Connecting rod structure and universal transmission device using same

Abstract

The present disclosure includes: a gear train including at least four gears sequentially engaged; a plurality of links configured to support a rotation shaft of the gear; and a pin configured to fix the rotation shafts of the gear to the link, in which the pin is mounted such that among the rotation shafts of the gear, two non-adjacent rotation shafts are fixed to the link at both ends, and one of the adjacent rotation shafts is fixed to the link only at one end.

Description

Technical Field

[0001] The present disclosure relates to a link structure in which links are connected to be relatively rotatable with respect to each other. Background Art

[0002] By connecting the drive shaft and the driven shaft using gears, a reliable configuration for power transmission without slipping between the drive shaft and the driven shaft is achieved.

[0003] By connecting the driving shaft and the driven shaft using a gear train including a series of gears, power transmission between the driving shaft and the driven shaft, which are separately positioned, can be performed smoothly and stably.

[0004] At the same time, a configuration is required that ensures stable and smooth power transmission even when the distance between the driving shaft and the driven shaft continuously changes.

[0005] The above description as background technology is only intended to help understanding the background of the present disclosure, but is not intended to mean that the present disclosure falls within the scope of the prior art known to those skilled in the art. Summary of the invention

[0006] One aspect of the present disclosure provides a connecting rod structure capable of continuously maintaining a stable and smooth power transmission state when a distance between a driving shaft and a driven shaft changes.

[0007] Another aspect of the present disclosure provides a universal transmission device, which can be regarded as a planetary gear device equipped with a connecting rod structure as described above to ensure easy assembly of the universal transmission device and smooth and stable power transmission performance.

[0008] The connecting rod structure of the present disclosure for achieving the above-mentioned object comprises: a gear train including at least four gears meshing in sequence; a plurality of connecting rods configured to support the rotating shafts of the gears; and a pin configured to fix the rotating shafts of the gears to the connecting rods. The pins are installed so that among the rotating shafts of the gears, two non-adjacent rotating shafts are fixed to the connecting rods at both ends, and one of the adjacent rotating shafts is fixed to the connecting rod only at one end.

[0009] The rotation shafts of the gears constituting the gear train may be arranged in such a manner that the rotation shafts having both ends fixed to the connecting rod by pins and the rotation shafts having only one end fixed to the connecting rod by a pin are alternately arranged.

[0010] The connecting rod may include at least two connecting rods connected to be relatively rotatable about a rotation axis of one of the plurality of gears.

[0011] A gear having a rotating shaft connected to two connecting rods so that the two connecting rods can rotate relative to each other is a coupling gear, and when the rotating shaft of the coupling gear is fixed to the connecting rod by a pin only at one end, the rotating shafts of those gears connected to the coupling gear in such a way that the coupling gear is located therebetween can be fixed to the connecting rod by pins at both ends.

[0012] A gear having a rotating shaft connected to two connecting rods so that the two connecting rods can rotate relative to each other is a coupling gear, and when the rotating shaft of the coupling gear is fixed to the connecting rods by pins at both ends, one of the rotating shafts of those gears connected to the coupling gear can be fixed to the connecting rod by a pin only at one end.

[0013] When one of the rotating shafts to which two connecting rods are connected so as to be relatively rotatable is fixed to the connecting rod by a pin only at one end, at least one rotating shaft among the rotating shafts of those gears for every two connecting rods is fixed to the connecting rod by pins at both ends.

[0014] When one of the rotating shafts (to which two connecting rods are connected so as to be relatively rotatable) is fixed to the connecting rods by pins at both ends, at least one rotating shaft is fixed to the connecting rod by a pin P at only one end among the rotating shafts of those gears for every two connecting rods.

[0015] The connecting rods may be arranged in pairs at both ends of the gear.

[0016] The gear train may be installed to realize a continuous power transmission state between the sun gear and the ring gear in a planetary gear device equipped with a sun gear and a ring gear forming a variable axial spacing therebetween.

[0017] The first ends of the plurality of connecting rods may be mounted to support the rotation shaft of the sun gear so that one end of the gear train meshes with the sun gear; and the second ends of the plurality of connecting rods may be mounted to support the rotation shaft of the terminal gear forming the other end of the gear train.

[0018] The rotating shaft of the terminal gear may be supported by a bracket which maintains a constant distance between the axis of the ring gear and the axis of the bracket through the terminal gear.

[0019] The multiple connecting rods may include a first connecting rod and a second connecting rod connected to be rotatable relative to each other; a gear having a rotating axis configured to support the first connecting rod and the second connecting rod so that the first connecting rod and the second connecting rod can rotate may be a connecting gear; and the gear train may include a first intermediate gear connecting the sun gear and the connecting gear and a second intermediate gear connecting the connecting gear and the terminal gear, and include a connecting gear and a terminal gear.

[0020] The number of teeth of the sun gear, coupling gear and terminal gear can all be configured to be the same.

[0021] The universal transmission device according to the present disclosure includes: a ring gear; a sun gear having a variable axial spacing relative to the rotation axis of the ring gear; a gear train configured to connect the sun gear and the ring gear; and a plurality of connecting rods configured to adapt to the change of the axial spacing between the sun gear and the ring gear, and the plurality of connecting rods are connected to be able to rotate relative to each other to continuously maintain the power transmission state between the sun gear and the ring gear, and the plurality of connecting rods support the rotation axis of the gear constituting the gear train. The rotation axis of the gear is arranged along the power transmission path of the gear train in such a manner that the rotation axis fixed to the connecting rod at both ends and the rotation axis fixed to the connecting rod at only one end are arranged alternately.

[0022] The connecting rod may include: a first connecting rod having one end supporting a rotation shaft of the sun gear; and a second connecting rod rotatably connected to the first connecting rod.

[0023] The gear train may include: a first intermediate gear meshing with the sun gear; a connecting gear meshing with the first intermediate gear, a rotation axis of the connecting gear serving as a rotation axis of the first connecting rod and the second connecting rod; a second intermediate gear meshing with the connecting gear; and a terminal gear meshing with the second intermediate gear and with the ring gear.

[0024] The rotating shaft of the first intermediate gear and the rotating shaft of the connecting gear can be fixed to the first connecting rod, the rotating shaft of the connecting gear, the rotating shaft of the second intermediate gear and the rotating shaft of the terminal gear can be fixed to the second connecting rod, and the rotating shaft of the terminal gear can be supported by a bracket, which keeps the distance between the axis of the ring gear and the axis of the bracket constant through the terminal gear.

[0025] The number of teeth of each of the sun gear and the coupling gear may be the same as the number of teeth of the terminal gear.

[0026] Only one end of the rotating shaft of the connecting gear can be fixed to the connecting rod by a pin; both ends of the rotating shaft of the first intermediate gear and the rotating shaft of the second intermediate gear can be fixed to the connecting rod by a pin; and only one end of the terminal gear can be fixed to the connecting rod by a pin.

[0027] Both ends of each of the rotating shaft of the connecting gear and the rotating shaft of the terminal gear can be fixed to the connecting rod by pins; and only one end of each of the rotating shaft of the first intermediate gear and the rotating shaft of the second intermediate gear can be fixed to the connecting rod by pins.

[0028] The present disclosure provides a connecting rod structure capable of continuously maintaining a stable and smooth power transmission state when the distance between a driving shaft and a driven shaft changes.

[0029] In addition, the present disclosure provides a universal transmission device, which can be regarded as a planetary gear device equipped with a connecting rod structure as described above, to ensure easy assembly of the universal transmission device and smooth and stable power transmission performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description in conjunction with the accompanying drawings, in which:

[0031] Figure 1 shows the basic configuration of a universal transmission device according to the present disclosure;

[0032] Figure 2 An embodiment of a universal transmission according to the present disclosure is shown;

[0033] Figure 3 Shown with Figure 2 The state in the gear ring is relatively lower than the state in the gear ring;

[0034] Figure 4 Shown with Figure 2 The state in which the gear ring is relatively elevated compared to the state in which the gear ring is relatively elevated;

[0035] Figure 5 Shows the Figure 2 The embodiment of the invention is applied to a vehicle example and compares the raising and lowering of the ring gear and the wheel relative to the sun gear according to the change of the road surface;

[0036] Figure 6 An example of applying the universal transmission device according to the present disclosure to a vehicle is shown;

[0037] Figure 7 A connecting rod structure applicable to a universal transmission device according to the present disclosure is shown;

[0038] Figure 8 Shows Figure 7 The first connecting rod and gear in;

[0039] Fig. 9 Shows Figure 7 A second connecting rod and a gear in; and

[0040] Fig.10 is a table summarizing various examples in which the rotation shaft of the gear constituting the connecting rod structure of the present disclosure is fixed to the connecting rod. DETAILED DESCRIPTION

[0041] Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, and the same or similar elements have the same or similar reference numerals, and thus repeated description thereof will be omitted.

[0042] The terms “module” and “unit” used for elements in the following description are given or used interchangeably only in consideration of easiness in writing the specification, and they themselves do not have different meanings or roles.

[0043] When describing the embodiments disclosed in this specification, when it is determined that the detailed description of the related known technology will unnecessarily obscure the key points of the present disclosure, the detailed description thereof may be omitted. In addition, the drawings are provided only to facilitate the understanding of the embodiments disclosed in this specification, and the technical spirit disclosed herein is not limited to the drawings, and it should be understood that all changes, equivalents or their substitutes are included in the spirit and scope of the present disclosure.

[0044] Terms including ordinal numbers such as "first", "second", etc. may be used to describe various elements, but the elements are not limited to these terms. The above terms are used only for the purpose of distinguishing one element from another.

[0045] When an element is referred to as being "connected" or "coupled" to any other element, it should be understood that another element may be disposed therebetween and that the element may be directly connected or coupled to another element. Conversely, when an element is "directly connected" or "directly coupled" to any other element, it should be understood that no other element exists therebetween.

[0046] A singular expression may include a plural expression unless they are clearly different in context.

[0047] As used herein, the word “including” or “having” is intended to indicate the presence of the mentioned features, quantities, steps, operations, elements, parts, or combinations thereof, and should be interpreted as not excluding the possible presence or addition of one or more other features, quantities, steps, operations, elements, parts, or combinations thereof.

[0048] For reference, Figure 1 The basic configuration of the universal transmission device according to the present invention is shown, and an example having a gear train 1 is shown to explain the principle of the universal transmission device, and Figure 2 An example with three gear trains 1 is shown.

[0049] refer to Figures 1 to 10 According to the present disclosure, the universal transmission device U includes: a ring gear R; a sun gear S installed to have a variable axial spacing relative to the rotation axis of the ring gear R; a gear train 1 connecting the sun gear S and the ring gear R; and a plurality of connecting rods configured to adapt to changes in the axial spacing between the sun gear S and the ring gear R and connected to be able to rotate relative to each other to continuously maintain the power transmission state between the sun gear S and the ring gear R, and the plurality of connecting rods support the rotation axes of the gears constituting the gear train 1.

[0050] The rotation shafts of the gears are arranged along the power transmission path of the gear train 1 in such a manner that the rotation shafts having both ends fixed to the connecting rods and the rotation shafts having one end fixed to the connecting rods are arranged alternately.

[0051] Therefore, good workability of the assembling work of coupling the gears constituting the gear train 1 to the connecting rod can be ensured, and a stable and smooth operating state of the gears constituting the gear train 1 can be ensured.

[0052] When the rotating shaft of the gear constituting the gear train 1 is fixed to the connecting rod at both ends, due to the tolerance caused by the position or size of the hole formed for inserting the rotating shaft into the connecting rod and the position or size of the pin hole for inserting the pin for fixing the rotating shaft to the connecting rod, there is a great possibility that the gears that are easy to assemble may become substantially difficult to assemble, and after assembly, interlocking may occur, making smooth rotation impossible.

[0053] However, as in the present disclosure, when the rotating axes of the gears constituting the gear train 1 are arranged in such a manner (i.e., structures in which both ends are fixed to the connecting rod and structures in which only one end is fixed to the connecting rod are arranged alternately), assembly failure and interlocking as described above can be prevented from occurring, thereby ensuring smooth and easy assembly of the universal transmission device U and smooth and reliable power transmission performance.

[0054] In the present embodiment, the connecting rod includes a first connecting rod 3 , one end of which supports the rotation shaft of the sun gear S, and a second connecting rod 5 rotatably connected to the first connecting rod 3 .

[0055] For reference, it should be understood that the “connecting rod structure” of the present disclosure refers to a structure in which the first connecting rod 3, the second connecting rod 5, and a gear constituting the gear train 1 and having a rotating shaft fixed to the connecting rod are connected to each other.

[0056] In this embodiment, the gear train 1 includes: a first intermediate gear 7, which is meshed with the sun gear S; a connecting gear 9, which is meshed with the first intermediate gear 7; a rotating shaft of the connecting gear 9, which is used as a rotating shaft between the first connecting rod 3 and the second connecting rod 5; a second intermediate gear 11, which is meshed with the connecting gear 9; and a terminal gear 13, which is meshed with the second intermediate gear 11 and with the ring gear R.

[0057] The rotating shaft of the first intermediate gear 7 and the rotating shaft of the connecting gear 9 are fixed to the first connecting rod 3, the rotating shaft of the connecting gear 9, the rotating shaft of the second intermediate gear 11 and the rotating shaft of the terminal gear 13 are fixed to the second connecting rod 5, and the rotating shaft of the terminal gear 13 is supported by a bracket C, which keeps the distance between the axis of the ring gear R and the axis of the bracket constant through the terminal gear 13.

[0058] The number of teeth of each of the sun gear S and the coupling gear 9 is formed to be the same as the number of teeth of the terminal gear 13 .

[0059] That is, the sun gear S, the coupling gear 9 and the terminal gear 13 all have the same number of teeth.

[0060] As described above, when the sun gear S, the connecting gear 9 and the terminal gear 13 have the same number of teeth, the relative phase of the sun gear S and the ring gear R remains constant relative to the relative movement of the rotation axis of the sun gear S and the rotation axis of the ring gear R in the up, down, left and right directions.

[0061] like Figure 3 and Figure 4 As shown, the relative phase of the sun gear and the ring gear maintained constant relative to the relative movement of the sun gear S and the ring gear R can be expressed as the rotational phases of points PS and PR marked on the sun gear S and the ring gear R respectively. Even when the ring gear R moves up and down or left and right relative to the sun gear S, the rotational phase remains constant.

[0062] That is, when the sun gear S, the coupling gear 9, and the terminal gear 13 have the same number of teeth, the relative rotation between the sun gear S and the ring gear R due to the change in the axial distance between the sun gear S and the ring gear R is prevented.

[0063] Therefore, no matter how the axial distance between the sun gear S and the ring gear R changes, the power transmitted from the sun gear S can be transmitted to the ring gear R at a constant speed. Therefore, in a vehicle to which the universal transmission device U of the present disclosure is applied, when the power generated by the motor M is transmitted from the sun gear S to the wheel W via the ring gear R, since the phase of the motor M connected to the sun gear S and the phase of the wheel W connected to the ring gear R can remain unchanged even if the ring gear R and the wheel W move up and down or left and right relative to the rotation axis of the motor M or the sun gear S, it is achieved to stably control the output torque through the motor M, thereby ensuring stable driving of the vehicle.

[0064] If any one of the sun gear S, the coupling gear 9, and the terminal gear 13 has a different number of teeth, the above conditions cannot be satisfied, so that even if the motor M rotates at a constant speed as described above, the ring gear R and the wheel W may move upward, downward, left, and right relative to the sun gear S and the motor M, so relative rotation may occur between the sun gear S and the ring gear R. Therefore, depending on the driving direction of the vehicle, the vehicle may experience vibration, i.e., surging.

[0065] Figure 6 It is shown that by connecting the rotating shaft of the motor M to the sun gear S and connecting the wheel W to the ring gear R, the universal transmission U of the present disclosure can be used as a transmission of a vehicle.

[0066] In this case, the power input to the sun gear S is decelerated and output to the ring gear R, thereby ensuring excellent uphill performance and acceleration performance of the vehicle.

[0067] In addition, since the motor M can be independently set outside the wheel W which is subject to severe impact and vibration, rather than inside the wheel W, the unsprung mass of the vehicle is reduced compared to an in-wheel motor drive device, thereby improving the durability of the motor M and ensuring excellent ride comfort.

[0068] In addition, as described above, while allowing the ring gear R connected to the wheel W to rise and fall relative to the sun gear S connected to the power source, it is possible to achieve constant power transmission, so that in response to the up-and-down movement and the left-and-right movement of the wheel W, continuous power transmission from the power source is possible without using a conventional constant velocity joint, etc. Therefore, the space between the power source and the wheel W is reduced, ultimately making it possible to manufacture a vehicle that can make excellent use of the space between the left wheel W and the right wheel W.

[0069] Figure 7 The connecting rod structure that can be used for the universal transmission device U as described above is shown, and the separate connecting rod structure can be as shown in FIG. Figure 8 and Fig. 9 as shown in .

[0070] Figure 8 The first connecting rod 3 is shown, wherein the sun gear S, the first intermediate gear 7 and the connecting gear 9 are meshed in sequence, and Fig. 9 The second connecting rod 5 is shown, in which the coupling gear 9, the second intermediate gear 11 and the terminal gear 13 are meshed in sequence.

[0071] For reference, in order to facilitate understanding, Figure 8 and Fig. 9 The coupling gear 9 is shown in both figures, and the terminal gear 13 meshes with the ring gear R in the universal transmission device U.

[0072] exist Figures 7 to 9 In the example of the connecting rod structure, only the upper end of the rotating shaft of the connecting gear 9 is fixed to the second connecting rod 5 by a pin P, the rotating shaft of the first intermediate gear 7 is fixed to the first connecting rod 3 by pins P at both ends, and the rotating shaft of the second intermediate gear 11 is fixed to the second connecting rod 5 by pins P at both ends.

[0073] Here, the rotating shaft of the terminal gear 13 is fixed to the bracket C by the pin P only at the upper end. Figure 7 and Fig. 9 Only the pin P connected to the upper end of the rotating shaft of the terminal gear 13 is shown, with the bracket C omitted.

[0074] Instead of fixing the rotation axis of the terminal gear 13 to the bracket C by the pin P as described above, the rotation axis of the terminal gear may be fixed to the second link 5 by the pin P.

[0075] For reference, in this case, both ends of the rotation shaft of the sun gear S are not fixed to the first link 3 by the pin P.

[0076] Therefore, in Figure 7 In the connecting rod structure in, the rotating shaft of the first intermediate gear 7 is fixed to the connecting rod at both ends, the rotating shaft of the connecting gear 9 is fixed to the connecting rod only at the upper end, the rotating shaft of the second intermediate gear 11 is fixed to the connecting rod at both ends, and the upper end of the terminal gear 13 is fixed to the bracket C, so that the rotating shafts of the gears constituting the gear train 1 are arranged as follows, that is, the shafts fixed to the connecting rod at both ends and the shafts fixed to the connecting rod at one end are arranged alternately.

[0077] exist Figure 7 In the figure, the up and down arrows displayed on a part of the connecting rod indicate the possibility of movement of this part of the connecting rod in the direction of the rotation axis of the gear, because the connecting rod is not constrained to the rotation axis of the gear in this part, and therefore, the possibility of movement between the gear and the connecting rod is structurally ensured, which provides smooth and easy assembly and smooth and stable operation of the connecting rod structure as described above.

[0078] Fig.10 is a table summarizing various examples in which the rotation shaft of the gear constituting the connecting rod structure of the present disclosure is fixed to the connecting rod.

[0079] For example, Figures 7 to 9 The example of the connecting rod structure shown in corresponds to Fig.10 The 4th instance in .

[0080] refer to Fig.10 As shown in the first to fourth examples, the rotating shaft of the connecting gear 9 can be fixed to the connecting rod by a pin P at only one end; the rotating shaft of the first intermediate gear 7 and the rotating shaft of the second intermediate gear 11 can each be fixed to the connecting rod by a pin P at both ends; and, the rotating shaft of the terminal gear 13 can be fixed to the connecting rod by a pin P at only one end.

[0081] In addition, as shown in Examples 5 to 8, each of the rotating shaft of the connecting gear 9 and the rotating shaft of the terminal gear 13 can be fixed to the connecting rod by pins P at both ends; and each of the rotating shaft of the first intermediate gear 7 and the rotating shaft of the second intermediate gear can be fixed to the connecting rod by pin P only at one end.

[0082] For reference, the connecting rods are arranged in pairs at both ends of the gear, and as Figure 8 As shown, the first connecting rod 3 can represent two connecting rods located on the upper and lower ends of the sun gear S, the first intermediate gear 7 and the connecting gear 9, and as shown in FIG. Fig. 9 As shown, the second connecting rod 5 may represent two connecting rods located on the upper and lower ends of the coupling gear 9 , the second intermediate gear 11 , and the main gear 13 .

[0083] In addition, Fig.10 , the mark O in the top part indicates that the rotating shaft of the gear is fixed to the upper link by the pin P, the mark O in the bottom part indicates that the rotating shaft of the gear is fixed to the lower link by the pin P, the mark X in the top part indicates that the rotating shaft of the gear is not fixed to the upper link, and the mark X in the bottom part indicates that the rotating shaft of the gear is not fixed to the lower link.

[0084] The connecting rod structure of the present disclosure applicable to the universal transmission device U as described above may include: a gear train 1 including at least four gears meshed in sequence; a plurality of connecting rods configured to support the rotating shafts of the gears; and pins P configured to fix the rotating shafts of the gears to the connecting rods.

[0085] The pin P may be installed such that, among the rotating shafts of the gear, two non-adjacent rotating shafts are fixed to the connecting rod at both ends, and one rotating shaft among the adjacent rotating shafts is fixed to the connecting rod only at one end.

[0086] That is, the rotating shafts of the gears constituting the gear train 1 are formed to be arranged in such a manner that shafts having both ends fixed to the connecting rods by pins P and shafts having only one end fixed to the connecting rods by pins P are alternately arranged.

[0087] The connecting rod includes at least two connecting rods connected to be relatively rotatable around a rotation axis of any one of the plurality of gears.

[0088] Fig.10 The first to fourth examples in the figure indicate that the gear having a rotating shaft connected to two connecting rods so that the two connecting rods can rotate relative to each other is the connecting gear 9; when the rotating shaft of the connecting gear 9 is fixed to the connecting rod by a pin P at only one end, the rotating shafts of those gears connected to the connecting gear in such a way that the connecting gear 9 is located therebetween are connected to the connecting rod by pins P at both ends.

[0089] That is, when one of the rotating shafts (to which two connecting rods are connected so as to be relatively rotatable) is fixed to the connecting rod by a pin P only at one end, among the rotating shafts of those gears for every two connecting rods, at least one rotating shaft is fixed by pins P at both ends.

[0090] Fig.10 Examples 5 to 8 in the figure indicate that a gear having a rotating shaft connected to two connecting rods so that the two connecting rods can rotate relative to each other is a connecting gear 9; when the rotating shaft of the connecting gear 9 is fixed to the connecting rods by pins P at both ends, one of the rotating shafts of those gears connected to the connecting gear 9 is fixed to the connecting rod by pin P at only one end.

[0091] That is, when one of the rotating shafts (to which two connecting rods are connected so as to be relatively rotatable) is fixed to the connecting rods by pins P at both ends, among the rotating shafts of those gears for every two connecting rods, at least one rotating shaft is fixed by the pin P only at one end.

[0092] While the present disclosure has been described and illustrated in conjunction with specific embodiments, it will be apparent to those skilled in the art that various improvements and modifications may be made to the present disclosure without departing from the technical concept of the present disclosure as defined by the appended claims.

Claims

1. A connecting rod structure, comprising: a gear train comprising at least four gears meshing in sequence; a plurality of connecting rods configured to support a rotation axis of each of the at least four gears; a pin configured to fix a rotation axis of each of the at least four gears to the connecting rod; Wherein, the pin is installed so that among the rotating shafts of the at least four gears, two non-adjacent rotating shafts are fixed to corresponding connecting rods among the multiple connecting rods at both ends, while one rotating shaft among the adjacent rotating shafts is fixed to a corresponding connecting rod among the multiple connecting rods only at one end.

2. The connecting rod structure according to claim 1, wherein: The rotation shafts of the at least four gears constituting the gear train are arranged in such a manner that the rotation shafts having both ends fixed to corresponding links among the plurality of links by the pins and the rotation shafts having only one end fixed to corresponding links among the plurality of links by the pins are alternately arranged.

3. The connecting rod structure according to claim 1, wherein: The plurality of connecting rods include at least two connecting rods connected to be rotatable around a rotation axis of one of the at least four gears.

4. The connecting rod structure according to claim 3, wherein: One of the at least four gears is a coupling gear, and two of the plurality of connecting rods are connected to a rotation shaft of the coupling gear to be rotatable; and When the rotating shaft of the connecting gear is fixed to the corresponding connecting rod among the multiple connecting rods by the pin only at one end, the rotating shafts of two gears adjacent to and connected to the connecting gear among the at least four gears are fixed to the corresponding connecting rods among the multiple connecting rods by the pins at both ends, wherein the connecting gear is located between the two gears.

5. The connecting rod structure according to claim 3, wherein: One of the at least four gears is a coupling gear, and two of the plurality of connecting rods are connected to a rotation shaft of the coupling gear to be rotatable; and When the rotating shaft of the connecting gear is fixed to the corresponding connecting rods among the multiple connecting rods by the pins at both ends, the rotating shafts of two gears adjacent to and connected to the connecting gear among the at least four gears are fixed to the corresponding connecting rods among the multiple connecting rods by the pins only at one end.

6. The connecting rod structure according to claim 3, wherein: One of the rotating shafts of the at least four gears is connected to two of the multiple connecting rods so that the two connecting rods can rotate, and when the rotating shaft is fixed to the corresponding connecting rod among the multiple connecting rods by the pin only at one end, among the rotating shafts of those gears among the at least four gears for every two connecting rods among the multiple connecting rods, at least one rotating shaft is fixed to the corresponding connecting rod among the multiple connecting rods by the pin at both ends.

7. The connecting rod structure according to claim 3, wherein: One of the rotating shafts of the at least four gears is connected to two of the multiple connecting rods so that the two connecting rods can rotate, and when the rotating shaft is fixed to the corresponding connecting rods among the multiple connecting rods by the pins at both ends, among the rotating shafts of those gears among the at least four gears for every two connecting rods among the multiple connecting rods, at least one rotating shaft is fixed to the corresponding connecting rod among the multiple connecting rods by the pin only at one end.

8. The connecting rod structure according to claim 3, wherein: The plurality of connecting rods are arranged in pairs at both ends of the at least four gears.

9. The connecting rod structure according to claim 1, wherein: The gear train is configured to achieve a continuous power transmission state between the sun gear and the ring gear in a planetary gear device equipped with a sun gear and a ring gear, wherein a variable axial distance is formed between the sun gear and the ring gear.

10. The connecting rod structure according to claim 9, wherein: A first end of one of the plurality of connecting rods is configured to support a rotation axis of the sun gear so that the gear train meshes with the sun gear at one end; and The second end of another link of the plurality of links is configured to support a rotation shaft of a terminal gear forming another end of the gear train.

11. The connecting rod structure according to claim 10, wherein: The rotating shaft of the terminal gear is supported by a bracket, and the bracket keeps the distance between the axis of the ring gear and the axis of the bracket constant through the terminal gear.

12. The connecting rod structure according to claim 11, wherein: The plurality of links include a first link and a second link connected to be rotatable relative to each other; A gear having a rotation axis configured to support the first link and the second link so that the first link and the second link can rotate is a coupling gear; and The gear train includes a first intermediate gear connecting the sun gear to the coupling gear and a second intermediate gear connecting the coupling gear to the terminal gear, and includes the coupling gear and the terminal gear.

13. The connecting rod structure according to claim 12, wherein: The sun gear, the coupling gear and the terminal gear have the same number of teeth.

14. A universal transmission device, comprising: Ring gear; a sun gear configured to have a variable axis spacing relative to the rotation axis of the ring gear; a gear train configured to connect the sun gear and the ring gear; as well as a plurality of connecting rods configured to accommodate changes in the axial distance between the sun gear and the ring gear, and the plurality of connecting rods are connected to be rotatable relative to each other to continuously maintain a power transmission state between the sun gear and the ring gear, and the plurality of connecting rods support rotation axes of gears constituting the gear train; In which, the rotating shafts of the gears constituting the gear train are arranged along the power transmission path of the gear train in such a manner that the rotating shafts whose both ends are fixed to the corresponding connecting rods among the multiple connecting rods and the rotating shafts whose only one end is fixed to the corresponding connecting rods among the multiple connecting rods are arranged alternately.

15. The universal transmission device according to claim 14, wherein: The plurality of connecting rods include: a first connecting rod supporting a rotation shaft of the sun gear at one end; and The second link is rotatably connected to the first link.

16. The universal transmission device according to claim 15, wherein: The gear train comprises: a first intermediate gear meshing with the sun gear; a connecting gear meshing with the first intermediate gear, wherein a rotation axis of the connecting gear serves as a rotation axis of the first connecting rod and the second connecting rod; a second intermediate gear meshing with the coupling gear; and A terminal gear meshes with the second intermediate gear and with the ring gear.

17. The universal transmission device according to claim 16, wherein: A rotation shaft of the first intermediate gear and a rotation shaft of the coupling gear are fixed to the first connecting rod; The rotation shaft of the coupling gear, the rotation shaft of the second intermediate gear, and the rotation shaft of the terminal gear are fixed to the second connecting rod; and The rotating shaft of the terminal gear is supported by a bracket, and the bracket keeps the distance between the axis of the ring gear and the axis of the bracket constant through the terminal gear.

18. The universal transmission device according to claim 17, wherein: The number of teeth of each of the sun gear and the coupling gear is the same as the number of teeth of the terminal gear.

19. The universal transmission device according to claim 18, wherein: The rotating shaft of the coupling gear is fixed to a corresponding connecting rod among the plurality of connecting rods by a pin only at one end; Each of the rotating shaft of the first intermediate gear and the rotating shaft of the second intermediate gear is fixed at both ends to a corresponding link among the plurality of links by the pin; and The terminal gear is fixed to a corresponding link among the plurality of links by the pin at only one end.

20. The universal transmission device according to claim 18, wherein: Each of the rotating shaft of the coupling gear and the rotating shaft of the terminal gear is fixed at both ends to a corresponding link among the plurality of links by the pins; and Each of the rotating shaft of the first intermediate gear and the rotating shaft of the second intermediate gear is fixed to a corresponding link of the plurality of links by the pin at only one end.

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