Gear transmission mechanism and driving device

Abstract

The invention discloses a gear transmission mechanism and a driving device, the gear transmission mechanism comprises a fixed gear, a movable gear and an input gear, and the movable gear rotates relative to the fixed gear; the fixed gear and the movable gear are respectively provided with meshing teeth, and the input gear is provided with pivoting teeth matched with the meshing teeth; the pivoting teeth of the input gear are meshed with the meshing teeth of the fixed gear and the meshing teeth of the movable gear at the same time, and output of the movable gear is achieved. The meshing teeth of the fixed gear and the meshing teeth of the movable gear are located on the same side of the input gear, and the input gear is meshed with the fixed gear and the movable gear at the same time, so that miniaturization of gear transmission is achieved.

Description

Technical Field

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

[0002] Gear transmission is an indispensable mechanism for driving mechanisms, such as the transmission of machine tools, the adjustment of robot joints, and the rotation adjustment of precision instruments and equipment, which are inseparable from the role of gears. However, the transmissions currently on the market all use the planetary gear system as a link, that is, the planetary gears are respectively engaged with the fixed gear and the transmission gear to achieve the output of the transmission gear, but the planetary gears are clamped between the fixed gear and the transmission gear, which increases the size of the gear transmission, is not conducive to miniaturization, reduces the transmission accuracy, has a large backlash, and a small transmission ratio. The range of transmission ratio options is very limited; it is also not conducive to the locking of the gear teeth, and increases the risk of irregular rotation of the gear.

[0003] Therefore, it is necessary to improve the design of the existing gear transmission mechanism and driving device. Summary of the invention

[0004] The invention provides a miniaturized gear transmission mechanism and a driving device.

[0005] The present invention is implemented through the following technical scheme: a gear transmission mechanism, including a fixed gear, a movable gear and an input gear, the fixed gear and the movable gear respectively have meshing teeth, and the input gear has at least one planetary gear; the planetary gear of the input gear meshes with the meshing teeth of the fixed gear and the meshing teeth of the movable gear, and the movable gear rotates around the axis relative to the fixed gear to realize the output of the movable gear; the meshing teeth of the fixed gear and the meshing teeth of the movable gear protrude toward one side along the axial direction and are located on the same side of the input gear.

[0006] In a preferred embodiment, the number of the planetary gears is a multiple of the absolute value of the difference in the number of teeth between the fixed gear and the movable gear.

[0007] In a preferred embodiment, the ratio of the number of teeth of the fixed gear to the number of teeth of the planetary gear meshing with the fixed gear is not equal to the ratio of the number of teeth of the movable gear to the number of teeth of the planetary gear driving the movable gear.

[0008] In a preferred embodiment, the axis of the fixed gear and the axis of the movable gear are located on the same axis, and the meshing teeth of the fixed gear and the meshing teeth of the movable gear are arranged in parallel in a radial direction.

[0009] In a preferred embodiment, the input gear comprises an input shaft and a pivot shaft, the axis of the input shaft forms an angle of 20-160 degrees with the axis of the pivot shaft, and the planetary gear is mounted on the pivot shaft.

[0010] In a preferred embodiment, the input shaft is connected to a power input mechanism, driving the input shaft to rotate and driving the pivot shaft to move, thereby driving the planetary gear to rotate.

[0011] In a preferred embodiment, the pivot shafts are provided in multiple configurations and are evenly distributed axially relative to the input shaft, and each pivot shaft is provided with the above-mentioned planetary gear.

[0012] In a preferred embodiment, one of the fixed gear and the movable gear is provided with a rotating shaft and a through hole passing through the rotating shaft, and the other is provided with a pivot hole matched with the rotating shaft, and the fixed gear and the movable gear are stacked.

[0013] In a preferred embodiment, the input gear has a bracket, which has a first receiving groove and a second receiving groove that are interconnected. The input shaft is placed in the first receiving groove, the pivot shaft is received in the second receiving groove, and a first gear is provided at the end of the input shaft, and a second gear meshing with the first gear is provided at one end of the pivot shaft. The first gear meshes with the second gear to form a primary transmission, and the planetary gear is located on the other end of the pivot shaft; the primary transmission drives the planetary gear to rotate.

[0014] In a preferred embodiment, the axes of the planetary gears are coplanar or staggered with the axis of the input shaft.

[0015] In a preferred embodiment, the input shaft is clamped between the second gears of the pivot shaft.

[0016] In a preferred embodiment, the first gear protrudes toward the axis of the planetary gear and is meshed with a second gear of the pivot shaft, and the second gear is an external circular gear.

[0017] In a preferred embodiment, the gear transmission mechanism has at least one elastic member, which supports any one or more of the fixed gear, the movable gear or the input gear to support the movement of the fixed gear, the movable gear or the input gear, and the meshing teeth can be tightly engaged with the planetary gear.

[0018] In a preferred embodiment, the planetary gears of the input gear respectively meshing with the fixed gear and the movable gear have the same tooth shape and number of teeth.

[0019] In a preferred embodiment, the gear transmission mechanism is provided with a housing, and the fixed gear and the housing are an integrated structure.

[0020] The present invention can also be implemented through the following technical scheme: a driving device, including a power input mechanism and a gear transmission mechanism driven by the power input mechanism, the gear transmission mechanism including an input gear, a fixed gear, and a moving gear driven by the power input mechanism, the fixed gear and the moving gear respectively having meshing teeth, and the input gear having a planetary gear; the planetary gear of the input gear cooperates with the meshing teeth of the fixed gear and the meshing teeth of the moving gear, the moving gear rotates around the axis relative to the fixed gear, thereby realizing the output of the moving gear, and the axis of the planetary gear is not parallel to the axis of the power input mechanism.

[0021] In a preferred embodiment, the fixed gear has a base, and the meshing teeth protrude from the base; the movable gear has a bottom plate opposite to the base, and the meshing teeth protrude from the bottom plate, and the meshing teeth all protrude toward the axis side of the planetary gear.

[0022] The present invention can also be implemented through the following technical scheme: a driving device, including a power input mechanism and a gear transmission mechanism driven by the power input mechanism, the gear transmission mechanism including an input gear, a fixed gear, and a moving gear driven by the power input mechanism, the moving gear rotates relative to the fixed gear; the fixed gear and the moving gear are stacked in the up and down directions and respectively have meshing teeth, the input gear has a planetary gear that drives the meshing teeth to realize the output of the moving gear, the gear transmission mechanism has no internal gear, and the axis of the planetary gear is perpendicular to the protruding direction of the meshing teeth.

[0023] In a preferred embodiment, the input gear includes a bracket, and the above-mentioned planetary gear is installed on the bracket; the bracket has a first receiving groove and a second receiving groove that are connected to each other, the input gear has an input shaft arranged in the first receiving groove and a pivot shaft received in the second receiving groove, and a first gear is provided at the end of the input shaft, and a second gear meshing with the first gear is provided at one end of the pivot shaft, the first gear meshes with the second gear to form a primary transmission, and the above-mentioned planetary gear is arranged on the other end of the pivot shaft; the primary transmission drives the planetary gear to rotate.

[0024] The present invention has the following beneficial effects: by extending the meshing teeth of the fixed gear and the meshing teeth of the movable gear axially toward one side and being located on the same side of the input gear, that is, the axis of the planetary gear is not parallel to the axis of the power input mechanism, so as to provide a miniaturized gear transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional schematic diagram of a first embodiment of the driving device of the present invention;

[0026] Figure 2 for Figure 1 Schematic diagram of the decomposition shown;

[0027] Figure 3 for Figure 2Another angle schematic diagram of the gear transmission mechanism shown;

[0028] Figure 4 for Figure 1 Schematic diagram of the gears in meshing state;

[0029] Figure 5 for Figure 1 The side view shown in FIG. 1 and the cross-sectional schematic diagram showing the meshing state of the two;

[0030] Figure 6 It is a second embodiment of the driving device of the present invention, and shows a schematic diagram of the gear transmission mechanism;

[0031] Figure 7 for Figure 6 Another angle schematic diagram is shown;

[0032] Figure 8 is a three-dimensional schematic diagram of a third embodiment of the driving device of the present invention;

[0033] Fig. 9 for Figure 8 Schematic diagram of the decomposition shown;

[0034] Fig.10 for Figure 8 The schematic cross-sectional view shown;

[0035] Fig.11 is a perspective schematic diagram of a fourth embodiment of the driving device of the present invention;

[0036] Fig.12 for Fig.11 Exploded view of the parts shown;

[0037] Fig.13 for Fig.11 Exploded view shown;

[0038] Fig.14 is a perspective schematic diagram of a fifth embodiment of the driving device of the present invention;

[0039] Fig.15 for Fig.14 Exploded view of the parts shown;

[0040] Fig.16 for Fig.14 The top view is shown, and the schematic diagram without the bracket is removed. DETAILED DESCRIPTION

[0041] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of mechanisms, systems, devices, and methods consistent with some aspects of the present invention.

[0042] refer to Figures 1 to 5 As shown, a driving device 100 of the first embodiment of the present invention comprises a power input mechanism 10 and a gear transmission mechanism 11 driven by the power input mechanism. The gear transmission mechanism 11 comprises an input gear 12 driven by the power input mechanism 10, a fixed gear 13, a moving gear 14 and at least one elastic member 15. The fixed gear 13 or the moving gear 14 moves relative to the input gear 12. The driving device 100 can be applied to more working occasions, such as electric sofas, electronic components and other products, to provide a larger torque output. The power input mechanism 10 can be a motor or a driving mechanism that can drive a gear transmission.

[0043] The fixed gear 13 and the movable gear 14 are stacked on each other. In this embodiment, the upper gear is defined as the fixed gear 13 and the lower gear is defined as the movable gear 14 to achieve transmission output. Of course, the lower gear can also be defined as a fixed gear, which can be freely adjusted according to the application. Furthermore, the gear transmission mechanism is also provided with a housing to form an integrated structure of the fixed gear and the housing, for example, fixed together by interference fit or fixing.

[0044] Please refer to Figure 2 and Figure 3 As shown, the input gear 12 includes an input shaft 120, a transmission shaft 121 connected to the input shaft 120, and at least one planetary gear 122. One end of the transmission shaft 121 is connected to the planetary gear 122. When the power input mechanism 10 drives the pivot shaft 121, the planetary gear 122 drives the movable gear 14 to rotate, thereby realizing the output of the movable gear 14. In fact, the way in which the power input mechanism 10 drives the pivot shaft 120 will be described in detail below. Of course, the transmission shaft 121 can also be directly driven, which can be achieved without the input shaft 120 structure.

[0045] The planetary gear 122 of the input gear 12 needs to mesh with the meshing teeth 131 of the fixed gear 13 and the meshing teeth 141 of the movable gear 14. In this embodiment, the pivot shaft 121 and the input shaft 120 are vertically connected to each other, and one end of the input shaft 120 is connected to the power input mechanism 10, and the other end is inserted into the fixed gear 13 or the movable gear 14 for pivoting. When the power input mechanism 10 drives the input shaft 120 to rotate clockwise or counterclockwise, it drives the pivot shaft 121 to rotate with the input shaft 120 as the axis, driving the planetary gear 122 to rotate.

[0046] The way that can be changed is that one end of the input shaft 120 is directly fixedly connected to the power input mechanism 10, and the other end does not need to pivot on the fixed gear 13 or the movable gear 14, that is, the input shaft 120 is connected to the power input mechanism 11, driving the input shaft 120 to rotate, and driving the pivot shaft 121 to rotate with the input shaft 120 as the axis, so as to drive the planetary gear 122 to rotate, and also can achieve the driving effect.

[0047] Please combine again Figure 4 and Figure 5 As shown, in this embodiment, the power input mechanism 10 and the fixed gear 13 and the movable gear 14 are respectively located on both sides of the input gear 12. When viewed from the side, the input gear 12 is located between the fixed gear 13 and the movable gear 14 of the power input mechanism 10, thereby achieving a more compact structure. When viewed from above, when the power input mechanism 10 is projected onto the fixed gear 13 or the movable gear 14, the projection is located within the area of ​​the fixed gear or the movable gear, thereby providing a miniaturized gear transmission mechanism.

[0048] Of course, the power input mechanism 10 can also be set on the lower side of the above-mentioned fixed gear 13 and the moving gear 14, that is, the power input mechanism 10 is located between the input gear 12 and the above-mentioned fixed gear 13 or the moving gear 14, that is, the power input mechanism 10 directly drives the input gear 12 directly from the lower side of the driven gear 14.

[0049] It can be seen from the above embodiments that the planetary gear 122 of the input gear 12 cooperates with the meshing teeth 131 of the fixed gear 13 and the meshing teeth 141 of the movable gear 14, and the movable gear 14 rotates around the axis relative to the fixed gear 13 to realize the output of the movable gear 14. The axis A of the planetary gear 122 is not parallel to the axis X of the power input mechanism. Please refer to Figure 1 As shown, the two are set vertically. Please refer to Fig.15 As shown, the two are staggered.

[0050] See also Figure 2 and Figure 3As shown, one of the fixed gear 13 and the movable gear 14 is provided with a rotating shaft 132 and a through hole 133 passing through the rotating shaft, and the other is provided with a pivot hole 142 matched with the rotating shaft, and the fixed gear 13 and the movable gear 14 are stacked in the vertical direction (axial direction). That is, in this embodiment, the fixed gear 13 has a base 130 and a meshing tooth 131 protruding upward from the base, the base has a rotating shaft 132 protruding downward and a through hole 133 penetrating the base and the rotating shaft from top to bottom, the rotating shaft 132 and the meshing tooth 131 are located at the upper and lower sides of the base 130, the input shaft 120 of the input gear 12 is inserted into the through hole 133, the input shaft 120 and the through hole 133 are clearance-matched, and the input shaft 120 is in the through hole 133. Similarly, the movable gear 14 has a bottom plate 140 opposite to the base and a meshing tooth 141 protruding from the bottom plate, and the bottom plate has a pivot hole 142 passing through from top to bottom. The rotating shaft 132 of the fixed gear 13 is inserted into the transmission hole 142 of the movable gear 14, and the two rotate relative to each other; the planetary gear 122 of the input gear 12 is meshed with the meshing tooth 131 of the fixed gear 13 and the meshing tooth 141 of the movable gear 14 at the same time, so as to realize the output of the movable gear 14.

[0051] The fixed gear 13 and the movable gear 14 are stacked in the vertical direction. The meshing teeth of the fixed gear 13 and the movable gear 14 protrude toward one side along the axial direction, that is, toward the axis side of the planetary gear, and are located on the same side of the input gear 12. It can be understood that the meshing teeth 131 and 141 protrude toward one direction toward the outside along the axial direction, that is, the gear transmission mechanism 11 has no internal gear, the axis of the planetary gear 122 is perpendicular to the protruding direction of the meshing teeth 131 and 141, and the output is directly sent to the movable gear through the outer planetary gear 122, and the axis of the planetary gear 122 is perpendicular to the protruding direction of the meshing teeth, so as to achieve miniaturization and greater torque output.

[0052] Since the rotating shaft 132 of the fixed gear 13 passes through the transmission hole 142 of the moving gear 14, and at the same time, the base 130 of the fixed gear 13 faces the bottom plate 140 of the moving gear 14, and the meshing teeth 131 of the fixed gear 13 and the meshing teeth 141 of the moving gear 14 protrude toward one side along the axial direction and are located on the same side of the input gear 12, it is beneficial to reduce the size of the gear transmission mechanism and achieve miniaturization; furthermore, the fixed gear 13 and the moving gear 14 are both located on the same side of the input gear 12, which is more conducive to achieving the locking teeth of the moving gear 14 to prevent reverse rotation and facilitate accurate output.

[0053] Please refer to Figure 4 As shown, in this embodiment, the axis of the fixed gear 13 and the axis of the movable gear 14 are located on the same axis, and the meshing teeth 131 and 141 are arranged in a ring shape, that is, the meshing teeth 131 of the fixed gear 13 and the meshing teeth 141 of the movable gear 14 are arranged radially in parallel.

[0054] See also Figure 4 As shown, since the fixed gear 13 is sleeved on the movable gear 14, the fixed gear 13 or movable gear 14 can move axially relative to each other to increase the meshing of the meshing teeth 131, 141 of the fixed gear 13 or movable gear 14 with the planetary gear of the input gear 20, that is, when the fixed gear 13 or movable gear 14 moves toward the planetary gear 122 of the input gear, the tooth shape of the planetary gear 122 is more closely in contact with the tooth shape of the meshing teeth, that is, the gap between the two is smaller, which can provide more precise transmission and locking effect. Of course, the fixed gear 13 and the movable gear 14 can also be moved upward together and close together to achieve a close fit between the fixed gear 13 and the movable gear 14 and the planetary gear 122.

[0055] The gear transmission mechanism 11 has a plurality of elastic members 15, which support any one or more of the fixed gear 13, the movable gear 14 or the input gear 12 to support the movement of the fixed gear, the movable gear or the input gear, and the meshing teeth can mesh tightly with the input gear. Figure 5 As shown, in this embodiment, the gear transmission mechanism 11 has an elastic member 15 sleeved on the outside of the above-mentioned rotating shaft 132 to facilitate the upward movement of the above-mentioned fixed gear 13. An elastic member 15 can also be provided between the fixed gear 13 and the movable gear 14, which can also facilitate the movement of the movable gear 14. Furthermore, the elastic member can be installed on the side of the input gear 12 to directly squeeze the input gear 122 toward the fixed gear or the movable gear side. Therefore, the several elastic members 15 can solve the convenience of the movement of the fixed gear 13 and / or the movable gear 14 relative to the movement of the planetary gear 122. Therefore, a structure such as a housing 16 can also be installed on the lower side of the elastic member to provide support for the elastic member.

[0056] In this embodiment, when the power input mechanism 11 drives the input gear 12 to rotate, the planetary gear 122 of the input gear 12 simultaneously engages with the meshing teeth of the fixed gear 13 and the moving gear 14. Since the fixed gear 13 is in a stationary state relative to the moving gear 14, and the meshing teeth 131 of the fixed gear 13 and the meshing teeth 141 of the moving gear 14 are located on the same side of the input gear 12, the drive of the planetary gear 122 can achieve a larger torque output, and can meet the needs of a miniaturized power input mechanism, and can better meet the needs of achieving a greater output effect on products with smaller space.

[0057] The number of the planetary gears 122 is a multiple of the absolute value of the difference in the number of teeth between the fixed gear 13 and the movable gear 14, so as to achieve locking teeth and better dynamic balancing effect. In addition, the ratio between the number of teeth of the fixed gear 13 and the number of teeth of the planetary gear 122 meshing with the fixed gear 13 is not equal to the ratio between the number of teeth of the movable gear 14 and the number of teeth of the planetary gear 122 driving the movable gear 14, which can achieve a larger transmission ratio. When the planetary gear 122 rotates, the movement amount of the movable gear 14 is greater than the movement amount of the fixed gear 13, thereby achieving an output effect.

[0058] In this embodiment, the planetary gears 122 of the input gear 12 respectively meshing with the fixed gear 13 and the movable gear 14 have the same tooth shape and number of teeth, that is, the planetary gears 122 are provided with the same tooth shape and number of teeth, and mesh with the fixed gear 13 and the movable gear 14. Of course, the tooth shape or number of teeth of the planetary gears 122 can be set differently, that is, the tooth shape of the planetary gear 122 matching the meshing teeth 131 of the fixed gear 13 and the tooth shape of the planetary gear 122 matching the meshing teeth 141 of the movable gear 14 are set with different tooth shapes and numbers of teeth, and the fixed gear 13 and the movable gear 14 can be meshed at the same time to achieve the output effect.

[0059] Alternatively, the axis of the pivot shaft 121 and the axis of the input shaft 120 are not vertically connected at 90 degrees as disclosed in the drawings in the embodiment of the specification. For example, the axis of the pivot shaft 121 and the axis of the input shaft can also be at any angle of 20-160 degrees, and the output effect can also be achieved, and the planetary gear 122 is respectively meshed with the meshing teeth of the fixed gear 13 and the meshing teeth of the movable gear 14 at the same time.

[0060] In another variation, the pivot shafts 121 may be provided in multiple configurations and evenly distributed axially relative to the input shaft 121 , and the planetary gear 122 may be provided at the end of each pivot shaft 121 .

[0061] See also Figure 6 and Figure 7 As shown, it is a driving device of the second embodiment of the present invention. Since the power input mechanism is the same as the first embodiment, the figure only illustrates the gear transmission mechanism 21 driven by the power input mechanism. The transmission principle of the gear transmission mechanism 21 is roughly the same as that of the first embodiment. The difference is that the tooth shape of the gear transmission mechanism 21 has changed, that is, the straight teeth of the first embodiment are changed into bevel teeth, so as to achieve a greater torque output and provide a miniaturized mechanism, which is convenient for high flexibility in spatial layout.

[0062] Therefore, the planetary gear 222 of the input gear is a bevel gear, and the meshing teeth 231 of the fixed gear 23 and the meshing teeth 241 of the movable gear 24 that cooperate therewith can be bevel gears or helical gears. That is, the input shaft rotates, driving the pivot shaft to move, driving the planetary gear 222 with bevel gears to mesh with the fixed gear 23 and the movable gear 24, and driving the bevel gears of the movable gear 24 to move relatively, thereby achieving output.

[0063] Of course, the tooth profile of the planetary gear 222 can also be adjusted by other changes, and the corresponding meshing teeth 231 and 241 of the movable gear 24 and the fixed gear 23 can also be changed together, and the output effect can be achieved. Furthermore, the tooth profile of the planetary gear 222 of the input gear 22 meshing with the fixed gear 23 and the movable gear 24 can be set differently, for example, the tooth profile or number of teeth of the planetary gear 222 matched with the meshing teeth 231 of the fixed gear 23 can be different from the tooth profile or number of teeth of the planetary gear 222 matched with the meshing teeth 241 of the movable gear 24; the output can also be achieved, but for the sake of simplicity of processing, the tooth profile and number of teeth of the planetary gear 222 in this embodiment are of the same structure.

[0064] See also Figures 8 to 10 As shown, a driving device 300 of the third embodiment of the present invention is shown, wherein the power input mechanism 30, the fixed gear 33 and the movable gear 34 are the same as those of the first embodiment, except that the input gear 32 is changed to provide a large torque output mechanism with a larger transmission ratio.

[0065] The gear transmission mechanism 31 includes an input gear 32, a fixed gear 33 and a movable gear 34 that cooperate with the power input mechanism 30. The input gear 32 has a bracket 324 for mounting a planetary gear 322, and the bracket 324 has a first receiving groove 325 and a second receiving groove 326 that are connected to each other. The input shaft 320 is placed in the first receiving groove 325, and the pivot shaft 321 is received in the second receiving groove 326. A first gear 327 is provided at the end of the input shaft 320, and a second gear 328 meshing with the first gear 327 is provided at one end of the pivot shaft 321. The first gear 327 meshes with the second gear 328 to form a primary transmission. The planetary gear 322 is located on the other end of the pivot shaft 321; the primary transmission drives the planetary gear 322 to rotate.

[0066] In this embodiment, the second receiving grooves 326 are arranged in a pair, so the pivot shafts 321 are also arranged in a pair, and each transmission shaft 321 is provided with a planetary gear 322, that is, the axis of the planetary gear 322 is coplanar with the axis of the input shaft 320. The pivot shaft 321 and the planetary gear 322 form a whole to improve the strength; each pivot shaft 321 is provided with a second gear 328, and the first gear 327 of the input shaft 320 drives the two transmission shafts 321 at the same time; the pivot shaft 321 can also be multiple and evenly distributed to increase the driving force.

[0067] The first gear 327 protrudes toward the axis side of the planetary gear 122 and meshes with the second gear 328 of the pivot shaft 321. The second gear 328 is an outer circular tooth. That is, the power input mechanism 30 drives the input shaft to rotate axially and drives the first gear 327 to rotate horizontally to drive the second gear 328 to rotate, driving the planetary gear 322 to mesh with the fixed gear 33 and the movable gear 34 to achieve the output effect. In this embodiment, the bracket 324 can also improve the convenience of assembling the gear transmission mechanism 31.

[0068] See also Figures 11 to 13 As shown, a driving device 400 of the fourth embodiment of the present invention is shown, wherein the power input mechanism 40, the fixed gear 43 and the movable gear 44 are the same as those of the first embodiment, except that the input gear 42 is modified to provide a larger torque output, and similarly, the input gear 42 is supported by a bracket 424.

[0069] A worm is provided at one end of the input shaft 420, and the gear of the pivot shaft 421 matched therewith is a helical gear. The cooperation between the worm and the helical gear can realize the output of super large torque in a smaller space; the input shaft 420 is clamped between the second gear 428 of the pivot shaft 421; the axis of the planetary gear 422 and the axis of the input shaft 420 are arranged to be staggered with each other.

[0070] See also Figures 14 to 16 As shown, it is a driving device of the fifth embodiment of the present invention, wherein the power input mechanism, the fixed gear 53 and the movable gear 54 are the same as those of the first embodiment, except that the input gear 52 has been changed, and the accompanying drawings only illustrate the gear transmission mechanism 51 driven by the power input mechanism.

[0071] In this embodiment, a pair of pivot shafts 521 are arranged in a staggered arrangement. It can also be understood that the pivot shaft 521 (planetary gear axis) and the input shaft 520 are staggered, and projected onto one side, the axis of the input shaft 521 is set at an angle to the axis of the input shaft. Of course, the axis of the pivot shaft 521 and the axis of the input shaft 520 can also be at any angle of 20-160 degrees to achieve the output effect.

[0072] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A gear transmission mechanism, comprising a fixed gear, a movable gear and an input gear, wherein the fixed gear and the movable gear respectively have meshing teeth, and the input gear has at least one planetary gear; characterized in that: The planetary gear of the input gear meshes with the meshing teeth of the fixed gear and the meshing teeth of the moving gear, and the moving gear rotates around the axis relative to the fixed gear to realize the output of the moving gear; the meshing teeth of the fixed gear and the meshing teeth of the moving gear protrude toward one side along the axial direction and are located on the same side of the input gear.

2. The gear transmission mechanism according to claim 1, characterized in that: The number of the planetary gears is a multiple of the absolute value of the difference in the number of teeth between the fixed gear and the movable gear.

3. The gear transmission mechanism according to claim 1, characterized in that: The ratio of the number of teeth of the fixed gear to the number of teeth of the planetary gear meshing with the fixed gear is not equal to the ratio of the number of teeth of the movable gear to the number of teeth of the planetary gear driving the movable gear.

4. The gear transmission mechanism according to claim 1, characterized in that: The axis of the fixed gear and the axis of the movable gear are located on the same axis, and the meshing teeth of the fixed gear and the meshing teeth of the movable gear are arranged in parallel in a radial direction.

5. The gear transmission mechanism according to claim 1, characterized in that: The input gear comprises an input shaft and a pivot shaft, the axis of the input shaft and the axis of the pivot shaft form an angle of 20-160 degrees, and the planetary gear is mounted on the pivot shaft.

6. The gear transmission mechanism according to claim 5, characterized in that: The input shaft is connected to the power input mechanism, drives the input shaft to rotate, and drives the pivot shaft to move, so as to drive the planetary gear to rotate.

7. The gear transmission mechanism according to claim 5, characterized in that: The pivot shafts are arranged in a plurality and are evenly distributed axially relative to the input shaft, and each pivot shaft is provided with the planetary gear.

8. The gear transmission mechanism according to claim 4, characterized in that: One of the fixed gear and the movable gear is provided with a rotating shaft and a through hole passing through the rotating shaft, and the other is provided with a pivot hole matched with the rotating shaft. The fixed gear and the movable gear are stacked.

9. The gear transmission mechanism according to claim 5, characterized in that: The input gear has a bracket, which has a first receiving groove and a second receiving groove that are connected to each other. The input shaft is placed in the first receiving groove, and the pivot shaft is received in the second receiving groove. A first gear is provided at the end of the input shaft, and a second gear meshing with the first gear is provided at one end of the pivot shaft. The first gear meshes with the second gear to form a primary transmission. The planetary gear is located on the other end of the pivot shaft; the primary transmission drives the planetary gear to rotate.

10. The gear transmission mechanism according to claim 9, characterized in that: The axes of the planetary gears are coplanar or staggered with the axis of the input shaft.

11. The gear transmission mechanism according to claim 9, characterized in that: The input shaft is clamped between the second gears of the pivot shaft.

12. The gear transmission mechanism according to claim 9, characterized in that: The first gear protrudes toward the axis of the planetary gear and is meshed with the second gear of the pivot shaft, and the second gear is an external circular gear.

13. The gear transmission mechanism according to any one of claims 1 to 12, characterized in that: The gear transmission mechanism has at least one elastic member, which supports any one or more of the fixed gear, the movable gear or the input gear to support the movement of the fixed gear, the movable gear or the input gear, and the meshing teeth can be tightly meshed with the planetary gear.

14. The gear transmission mechanism according to claim 1, characterized in that: The planetary gears of the input gears meshing with the fixed gear and the movable gear respectively have the same tooth shape and number of teeth.

15. The gear transmission mechanism according to any one of claims 1 to 12, characterized in that: The gear transmission mechanism is provided with a casing, and the fixed gear and the casing are an integrated structure.

16. A driving device, comprising a power input mechanism and a gear transmission mechanism driven by the power input mechanism, the gear transmission mechanism comprising an input gear driven by the power input mechanism, a fixed gear, and a movable gear, the fixed gear and the movable gear respectively having meshing teeth, the input gear having a planetary gear; characterized in that: The planetary wheel of the input gear cooperates with the meshing teeth of the fixed gear and the meshing teeth of the moving gear. The moving gear rotates around the axis relative to the fixed gear to realize the output of the moving gear. The axis of the planetary wheel is not parallel to the axis of the power input mechanism.

17. The driving device according to claim 16, characterized in that: The fixed gear has a base, and the meshing teeth protrude from the base; the movable gear has a bottom plate opposite to the base, and the meshing teeth protrude from the bottom plate, and the meshing teeth all protrude toward the axis side of the planetary gear.

18. A driving device, comprising a power input mechanism and a gear transmission mechanism driven by the power input mechanism, wherein the gear transmission mechanism comprises an input gear driven by the power input mechanism, a fixed gear, and a movable gear, wherein the movable gear rotates relative to the fixed gear; characterized in that: The fixed gear and the movable gear are stacked in the vertical direction and have meshing teeth respectively. The input gear has a planetary gear that drives the meshing teeth to realize the output of the movable gear. The gear transmission mechanism has no internal gear, and the axis of the planetary gear is perpendicular to the protruding direction of the meshing teeth.

19. The driving device according to claim 18, characterized in that: The input gear includes a bracket, and the planetary gear is installed on the bracket; the bracket has a first receiving groove and a second receiving groove that are interconnected, the input gear has an input shaft placed in the first receiving groove and a pivot shaft received in the second receiving groove, and a first gear is provided at the end of the input shaft, and a second gear meshing with the first gear is provided at one end of the pivot shaft, the first gear meshes with the second gear to form a primary transmission, and the planetary gear is arranged on the other end of the pivot shaft; the primary transmission drives the planetary gear to rotate.

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