Transmission with two pendulum shaft gears generating two multiplier transmission ratios

Abstract

According to the transmission, the two pendulum shaft gears are meshed with the fixed shaft gear to generate two multiplier relation transmission ratios, the two symmetrically-installed eccentric bearings drive the gears to be meshed, through the design of the tooth number of the gears and the innovation of the gear connection mode, the transmission ratios of the two gears of n2: 1 and n: 1 are obtained in a small space through few parts, and the transmission ratio of the two gears of n1 and n: 2 is obtained. And in order to adapt to the structure, the torque bearing capacity of each tooth is innovatively enhanced, and more choices are provided for mechanical transmission.

Description

Technical Field

[0001] The invention relates to a transmission device of a speed changer, and belongs to the technical field of machinery. Background Art

[0002] The currently known oscillating gear transmission is usually composed of a cycloid gear meshing with a pin gear, or a pin gear meshing with a cycloid gear. There are two gears with the same number of teeth that rotate 180 degrees around the axis of a third gear. Since the oscillating gear and the fixed axis gear have different numbers of teeth, the transmission is completed in this way, and there is usually only one fixed transmission ratio. Since each tooth of the pin gear or pin gear has a necessary radial structure, each tooth requires a large radial space. Therefore, the number of teeth is limited under the same diameter, and thus the reduction ratio is also limited. In addition, since the only way to transmit torque in the pin gear or pin gear is through the pin teeth or pin shaft, and the pin teeth or pin shaft are only fixed to the body at both ends, that is, the pin teeth or pin shaft are in a suspended state and need to transmit the main torque, the torque that can be tolerated by each tooth is relatively small.

[0003] The present invention is proposed to solve the above problems. The purpose of the present invention is to provide a transmission that can achieve a large transmission ratio in a small space, can output two gear ratios, and at the same time improve the torque carrying capacity of the transmission, thereby providing a wider range of applications for mechanical transmission. Summary of the Invention

[0004] A transmission with two swing shaft gears generating two multiplier transmission ratios is characterized in that it comprises at least four gears, wherein gear A1 and gear A2 are fixed shaft gears, gear B1 and gear B2 are swing shaft gears, the swing shaft gears are driven by an eccentric bearing to mesh with the fixed shaft gears, gear A1 meshes with gear B1, and gear A2 meshes with gear B2, gear B1 has N teeth, gear A1 has N+1 teeth, gear B2 has N+1 teeth, and gear A2 has N+2 teeth, wherein the gear combinations include the following two methods: the first method is that gear A1 and gear A2 are fixedly coupled, one of gear B1 and gear B2 can be fixed in the circumferential direction and prevented from rotating, while the other can drive the output shaft; the second method is that gear B1 and gear B2 are fixedly coupled in the rotational direction, one of gear A1 and gear A2 can be fixed and prevented from rotating, while the other can drive the output shaft.

[0005] The obvious advantage of the above design is that a larger transmission ratio is achieved in a smaller space.

[0006] Furthermore, the so-called transmission with two swing shaft gears generating two multiplier transmission ratios also includes a clutch C. The clutch C has two installation methods. The first installation method is to install it at the fixed end of the housing, and the fixed swing shaft gear or the fixed shaft gear is selected by switching the clutch C. The second installation method is to install it at the output shaft end, and the output by the swing shaft gear or the fixed shaft gear is selected by switching the clutch C, including a combination of the above two gear combinations and two clutch installation methods.

[0007] The obvious advantage of the above design is that two gear ratios are achieved in a smaller space.

[0008] Furthermore, it includes a clutch C, which has two installation methods. The first installation method is to install it at the fixed end of the housing, and the fixed fixed shaft gear A2 or the swing shaft gear B2 is selected by switching the clutch C; the second installation method is to install it at the output shaft end, and the output from the fixed shaft gear A1 or the swing shaft gear B1 is selected by switching the clutch C. The clutch C can switch the output speed ratio of the transmission according to the external load or machine requirements.

[0009] The purpose of the above design is to realize two gears with the same direction and a multiplication relationship, namely n 2 The transmission ratio of the two gears is [n×(n+2)]:1 and n:1, or the transmission ratio of the two gears is [n×(n+2)]:1 and n:1. The obvious advantage is that it can be applied to scenarios where the load is constantly changing, such as the joints of reciprocating transport machinery, or the joints of machinery running with loads, or vehicles that need to travel on different road conditions.

[0010] When a larger transmission ratio is achieved with a smaller number of teeth, the torque carrying capacity of each tooth must be improved. Therefore, as a necessary technical solution, the four gears include at least two pin gears, among which gear A1 and gear A2 are preferably pin gears, and the space between the pin gear sleeve and the pin gear housing is provided with teeth fixed on the pin gear housing. The minimum curvature radius of the tooth profile curve of the teeth on the pin gear housing is R1, and the outer circle radius of the pin gear sleeve in contact with it is R2. Then the inequality R1≥1.06×R2 is satisfied.

[0011] The obvious advantage of this design is that torque can be transmitted directly between the pinion sleeve and the pinion housing, eliminating the need for the suspended pinion teeth. This increases the torque-carrying capacity of each tooth. The pinion teeth primarily serve to locate the pinion sleeve, so the forces acting on them are minimal. Furthermore, the pinion design eliminates the need to worry about both transmitting torque and maintaining suspension. This allows the pinion diameter to be reduced, the sleeve thickness to be increased, and the torque-carrying capacity of each tooth to be further increased.

[0012] As an improvement, a retainer is installed between the inner cavity of the needle gear sleeve and the needle teeth. The retainer is made of copper-containing materials or plastic. The retainer maintains the relative position of the needle teeth and the sleeve, preventing collisions between the sleeve and the needle teeth. This design is based on the fact that increased torque increases the deformation of parts such as the gear, crankshaft, and needle gear sleeve, increasing the risk of deformation and collision between the needle teeth and the sleeve. Adding a retainer can extend the service life of these parts.

[0013] Alternatively, at least two gears in the present invention may have non-prime numbers of teeth, or all gears may have non-prime numbers of teeth. The purpose of having non-prime numbers of teeth is to allow for rapid machining of the gears using a multi-grinding grinder, thereby reducing production costs.

[0014] According to the transmission disclosed in the present invention, there is a further improvement: the angular momentum balance of the transmission is maintained by arranging different counterweights or different mass center distances between the swing shaft gear B1 and the swing shaft gear B2.

[0015] As an improvement: the design method of the swing shaft gear B1 and the swing shaft gear B2 includes one of the following two design methods. The first design method is that there are pin holes on the swing shaft gear B1 and the swing shaft gear B2, and the pin on the pin plate fixes the rotation of the swing shaft gear in the circumferential direction. The contact surface between the so-called pin hole and the pin includes a conical surface or a step, which can withstand a certain axial force, and the diameter of the pin hole on the swing shaft gear B2 is larger than the diameter of the pin hole on the swing shaft gear B1; the second design method is that there are cross slides on the swing shaft gear B1 and the swing shaft gear B2, and the rotation of the swing shaft gear is fixed in the circumferential direction by the cross slide plate. The contact surface between the so-called cross slide and the cross slide plate includes a conical surface or a step, which can withstand a certain axial force, and the angular momentum of the swing shaft gear B1 and the swing shaft gear B2 is balanced by configuring the size of the cross slide or the hole through which the cross slide passes on the gear.

[0016] One benefit of the above design is that angular momentum balance can be achieved without the need for additional components. Another benefit of the ability to withstand axial forces between the pin and the pin hole, or between the cross rails, is that the direction of the axial force can be matched with the bearings in the transmission. The bearings in the transmission can be tapered bearings or angular contact bearings. This design aims to enable the entire transmission to withstand axial impact forces while reducing the number of parts.

[0017] As a design method, the design schemes of the tooth profile curves of the teeth on the pin gear housing of the pin gear that mesh with the pin gear sleeve and the tooth profile curves of the swing shaft gear include the following schemes: the tooth profile curve of at least one gear contains a circular arc curve, or the tooth profile curve of at least one gear contains a cycloid, or the tooth profile curve of at least one gear contains an elliptical curve, including one or more combinations of the above schemes.

[0018] The transmission of the present invention can be combined with various engines to form a power output module. The engines may include but are not limited to: an axial flux motor, an outer rotor motor, an inner rotor motor, or a turbine.

[0019] The transmission of the present invention can be applied to various mechanical transmission systems, and its application scenarios include but are not limited to driving propellers or driving vehicles or mechanical joints, wherein mechanical joints include but are not limited to rotary joints of industrial machinery, or wearable robotic arms, or embodied intelligent mechanical devices, or robotic hands, or vehicle steering systems, or aircraft steering rudder transmission systems, or ship steering rudder transmission systems.

[0020] The technical advantages and protection scope of the present invention will be more clearly understood with reference to the accompanying drawings. The accompanying drawings and accompanying descriptions are intended to specifically illustrate the advantages of the present invention, and the specific examples therein are not intended to limit the protection scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Explanation of symbols in the figure: A1 - No. 1 fixed axis gear; A11 - pin gear sleeve; A12 - pin gear, A121 - retainer; A2 - No. 2 fixed axis gear; A3 - teeth on the pin gear housing; B1 - No. 1 swing axis gear; B2 - No. 2 swing axis gear; B12 - pin shaft, B121 - pin shaft plate; B13 - tapered step of pin shaft; B131 - tapered opening of pin shaft hole on swing axis gear; B21 - No. 1 cross slide; B211 - No. 1 cross slide plate; B22 - No. 2 cross slide; B221 - No. 2 cross slide plate; C - clutch; D - fixed plate connected to the housing; E1 - No. 1 eccentric shaft; E2 - No. 2 eccentric shaft; input shaft - G1; output shaft - G2; F1 - first bearing; F2 - second bearing; F3 - third bearing; F4 - fourth bearing; F5 - fifth bearing; F6 - sixth bearing; H1 - first cross-sectional position; H2 - second cross-sectional position; O - axis position; K - connecting ring; R1 - tooth profile curve radius of tooth A3 on the pinion housing; R2 - radius of the pinion sleeve.

[0022] Figure 1 It is an axial cross-sectional view of the first type of transmission designed based on the principles disclosed in the present invention, in which two swing shaft gears produce two multiplier transmission ratios.

[0023] Figure 2 yes Figure 1 A radial cross-sectional view of the second cross-sectional position H2 on the right side.

[0024] Figure 3 yes Figure 1 A radial cross-sectional view of the first cross-sectional position H1 on the left.

[0025] Figure 4 It is an axial cross-sectional view of a second type of transmission designed based on the principles disclosed in the present invention, in which two swing shaft gears generate two multiplier transmission ratios.

[0026] Figure 5 yes Figure 4 A radial cross-sectional view of the first cross-sectional position H1 on the left.

[0027] Figure 6 yes Figure 4 A radial cross-sectional view of the second cross-sectional position H2 on the right side.

[0028] Figure 7 It is a radial cross-sectional view of the meshing part between the pinion sleeve and the gear.

[0029] Figure 8 It is a radial cross-sectional view of a needle tooth sleeve including a retainer in the present invention.

[0030] Figure 9 It is a radial cross-sectional view of another needle tooth sleeve including a retainer in the present invention. DETAILED DESCRIPTION

[0031] The advantages of the present invention and preferred embodiments of the present invention are described with reference to the accompanying drawings. Specific examples are provided to illustrate the advantages of the present invention and are not intended to limit the scope of protection of the present invention.

[0032] Figure 1 This is an axial cross-sectional view of a first transmission designed according to the principles disclosed in this invention, using two oscillating gears to generate two multiplier ratios. The center of the figure shows input shaft G1, with its axis at O2. Input shaft G1 is mounted via first bearing F1 to pin plate B121, which carries pin B12. Pin plate B121 carries fixed gear A2 (2) on its outer side via second bearing F2. Clutch C is mounted to the left of fixed plate D, which is connected to the outer housing. Clutch C can connect to either fixed gear A2 (2) on the outer side or to pin plate B121 (2). In the figure, clutch C is connected to fixed gear A2, so fixed gear A2 is fixed and does not rotate, while pin plate B121 is able to rotate.

[0033] Figure 1 The middle input shaft G1 is also equipped with the No. 2 eccentric shaft E2, and the No. 2 eccentric shaft E2 is equipped with the No. 2 swing shaft gear B2 through the third bearing F3, whose axis is O1. The No. 2 swing shaft gear B2 is engaged with the No. 2 fixed shaft gear A2 through the pin gear sleeve on the No. 2 fixed shaft gear A2.

[0034] Figure 1The left side of fixed gear A2 (No. 2) is connected to fixed gear A1 (No. 1) via the fourth bearing F4. Fixed gear A1 is also connected to the input shaft G1 via the sixth bearing F6. Fixed gear A1 is also fixedly connected to the output shaft G2. Eccentric shaft E1 (No. 1) is also mounted on the input shaft G1. This eccentric shaft E1 is connected to the first oscillating gear B1 (No. 1) via the fifth bearing F5. The axis of the shaft is O3. Oscillating gear B1 meshes with fixed gear A1 via the pinion sleeve A11 and pinion gear A12.

[0035] Figure 1 As can be seen in the figure, the pin B12 passes through the No. 2 pendulum gear B2 and the No. 1 pendulum gear B1, and the diameter of the portion passing through the No. 2 pendulum gear on the right is larger. The first function of this design is that the diameter of the holes through which the pin B12 passes is different in the No. 1 pendulum gear B1 and the No. 2 pendulum gear B2, which adjusts the weight of the two gears and balances the angular momentum of the two gears. The second function of this design is to create a step or inclined surface between the pin and the gear to withstand axial thrust. For example Figure 1 In the transmission, the tapered opening B131 of the pin hole on the No. 1 swing shaft gear B1 cooperates with the tapered step B13 of the pin. This cooperation can withstand the axial thrust from the swing shaft gear from left to right. The third bearing F3 and the fifth bearing F5 can withstand the axial thrust from the swing shaft gear from right to left. At the same time, the first bearing F1 can withstand the thrust from the pin plate B121 from left to right. Therefore, the entire transmission can withstand bidirectional axial inertia or vibration. It has a simple and compact structure, and each bearing can use an angular contact bearing or a tapered bearing.

[0036] Figure 2 yes Figure 1 A radial cross-section at the second section H2 on the right side of the center. The center of the diagram is the input shaft G1, with its axis at O2. Eccentric shaft E2 is securely attached to its periphery. Eccentric shaft E2 is attached to the outer ring of the third bearing F3, which has its axis at O1. O1 revolves around O2, or performs an oscillatory motion. The outer ring of the third bearing F3 houses oscillating shaft gear B2, meshing with the outermost fixed shaft gear A2. Fixed shaft gear A2 is a pin gear equipped with pin teeth A12 and a pin gear sleeve A11. Pin B12 passes through a hole in oscillating shaft gear B2.

[0037] Figure 3 yes Figure 1A radial cross-section of the first section, H1, on the left. The center of the diagram is the input shaft G1, with its axis at O2. Eccentric shaft E1 is securely attached to its periphery. Eccentric shaft E1 is attached to the outer ring of the fifth bearing F5, which has its axis at O3. This axis O3 revolves, or oscillates, around axis O2. The outer ring of the fifth bearing F5 houses oscillating shaft gear B1, meshing with the outermost fixed shaft gear A1. Fixed shaft gear A1 is a pin gear equipped with pin teeth A12 and a pin gear sleeve A11. Pin B12 extends through a hole in oscillating shaft gear B1.

[0038] The following combination Figure 1 、 Figure 2 、 Figure 3 To illustrate the operation and advantages of this embodiment of the present invention, the third bearing F3 and the fifth bearing F5 are arranged 180 degrees symmetrically. When the input shaft G1 rotates one revolution clockwise, the second oscillating gear B2 engages with the second fixed gear A2. Because the second fixed gear A2 is fixed to the fixed plate D connected to the housing by the clutch C and cannot rotate, the pin plate B121 pushes the second oscillating gear counterclockwise by 1 / 15 of a revolution. The pin B12 on the pin plate B121 also passes through the first oscillating gear B1, forcing the first oscillating gear B1 to rotate counterclockwise by 1 / 15 of a revolution. Since the first oscillating gear B1 is simultaneously engaged clockwise with the first fixed gear A1, the first fixed gear A1 rotates clockwise by 1 / 225 of a revolution, resulting in a reduction ratio of 225:1.

[0039] When clutch C releases fixed shaft gear No. 2 A2 and switches to fixed pin shaft plate B121, the swing shaft gear No. 1 B1 is also fixed in the circumferential direction and cannot rotate. Then the input shaft G1 rotates 1 circle clockwise, and fixed shaft gear No. 1 A1 rotates 1 / 15 circle clockwise. The reduction ratio is 15:1, and the rotation direction is the same as when clutch C fixes fixed shaft gear No. 2 A2.

[0040] Figure 4 This is an axial cross-sectional view of a second transmission designed based on the principles disclosed in this invention, featuring two oscillating gears generating two multiplier ratios. The center of the figure shows input shaft G1, with its axis at O2. It is mounted to cross-track plate B221 (No. 2) via first bearing F1. Cross-track plate B221 (No. 2) is mounted on its left side, connecting cross-track plate B22 to oscillating gear B2 (No. 2). Fixed gear A2 (No. 2) is mounted on the outer side of cross-track plate B221 via second bearing F2. Clutch C is mounted to the left of fixed plate D, which is connected to the outer housing. Clutch C can connect to either fixed gear A2 (No. 2) or cross-track plate B221 (No. 2). In the figure, clutch C is connected to cross-track plate B221, preventing oscillating gear B2 from rotating, while fixed gear A2 can.

[0041] Figure 4 Eccentric shaft E2 (No. 2) is also mounted on input shaft G1. This eccentric shaft E2 is attached to oscillating gear B2 (No. 2) via third bearing F3. Its axis is at O1. When input shaft G1 rotates, oscillating gear B2 engages with it via the pinion gear sleeve on fixed gear A2 (No. 2).

[0042] Figure 4 The left side of fixed gear A2 (number 2) is fixedly connected to fixed gear A1 (number 1) via a connecting ring K. Fixed gear A1 is connected to output shaft G2 via the fifth bearing F5, which in turn is connected to input shaft G1 via the sixth bearing F6. Eccentric shaft E1 (number 1) is also mounted on input shaft G1. This eccentric shaft E1 is connected to oscillating gear B1 (number 1) via the fourth bearing F4, with the axis O3 being the center. Oscillating gear B1 meshes with fixed gear A1 via pin gear sleeve A11 and pin gear A12.

[0043] Figure 4 To the left of the No. 1 swing shaft gear B1 is also mounted the No. 1 cross rail B21. To the left of the No. 1 cross rail B21 is mounted the No. 1 cross rail plate B211, which is securely connected to the output shaft G2. By adjusting the mass distribution of the No. 1 and No. 2 cross rails and their accessories, the angular momentum of the two swing shaft gears is balanced. Furthermore, a step or bevel can be provided between the cross rails and the gears to withstand axial thrust.

[0044] Figure 5 yes Figure 4 A radial cross-section of the first section, H1, on the left. The center of the diagram is the input shaft G1, with its axis at O2. Eccentric shaft E1 is securely attached to its periphery. Eccentric shaft E1 is attached to the outer ring of bearing F4, which has its axis at O3. Shaft O3 revolves, or oscillates, around axis O2. Oscillating shaft gear B1 is mounted on the outer ring of bearing F4, meshing with fixed shaft gear A1 on the outermost ring. Fixed shaft gear A1 is a pin gear equipped with pin teeth A12 and a pin gear sleeve A11. Cross rail B21 extends through a hole in oscillating shaft gear B1.

[0045] Depend on Figure 5The structure of cross rail B21 shows that when cross rail B21 is stationary, oscillating gear B1 can slide up and down. Cross rail B21 and cross rail plate B211 have an identical structure, rotated 90 degrees. Therefore, oscillating gear B1 can also carry cross rail B21 in lateral motion on cross rail plate B211, and its axis O3 can orbit or oscillate around axis O2 of fixed axis gear A1. However, when cross rail plate A1 is not rotating, oscillating gear B1 cannot rotate either. This design offers the advantage of withstanding greater torque and minimizing backlash.

[0046] Figure 6 yes Figure 4 A radial cross-section of the second section, H2, on the right side of the center. The center of the diagram is the input shaft G1, with its axis at O2. Eccentric shaft E2 (No. 2) is securely attached to its periphery. Eccentric shaft E2 is attached to the outer ring of the third bearing F3, whose axis is at O1. Shaft O1 revolves around O2, or performs an oscillatory motion. The outer ring of the third bearing F3 houses oscillating shaft gear B2 (No. 2), which meshes with the outermost fixed shaft gear A2 (No. 2). Fixed shaft gear A2 is a pin gear equipped with pin teeth A12 and a pin gear sleeve A11. Cross rail B22 extends through a hole in oscillating shaft gear B2.

[0047] The following combination Figure 4 、 Figure 5 、 Figure 6 The operation and advantages of the second embodiment of the present invention are illustrated below. The third bearing F3 and the fourth bearing F4 are arranged 180 degrees symmetrically. When the input shaft G1 rotates one revolution clockwise, the second oscillating gear B2 meshes with the second fixed gear A2. Since the second cross-rail plate B221 is fixed to the fixed plate D connected to the housing by the clutch C and cannot rotate, the second oscillating gear B2 cannot rotate about the axis O1. Therefore, the second fixed gear A2 rotates 1 / 16 of a revolution clockwise. The connecting ring K securely connects the second fixed gear and the first fixed gear, forcing the first fixed gear A1 to rotate 1 / 16 of a revolution clockwise. Since the first oscillating gear B1 is simultaneously meshing clockwise with the first fixed gear A1, the first oscillating gear B1 rotates 1 / 224 of a revolution counterclockwise, resulting in a reduction ratio of 224:1.

[0048] When clutch C releases No. 2 cross slide plate B221 and switches to fix No. 2 fixed shaft gear A2, No. 1 fixed shaft gear A1 is also fixed. Then the input shaft G1 rotates 1 circle clockwise and No. 1 swing shaft gear B1 rotates 1 / 14 circle counterclockwise. The reduction ratio is 14:1, and the rotation direction is the same as when clutch C fixes No. 2 fixed cross slide plate B221.

[0049] Figure 7This is a radial cross-section of the meshing portion of the pinion sleeve and gear. The left side of the figure shows the oscillating shaft gear B1, and the right side shows the fixed shaft gear A1. Fixed shaft gear A1 is a pinion gear. Pinion gear A1 contains pinion teeth A12, which are enclosed by a pinion sleeve A11. Pinion gear A1 also includes teeth A3 on the pinion housing. When pinion sleeve A11 meshes with oscillating shaft gear B1, it also meshes with teeth A3 on the pinion housing. The tooth profile curve of teeth A3 on the pinion housing in the example shown is a circular arc curve. R1 is the radius of this circular arc curve; R2 is the radius of the pinion sleeve. In this example, R1 = R2 × 1.082, meeting the requirement of R1 ≥ 1.06 × R2 in the present invention. The first benefit of this design is that it improves the torque carrying capacity of each tooth. The second benefit is that it ensures rolling contact between the meshing surfaces even under impact forces. The third benefit is that, compared to traditional pinion gears that require friction between the inner side of the pinion sleeve and the pinion teeth, this design facilitates chip removal during long-term use.

[0050] Figure 8 This is a radial cross-sectional view of a needle tooth sleeve including a retainer according to the present invention. The center of the figure shows needle tooth A12, which is not in contact with the inner ring of needle tooth sleeve A11. Retainer A121 is located within the inner ring of needle tooth sleeve A11. Retainer A121 prevents collision between needle tooth A12 and sleeve A1. Retainer A121 can be made of a copper alloy or plastic.

[0051] Figure 9 This is a radial cross-section of another needle tooth sleeve including a retainer according to the present invention. The center of the figure shows needle tooth A12. Inside the inner ring of needle tooth sleeve A11 is retainer A121, which prevents collision between needle tooth A12 and sleeve A1. Retainer A121 is not circumferentially closed. This design allows it to remain effective even when the thermal expansion rate of the retainer material differs significantly from that of the needle tooth sleeve, and at high operating temperatures.

[0052] Other specific cases can also be designed based on the transmission principle of two swing shaft gears generating two multiplier transmission ratios proposed by the present invention. Application scenarios include but are not limited to being combined with a turboshaft engine to form a power module, or being combined with an electric motor to form a power module. The electric motor can be an axial flux motor, an outer rotor motor, or an inner rotor motor.

[0053] From the above cases, it can be seen that the transmission with two swing shaft gears generating two multiplier transmission ratios can obtain n in a smaller space. 2The transmission ratio of the two gears can be obtained as [n×(n+2)]:1 and n:1, or the transmission ratio of the two gears can be obtained as [n×(n+2)]:1 and n:1, and the rotation direction of the two gears is the same. Therefore, there are more application scenarios, such as driving vehicles to adapt to various complex road conditions, or driving robots to obtain explosive power and endurance for running and jumping, or reciprocating transport robots, etc.

[0054] The present invention is applied in a mechanical transmission device, and its application scenarios include but are not limited to applications in propeller drive or hub drive or mechanical joints, where mechanical joints include but are not limited to rotary joints of industrial machinery, or wearable robotic arms, or human-machine collaborative mechanical devices, or robotic arms, or vehicle steering systems, or aircraft steering rudder transmission systems, or ship steering rudder transmission systems, or other various application scenarios, or other mechanical actuators, which are not listed here.

Claims

1. A transmission with two swing shaft gears producing two multiplier transmission ratios, characterized by: The invention comprises at least four gears, wherein gear A1 and gear A2 are fixed axis gears, gear B1 and gear B2 are swing axis gears, the swing axis gear is driven by an eccentric bearing to mesh with the fixed axis gear, gear B1 meshes with gear A1, gear B2 meshes with gear A2, the number of teeth of gear B1 is N, the number of teeth of gear A1 is N+1, the number of teeth of gear B2 is N+1, and the number of teeth of gear A2 is N+2, at least two of the four gears are pin gears, and the space between the pin gear sleeve and the pin gear housing of the pin gear has teeth fixed on the pin gear housing, the minimum curvature radius of the tooth profile curve of the teeth on the pin gear housing is R1, and the outer circle radius of the pin gear sleeve in contact with it is R2, then the inequality R1≥1.06×R2 is satisfied; wherein the combination of the four gears includes the following two methods: the first method is that gear A1 and gear A 2 is fixedly connected, one of gear B1 and gear B2 can be fixed and prevented from rotating, and the other can drive the output shaft. The second combination is that gear B1 and gear B2 are fixedly connected in the direction of rotation, one of gear A1 and gear A2 can be fixed and prevented from rotating, and the other can drive the output shaft; it also includes a clutch C, and the clutch C has two installation methods. The first installation method is to install it at the fixed end of the housing, and the rotation of the fixed axis gear or the swing axis gear can be selected by switching the clutch C. The second installation method is to install it at the output shaft end, and the output by the fixed axis gear or the swing axis gear can be selected by switching the clutch C. The clutch C can switch the output speed ratio according to the external load or machine needs, including one of the above two clutch installation methods and the combination of the two gears.

2. The transmission according to claim 1, wherein: A retainer is installed between the inner cavity of the needle tooth sleeve and the needle teeth in the needle gear. The function of the retainer is to maintain the relative position of the needle teeth and the needle tooth sleeve. The material of the retainer includes copper-containing material or plastic.

3. The transmission according to claim 1, wherein: The four gears include a pin gear, wherein the inner diameter of the pin gear sleeve in the pin gear is greater than or equal to 1.1 times the outer diameter of the pin gear.

4. The transmission according to claim 1, wherein: In the present invention, the number of teeth of at least two gears is not a prime number among natural numbers, or the number of teeth of all gears is not a prime number among natural numbers.

5. The transmission according to claim 1, wherein: The angular momentum balance of the transmission is maintained by setting different counterweights or different mass center distances between the swing shaft gear B1 and the swing shaft gear B2.

6. The transmission according to claim 1, wherein: The design method of the swing shaft gear B1 and the swing shaft gear B2 includes one of the following two design methods. The first design method is that there are pin holes on the swing shaft gear B1 and the swing shaft gear B2, and the pins on the pin plates fix the rotation of the swing shaft gears in the circumferential direction. The contact surface between the so-called pin holes and the pins includes a conical surface or a step, which can withstand a certain axial force, and the diameters of the pin holes on the swing shaft gear B1 and the swing shaft gear B2 are different to balance the angular momentum of the two gears; the second design method is that there are cross slides on the swing shaft gear B1 and the swing shaft gear B2, and the rotation of the swing shaft gears is fixed in the circumferential direction by the cross slide plate. The contact surface between the so-called cross slide and the cross slide plate includes a conical surface or a step, which can withstand a certain axial force, and the angular momentum of the swing shaft gear B1 and the swing shaft gear B2 is balanced by configuring the size of the cross slide or the hole through which the cross slide passes on the gear.

7. The transmission according to claim 1, wherein: The pin or cross slide on the swing shaft gear can withstand axial force, and the direction of the axial force is matched with the bearing force direction on the swing shaft gear. This matching enables the transmission to withstand bidirectional inertia force.

8. The transmission according to claim 1, wherein: The design schemes of the tooth profile curves of the teeth on the pin gear housing of the pin gear that mesh with the pin gear sleeve and the tooth profile curve of the swing shaft gear include the following schemes: the tooth profile curve of at least one gear contains a circular arc curve, or the tooth profile curve of at least one gear contains a cycloid, or the tooth profile curve of at least one gear contains an elliptical curve, including one or more combinations of the above schemes.

9. The transmission according to claim 1, characterized in that: The transmission with two swing shaft gears generating two multiplier transmission ratios cooperates with the engine to form a power output module. The engine may include an axial flux motor, an outer rotor motor, an inner rotor motor or a turbine.

10. The transmission according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9, characterized in that: The transmission with two swing shaft gears generating two multiplier transmission ratios is applied in a transmission system, and its application scenarios include but are not limited to applications in propeller drive or hub drive or mechanical actuators, wherein the mechanical actuators include but are not limited to rotary joints of industrial machinery, or wearable robotic arms, or reciprocating transport machines, or embodied intelligent machines, or vehicle steering systems, or aircraft steering rudder transmission systems, or ship steering rudder transmission systems.

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