducing shear stress, the load capacity of the transmission device is increased. In addition, by changing the mapping relationship between the eccentric wheel and the end cover, rolling friction is used instead of sliding friction, thereby improving the transmission efficiency of the device. This also effectively reduces the processing difficulty and the precision requirements during operation, thus reducing production costs.

[0026] The beneficial effects of the robot of the present invention are as follows:

[0027] By using the aforementioned transmission devices on the robot's joints, such as the shoulder and hip joints, anthropomorphic movements of the robot can be achieved. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall exploded structure of Embodiment 1 of the present invention;

[0029] Figure 2 This is a schematic diagram of the overall exploded structure of Embodiment 2 of the present invention;

[0030] Figure 3 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 4 for Figure 3 The internal structure diagram of the first end cap is omitted.

[0032] Figure 5 for Figure 3 The internal structure diagram of the shell is omitted;

[0033] Figure 6 for Figure 3 A schematic diagram of the frontal cross-sectional structure;

[0034] Figure 7 for Figure 3 A top-view cross-sectional structural diagram;

[0035] Figure 8 This is a schematic cross-sectional view of the housing of the present invention;

[0036] Figure 9This is a schematic diagram of the end cap structure of the present invention;

[0037] Figure 10 This is a schematic diagram of the structure of the floating disk of the present invention;

[0038] Figure 11 This is an exploded structural diagram of the eccentric shaft and the limiting block in Embodiment 1 of the present invention;

[0039] Reference numerals: 1. Eccentric shaft, 11. Eccentric part, 12. Limiting block, 2. Eccentric wheel, 21. External gear ring, 22. Fixing pin, 23. Fixing hole, 24. Center hole, 3. Floating disc, 31. Round hole, 32. Support angle, 321. Recessed position, 322. Main support angle, 323. Secondary support angle, 4. Shaft pin, 5. Housing, 51. Internal gear ring, 52. First slot, 53. Second slot, 6. End cover, 601. First end cover, 602. Second end cover, 6021. Connecting hole, 61. Connecting shaft, 611. First convex shaft, 612. Second convex shaft, 613. Through hole, 62. Inner ring, 63. Outer ring, 71. First bearing, 72. Second bearing, 73. Third bearing. Detailed Implementation

[0040] The technical solutions in the embodiments of the present invention will now be clearly and completely described with reference to the accompanying drawings.

[0041] It should be noted that when a component is referred to as being "assembled on" or "sleeved on" another component, it can be directly on or indirectly on the other component. When a component is referred to as being "located on" or "penetrated" through another component, it can be directly connected to or indirectly connected to the other component.

[0042] It should be noted that, in the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Here, A and B can be singular or plural, respectively.

[0043] It should be understood that the terms "middle", "upper", "both ends", "between", "center", "periphery", "both sides", "inner", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a number" means two or more, unless otherwise explicitly specified.

[0045] Example 1

[0046] Please refer to Figure 1 , Figures 3-11 The present invention provides a transmission device, comprising:

[0047] Eccentric shaft 1, which is the power input end, has two eccentric parts 11. The adjacent eccentric parts 11 are staggered and fitted together. This eccentric shaft 1 is a double eccentric shaft. The phase difference between the two eccentric parts 11 is 180°. The sum of the phase differences between the two eccentric parts 11 is equal to 360°, which means that the eccentric torque of the eccentric shaft 1 is 0. Moreover, the eccentricity of the double eccentric shaft is equal. Therefore, the two eccentric wheels 2 will not generate eccentric force during rotation. It can also be understood that the two sets of eccentric forces cancel each other out, reducing the large vibration of components such as eccentric wheels 2, floating disk 3 and shaft pin 4 in the housing 5, and further reducing noise.

[0048] like Figure 11 As shown, the eccentric part 11 is cylindrical in shape, with two adjacent cylinders staggered and fitted together, and the phase difference between the two adjacent cylinders is 180°. Alternatively, the eccentric part can be designed as an elliptical cylinder or a rectangle, with two adjacent elliptical cylinders or two adjacent rectangles staggered and fitted together, and the sum of the phase differences between the two elliptical cylinders or two rectangles is close to 360°. At the same time, a limiting block 12 is provided on the side of the eccentric part 11 on the eccentric shaft 1. The limiting block 12 facilitates the installation of the first bearing 71 and the end cover 6, and serves to limit the position of the first bearing 71 and the third bearing 73.

[0049] In addition, this transmission device is combined with a motor, and the eccentric shaft 1 is connected to the rotor of the motor. Electrical energy is used to generate a rotating magnetic field on the coil, which drives the rotor and the eccentric shaft 1 to rotate.

[0050] Two eccentric wheels 2 are mounted on an eccentric shaft 1. Each eccentric wheel 2 is provided with an external gear ring 21, four fixing pins 22 and four fixing holes 23. Each fixing pin 22 is located on the side of each corresponding fixing hole 23. The external gear ring 21 is located on the circumference of the eccentric wheel 2 and is used to mesh with the internal gear ring 51 on the housing 5 to drive the eccentric wheel 2.

[0051] Furthermore, the eccentric wheel 2 is also provided with a central hole 24, and a third bearing 73 is provided on the central hole 24. If the central hole 24 of the eccentric wheel 2 is directly assembled to the eccentric shaft 1, there will be a certain transmission resistance, and after wear, the replacement of the eccentric wheel 2 will be cumbersome. Therefore, in order to make the eccentric wheel rotate more smoothly, a third bearing 73 is provided on the central hole 24 of each eccentric wheel 2. The third bearing 73 directly contacts the eccentric shaft 1, and the third bearing 73 is a transmission part that relies on rolling contact between components. It has low sliding resistance, low power consumption, and easy start-up. Specifically, the two eccentric wheels 2 can be symmetrically arranged on the two eccentric parts 11 of the eccentric shaft 1.

[0052] Two floating disks 3 are rotatably mounted on the eccentric shaft 1 and in contact with the corresponding eccentric wheel 2. Since the end cover 6 is set on the axis of the eccentric shaft 1, the end cover 6 itself can only rotate concentrically, but the floating disks 3 transmit sliding force to the end cover 6, causing the end cover 6 to rotate eccentrically; specifically, the two floating disks 3 are also symmetrical.

[0053] Several pivot pins 4 are movably disposed on the side of each floating disk 3. The pivot pins 4 replace the connecting shafts on traditional floating disks or eccentric wheels. The pivot pins 4 move together with the rotation of the eccentric wheel 2, transmitting thrust to the floating disk 3 and the end cover 6; (Refer to...) Figure 4 Each set of 16 pins 4 is located on both sides of the support corner 32 of the floating disk 3. The pins 4 are small cylindrical in shape. Each set of two pins 4 forms a group, and four groups of pins 4 are in contact with the fixing pins 22 of the corresponding eccentric wheel 2. In addition to being designed as small cylindrical shapes, they can also be designed as cuboid shapes. Their main function is to fill the gap between the floating disk 3 and the eccentric wheel 2 and end cap 4, that is, to appropriately reduce the back clearance. Appropriate back clearance can make the eccentric wheel rotate smoothly, and the eccentric wheel is not easy to wear, further reducing noise. Specifically, each set of 16 pins 4 forms a large group, and the two large groups are also symmetrical.

[0054] The housing 5 is sleeved around the eccentric shaft 1, eccentric wheel 2, floating disk 3 and several shaft pins 4. An internal gear ring 51 is provided on the inner wall of the housing 5. The internal gear ring 51 meshes with the external gear ring 21. The external gear ring 21 meshes with and rotates the internal gear ring 51 to achieve the purpose of deceleration.

[0055] Two end caps 6 are power output ends. The end caps 6 are mounted on the eccentric shaft 1 and are located at both ends of the housing 5. A floating disk 3 is provided between each end cap 6 and the corresponding eccentric wheel 2. The end cap 6 is provided with four connecting shafts 61, and the connecting shafts 61 are all inserted into the corresponding fixing holes 23.

[0056] from Figure 1 and Figure 5It is understood that each eccentric wheel 2, each floating disk 3, and several shaft pins 3 form a transmission structure, and the two transmission structures are symmetrically arranged on the eccentric shaft 1.

[0057] The connecting shafts 61 corresponding to the two end caps 6 are on the same axis. Specifically, each connecting shaft 61 is provided with several through holes 613 and connectors. The connectors are inserted into each corresponding through hole 613 to fix the two end caps 6 together.

[0058] Furthermore, the end cap 6 is provided with an inner ring 62 and an outer ring 63. The inner ring 62 is located at the center of the end cap 6, and the outer ring 63 is located at the edge of the end cap 6. If the inner ring 62 of the end cap 6 is directly assembled onto the eccentric shaft 1, there will be a certain transmission resistance, and the end cap 6 will need to be replaced after wear. Therefore, the inner ring 62 is provided with a first bearing 71, and the outer ring 63 is provided with a second bearing 72. The rotation of the end cap 6 is supported by the first bearing 71 and the second bearing 72, making the rotation of the end cap 6 more flexible and smooth.

[0059] Specifically, the floating disk 3 includes a circular hole 31 and four supporting corners 32. The circular hole 31 is located at the center of the floating disk 3, and the supporting corners 32 are arranged along the periphery of the circular hole 31. The pivot pin 4 is assembled on both sides of the supporting corners 32. The floating disk 3 is not limited to the shape of the circular hole 31 and the four supporting corners 32. The floating disk 3 can also be designed as a petal shape with a central circular hole.

[0060] The first bearing 71, the second bearing 72, and the third bearing 73 can be deep groove ball bearings or angular contact ball bearings.

[0061] Furthermore, recesses 321 are provided on both sides of the support corner 32, and the shaft pin 4 is located on the side of the recesses 321. The recesses 321 better place the shaft pin between the fixing pin 22 and the support corner 32, making it less likely to fall off during assembly.

[0062] In addition, the connecting shaft 61 includes a first convex shaft 611 and a second convex shaft 612. The first convex shaft 611 passes through the fixing hole 23, and the second convex shaft 612 is located between the fixing pin 22 and the shaft pin 4. The second convex shaft 612 is in contact with the shaft pin 4. Therefore, the fixing pin 22 transmits power to the second convex shaft 612, which drives the rotation of the end cover.

[0063] In addition, the housing 5 is provided with a first slot 52 and a second slot 53, which are located at the two ends of the internal gear ring 51, respectively, and the end cap 6 is installed in the first slot 52 and the second slot 53, respectively.

[0064] The overall transmission process is as follows: (Refer to...) Figure 7The support angles 32 on the floating disk 3 are divided into main support angles 322 and secondary support angles 323. Two eccentric wheels 2 are driven to rotate via the eccentric shaft 1. The outer gear ring 21 of each eccentric wheel 2 meshes with the inner gear ring 51 of the housing 5. The four fixed pins 22 on each eccentric wheel 2 transmit power to the corresponding pin 4 on its contact side. This pin 4 then transmits the power to the corresponding main support angle 322 of the floating disk 3. The secondary support angle 323 of the floating disk 3 continues to transmit power to the pin 4 on its contact side. The pin 4 then transmits the power to the second convex shaft 612 of the connecting shaft 61 of the end cover 6, thereby... The end caps 6 output power. The two end caps 6 are respectively powered by the corresponding eccentric wheel 2, floating disk 3 and shaft pin 4, and output power respectively, thus realizing single input and dual output of power. This transmission ratio is larger, which can convert the high speed at the input end to the low speed at the output end. Moreover, the shaft pin 4 does not need to bear shear stress and is not easy to break or bend, thus improving the load. In addition, since the mapping relationship between the eccentric wheel 2 and the end caps 6 has been changed, rolling friction has been used instead of sliding friction, which can improve the transmission efficiency of the reducer and effectively reduce the processing difficulty and the precision requirements during operation, thereby reducing the production cost.

[0065] Example 2

[0066] Reference Figure 2 The transmission device can be designed as a single-stage transmission device, that is, based on embodiment 1, a set of eccentric wheels 2, floating disks 3 and shaft pins 4 are deleted, and only one eccentric part 11 is provided on the eccentric shaft 1.

[0067] The difference from Embodiment 1 is that the end cap 6 includes a first end cap 601 and a second end cap 602, which have different shapes. The first end cap 601 has four connecting shafts 61, and the second end cap 602 has eight connecting holes 6021. The connecting shafts 61 and the connecting holes 6021 are positioned correspondingly. The connecting shafts 63 pass through the fixing holes 23 of the eccentric wheel 2. The floating disk 3 is located between the first end cap 601 and the eccentric wheel 2. Each connecting shaft 61 has two through holes 613 and a connector (not shown). The connector passes through each corresponding through hole 613 and each connecting hole 6021. Inside, the connector is a screw that fixes the first end cover 601 and the second end cover 602 together. With the power input of the eccentric shaft 1, the eccentric shaft 1 drives the eccentric wheel 2 to rotate. The outer gear ring 21 of the eccentric wheel 2 meshes with the inner gear ring 51 of the housing 5 for transmission. The four fixing pins 22 on the eccentric wheel 2 respectively transmit the power to the shaft pin 4 on the contact side. The shaft pin 4 then transmits the power to the main support angle 322 of the floating disk 3. The secondary support angle 323 of the floating disk 3 continues to transmit the power to the shaft pin 4 on the contact side of the secondary support angle 323. The shaft pin 4 then transmits the power to the second convex shaft 612 of the connecting shaft 61 of the first end cover 601. Thus, the first end cover 601 drives the second end cover 602 to output power together.

[0068] The above structure can be named a single-stage low-tooth-difference reducer. It achieves the purpose of speed reduction by rotating together with the eccentric wheel 2, the floating disk 3 and the shaft pin 4. Compared with the planetary reducer, it reduces the use of planetary gears, has a simple structure, compact assembly and less friction loss, thereby improving the overall accuracy of the transmission device.

[0069] The present invention also provides a robot, including joints and the aforementioned transmission device connected thereto. When the transmission device structure of Embodiment 1 is used, the symmetrical structure prevents the two eccentric wheels 2 from generating eccentric forces during rotation, reducing the vibration of components such as the eccentric wheels 2, floating disks 3, and shaft pins 4 within the housing 5, further reducing noise. The two-stage reduction ratio is larger, enabling the conversion of high speed at the input end to low speed at the output end, and also meeting the needs of robot joint movements. When the transmission device structure of Embodiment 2 is used, compared with the traditional planetary reducer, the use of planetary gears is reduced, resulting in a simpler structure, more compact assembly, less friction loss, and improved overall accuracy of the transmission device.

[0070] Both transmission devices are driven by the meshing of the outer gear ring 21 of the eccentric wheel 2 and the inner gear ring 51 of the housing 5. The fixed pin 22 on the eccentric wheel 2 transmits power to the shaft pin 4 on the contact side. The shaft pin 4 then transmits power to the floating disk 3. The floating disk 3 continues to transmit power to the shaft pin 4 on the contact side. The shaft pin 4 then transmits power to the second convex shaft 612 of the connecting shaft 61 of the end cover 6, thereby enabling the end cover 6 to output power.

[0071] The difference between Example 1 and Example 2 is that: (1) In Example 1, the two end caps 6 are respectively powered by the corresponding eccentric wheel 2, floating disk 3 and shaft pin 4 and output power respectively, thereby realizing single input and double output of power; in Example 2, one eccentric wheel 2, one floating disk 3 and several shaft pins 4 drive the two end caps 6 to output power, thereby realizing single input and single output of power.

[0072] (2) In Example 1, two eccentric wheels 2 are used and the eccentric shaft 1 is a double eccentric shaft. The phase difference between the two eccentric parts 11 is 180°, which will make the overall structure balanced and reduce vibration noise. In Example 2, one eccentric wheel 2 is used and there is only one eccentric part 11 on the eccentric shaft 1. Due to the eccentric rotation, a large vibration noise will be generated.

[0073] Example 3

[0074] Based on embodiment 2, the second end cover 602 is fixed to the housing 5. When the eccentric shaft 1 rotates, it only drives the first end cover 601 to output power, which is also a single-stage output transmission device.

[0075] Compared with Example 2, Example 3 is a more classic single-stage output transmission device, which means that there is only one eccentric wheel 2 driving the end cover.

[0076] Example 4

[0077] Based on embodiment 1, an additional eccentric part 11, eccentric wheel 2, and floating disk 3 are added; that is, three eccentric parts 11 are provided on the eccentric shaft 1, and two adjacent eccentric parts 11 are staggered and fitted together, with a phase difference of 120° between two adjacent eccentric parts 11.

[0078] The connecting shafts 61 on both end caps 6 are inserted into the fixing holes 23 of the eccentric wheel 2. The floating disk 3 in the middle transmits the force through the fixing pin 22 on the eccentric wheel 2. The floating disk 3 in the middle then transmits the force to the first convex shaft 611 of the connecting shaft 61 of the end cap 6, thereby also transmitting the force to the end cap 6 and driving the end cap 6 to output the force.

[0079] Similarly, when there are 4 eccentric parts 11 on the eccentric shaft, the phase difference between two adjacent eccentric parts 11 is 90°. A floating disk 3 is provided on the corresponding eccentric wheel 2. At the same time, the connecting shaft 61 on the end cover 6 needs to be extended.

[0080] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A transmission device, characterized in that, include: Eccentric shaft (1), the eccentric shaft (1) is the power input end; At least two eccentric wheels (2) are mounted on an eccentric shaft (1). Each eccentric wheel (2) is provided with an external gear ring (21), a number of fixing pins (22) and a number of fixing holes (23). Each fixing pin (22) is located on the side of each corresponding fixing hole (23). At least two floating disks (3), each of which is rotatably mounted on an eccentric shaft (1) and in contact with a corresponding eccentric wheel (2); Several pivot pins (4) are movably disposed on the side of each floating disk (3); The housing (5) is sleeved around the eccentric shaft (1), eccentric wheel (2), floating disk (3) and several shaft pins (4). An internal gear ring (51) is provided on the inner wall of the housing (5), and the internal gear ring (51) meshes with the external gear ring (21). Two end caps (6) are power output ends. The end caps (6) are mounted on the eccentric shaft (1) and are located at both ends of the housing (5). A floating disk (3) is provided between each end cap (6) and the corresponding eccentric wheel (2). Several connecting shafts (61) are provided on the end caps (6). The connecting shafts (61) are all inserted into the corresponding fixing holes (23).

2. The transmission device according to claim 1, characterized in that, The eccentric shaft (1) is provided with at least two eccentric parts (11), and the adjacent eccentric parts (11) are staggered and fitted together, and the phase difference of all eccentric parts (11) is equal to 360°.

3. The transmission device according to claim 1, characterized in that, The floating disk (3) includes a circular hole (31) and several support corners (32). The circular hole (31) is located at the center of the floating disk (3). The support corners (32) are arranged along the periphery of the circular hole (31). The shaft pins (4) are assembled on both sides of the support corners (32).

4. The transmission device according to claim 3, characterized in that, The support corner (32) has recessed positions (321) on both sides, and the shaft pin (4) is located on the side of the recessed position (321).

5. The transmission device according to claim 1, characterized in that, The connecting shaft (61) includes a first convex shaft (611) and a second convex shaft (612). The first convex shaft (611) passes through the fixing hole (23), and the second convex shaft (612) is located between the fixing pin (22) and the shaft pin (4), and the second convex shaft (612) is in contact with the shaft pin (4).

6. The transmission device according to claim 3, characterized in that, Each of the connecting shafts (61) is provided with a plurality of through holes (613) and connectors, the connectors being inserted into each of the corresponding through holes (613).

7. The transmission device according to claim 1, characterized in that, The end cap (6) is provided with an inner ring (62) and an outer ring (63). The inner ring (62) is located at the center of the end cap (6), and the outer ring (63) is located at the edge of the end cap (6).

8. The transmission device according to claim 7, characterized in that, The inner ring (62) is provided with a first bearing (71), and the outer ring (63) is provided with a second bearing (72).

9. The transmission device according to claim 6, characterized in that, The eccentric wheel (2) is also provided with a central hole (24), and a third bearing (73) is provided on the central hole (24).

10. A robot, characterized in that, It includes a joint and a transmission device as described in any one of claims 1-9 connected to the joint.

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