Gear transmission mechanism and driving device

Abstract

The utility model 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] This utility model relates to the field of mechanical transmission technology, and in particular to a gear transmission mechanism and drive device. Background Technology

[0002] Gear transmission is an essential component of drive mechanisms, such as machine tool transmissions, robot joint adjustments, and rotational adjustments in precision instruments. However, current market transmissions typically use a planetary gear system as a link, where planetary gears mesh with both fixed and transmission gears to achieve output. This arrangement, with planetary gears sandwiched between the fixed and transmission gears, increases the size of the gear transmission, hindering miniaturization, reducing transmission accuracy, increasing backlash, and limiting the selectable transmission ratio. Furthermore, it makes gear locking more difficult, increasing the risk of unpredictable gear rotation.

[0003] Therefore, it is necessary to improve the design of existing gear transmission mechanisms and drive devices. Utility Model Content

[0004] This utility model provides a miniaturized gear transmission mechanism and drive device.

[0005] This utility model is achieved through the following technical solution: a gear transmission mechanism, including a fixed gear, a moving gear, and an input gear, wherein the fixed gear and the moving gear each 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 moving gear, and the moving gear rotates relative to the fixed gear around an axis, thereby realizing the output of the moving gear; the meshing teeth of the fixed gear and the meshing teeth of the moving gear protrude to 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 planetary gears is an approximation of the absolute value of the difference in the number of teeth between the fixed gear and the moving 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 moving gear to the number of teeth of the planetary gear driving the moving gear.

[0008] In a preferred embodiment, the axis of the fixed gear and the axis of the moving gear are located on the same axis, and the meshing teeth of the fixed gear and the meshing teeth of the moving gear are arranged radially side by side.

[0009] In a preferred embodiment, the input gear includes an input shaft and a pivot shaft, with the axis of the input shaft forming an angle of 20-160 degrees with the axis of the pivot shaft, and the planetary gears are 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 causing the pivot shaft to move, thereby driving the planetary gears to rotate.

[0011] In a preferred embodiment, the pivot shafts are arranged in multiple configurations and are evenly distributed axially relative to the input shaft, with each pivot shaft equipped with the aforementioned planetary gears.

[0012] In a preferred embodiment, one of the fixed gear and the moving 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 that mates with the rotating shaft. The fixed gear and the moving gear are stacked together.

[0013] In a preferred embodiment, the input gear has a bracket with a first receiving groove and a second receiving groove that are interconnected. The input shaft is placed in the first receiving groove, and the pivot shaft is received in the second receiving groove. The end of the input shaft is provided with a first gear, and one end of the pivot shaft is provided with a second gear that meshes with the first gear. The first gear and the second gear mesh 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.

[0014] In a preferred embodiment, the axis of the planetary gear is coplanar with or intersects the axis of the input shaft.

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

[0016] In a preferred embodiment, the first gear protrudes toward the axis of the planetary gear and meshes with a second gear on the pivot shaft, the second gear having external round teeth.

[0017] In a preferred embodiment, the gear transmission mechanism has at least one elastic element that supports one or more of a fixed gear, a driven gear, or an input gear to support the movement of the fixed gear, driven gear, or input gear, wherein the meshing teeth can mesh tightly with the planetary gears.

[0018] In a preferred embodiment, the planetary gears of the input gear that mesh with the fixed gear and the moving gear respectively have the same tooth profile 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 integral structure.

[0020] This utility model can also be achieved through the following technical solution: a driving device, including a power input mechanism and a gear transmission mechanism driven by the power input mechanism. The gear transmission mechanism includes an input gear, a fixed gear, and a moving gear driven by the power input mechanism. The fixed gear and the moving gear have meshing teeth respectively. The input gear has planetary gears. The planetary gears of the input gear engage with the meshing teeth of the fixed gear and the moving gear. The moving gear rotates relative to the fixed gear around an axis, thereby realizing the output of the moving gear. The axis of the planetary gears 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 moving gear has a base plate opposite to the base, and the meshing teeth protrude from the base plate, with all meshing teeth protruding toward the axis of the planetary gear.

[0022] This utility model can also be achieved through the following technical solution: 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 rotating relative to the fixed gear; the fixed gear and the moving gear are stacked vertically and have meshing teeth respectively, 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 convex direction of the meshing teeth.

[0023] In a preferred embodiment, the input gear includes a bracket, on which the planetary gears are mounted; the bracket has a first receiving groove and a second receiving groove that are interconnected; the input gear has an input shaft disposed in the first receiving groove and a pivot shaft disposed in the second receiving groove; the end of the input shaft is provided with a first gear, and one end of the pivot shaft is provided with a second gear that meshes with the first gear; the first gear and the second gear mesh to form a primary transmission; the planetary gears are disposed on the other end of the pivot shaft; the primary transmission drives the planetary gears to rotate.

[0024] This utility model has the following beneficial effects: by having the meshing teeth of the fixed gear and the meshing teeth of the moving gear protrude axially to one side and be 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, a miniaturized gear transmission mechanism is provided. Attached Figure Description

[0025] Figure 1 This is a perspective view of the first embodiment of the driving device of this utility model;

[0026] Figure 2 for Figure 1 The diagram shown is an exploded view.

[0027] Figure 3 for Figure 2Another angle view of the gear transmission mechanism shown.

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

[0029] Figure 5 for Figure 1 The side view shown also illustrates a cross-sectional view of the two parts in their meshing state;

[0030] Figure 6 This is a second embodiment of the drive device of the present invention, and a schematic diagram of the gear transmission mechanism is shown.

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

[0032] Figure 8 This is a perspective view of the third embodiment of the driving device of this utility model;

[0033] Figure 9 for Figure 8 The diagram shown is an exploded view.

[0034] Figure 10 for Figure 8 The sectional view shown is shown below;

[0035] Figure 11 This is a perspective view of the fourth embodiment of the driving device of this utility model;

[0036] Figure 12 for Figure 11 The exploded view shown;

[0037] Figure 13 for Figure 11 The exploded view shown;

[0038] Figure 14 This is a three-dimensional schematic diagram of the fifth embodiment of the driving device of this utility model;

[0039] Figure 15 for Figure 14 The exploded view shown;

[0040] Figure 16 for Figure 14 The diagram shown is a top view, with the support bracket removed. Detailed Implementation

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

[0042] refer to Figures 1 to 5 As shown, the first embodiment of the present invention discloses a drive device 100, which includes a power input mechanism 10 and a gear transmission mechanism 11 driven by the power input mechanism. The gear transmission mechanism 11 includes an input gear 12, a fixed gear 13, a moving gear 14, and at least one elastic element 15 driven by the power input mechanism 10. The fixed gear 13 or the moving gear 14 moves relative to the input gear 12. This drive device 100 can be applied to more work applications, such as electric sofas, electronic components, etc., to provide a larger torque output. The power input mechanism 10 can be a motor or a drive mechanism capable of driving gear transmission.

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

[0044] Please refer to the following: 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, it drives the planetary gear 122 to drive the moving gear 14 to rotate, thereby realizing the output of the moving gear 14. In fact, the way 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 driven directly, without the need for the input shaft 120 structure.

[0045] The planetary gears 122 of the aforementioned input gear 12 need to mesh with the meshing teeth 131 of the fixed gear 13 and the meshing teeth 141 of the moving gear 14. In this embodiment, the pivot shaft 121 is perpendicularly connected to the input shaft 120, and one end of the input shaft 120 is connected to the power input mechanism 10, while the other end is inserted into the fixed gear 13 or the moving gear 14 for pivoting. When the power input mechanism 10 drives the input shaft 120 to rotate clockwise or counterclockwise, it also drives the pivot shaft 121 to rotate around the input shaft 120 as its axis, thereby driving the planetary gears 122 to rotate.

[0046] Alternatively, one end of the input shaft 120 can be directly and fixedly connected to the power input mechanism 10, while the other end does not need to pivot on the fixed gear 13 or the moving gear 14. That is, the input shaft 120 is connected to the power input mechanism 11, which drives the input shaft 120 to rotate and drives the pivot shaft 121 to rotate around the input shaft 120 as the axis, thereby driving the planetary gear 122 to rotate, which can also achieve the driving effect.

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

[0048] Of course, the power input mechanism 10 can also be located below the fixed gear 13 and the moving gear 14. That is, the power input mechanism 10 is located between the input gear 12 and the fixed gear 13 or the moving gear 14, meaning that the power input mechanism 10 directly drives the input gear 12 from below the moving gear 14.

[0049] As can be seen from the above embodiments, the planetary gear 122 of the input gear 12 engages with the meshing teeth 131 of the fixed gear 13 and the meshing teeth 141 of the moving gear 14. The moving gear 14 rotates relative to the fixed gear 13 around its axis, realizing the output of the moving 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 [reference needed]. Figure 1 As shown, the two are set vertically. Please refer to [link / reference]. Figure 15 As shown, the two are arranged in an alternating manner.

[0050] Please see Figure 2 and Figure 3As shown, one of the fixed gear 13 and the moving gear 14 has a rotating shaft 132 and a through hole 133 passing through the rotating shaft, and the other has a pivot hole 142 that mates with the rotating shaft. The fixed gear 13 and the moving gear 14 are stacked vertically (axially). That is, in this embodiment, the fixed gear 13 has a base 130 and meshing teeth 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 vertically. The rotating shaft 132 and the meshing teeth 131 are located on 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 in clearance fit, and the input shaft 120 is in the through hole 133. Internal rotation; similarly, the moving gear 14 has a base plate 140 opposite to the base and meshing teeth 141 protruding from the base plate. The base plate has a pivot hole 142 that runs vertically through it. The rotating shaft 132 of the fixed gear 13 is inserted into the output hole 142 of the moving gear 14, and the two rotate relative to each other. The planetary gear 122 of the input gear 12 meshes with the meshing teeth 131 of the fixed gear 13 and the meshing teeth 141 of the moving gear 14 at the same time, so as to realize the output of the moving gear 14.

[0051] The fixed gear 13 and the moving gear 14 are stacked vertically. The meshing teeth of the fixed gear 13 and the moving gear 14 protrude axially to one side, that is, towards the axis of the planetary gear, and are located on the same side as the input gear 12. It can be understood that the meshing teeth 131 and 141 protrude axially outward in one direction. That is to say, the gear transmission mechanism 11 has no internal gear. The axis of the planetary gear 122 is perpendicular to the protrusion direction of the meshing teeth 131 and 141. The output is directly to the moving gear through the outer planetary gear 122. The axis of the planetary gear 122 is perpendicular to the protrusion direction of the meshing teeth, which realizes miniaturization and greater torque output.

[0052] Since the shaft 132 of the fixed gear 13 passes through the transmission hole 142 of the moving gear 14, and the base 130 of the fixed gear 13 faces the base 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 to 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, since the fixed gear 13 and the moving gear 14 are both located on the same side of the input gear 12, it is more conducive to locking the teeth of the moving gear 14, preventing reverse rotation, and facilitating accurate output.

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

[0054] Please see Figure 4 As shown, since the fixed gear 13 is mounted on the moving gear 14, the fixed gear 13 or the moving gear 14 can move axially relative to each other to increase the tightness of the meshing teeth 131, 141 of the fixed gear 13 or the moving gear 14 meshing with the planetary gears of the input gear 20. That is, when the fixed gear 13 or the moving gear 14 moves toward the planetary gear 122 of the input gear, the tooth profile of the planetary gear 122 contacts the tooth profile of the meshing teeth more closely, meaning that the gap between the two is smaller, which can provide more precise transmission and a locking effect. Of course, the fixed gear 13 and the moving gear 14 can also be moved upward together and brought closer together to achieve a tight engagement between the fixed gear 13 and the moving gear 14 and the planetary gear 122.

[0055] The gear transmission mechanism 11 has several elastic elements 15, which support one or more of the fixed gear 13, the driven gear 14, or the input gear 12 to support the movement of the fixed gear, the driven gear, or the input gear. The meshing teeth can mesh tightly with the input gear. Please refer to [link to relevant documentation]. Figure 5 As shown, in this embodiment, the gear transmission mechanism 11 has an elastic member 15 sleeved on the outside of the aforementioned rotating shaft 132 to facilitate the upward movement of the aforementioned fixed gear 13. Alternatively, an elastic member 15 can be provided between the fixed gear 13 and the driven gear 14, also facilitating the movement of the driven gear 14. Furthermore, the elastic member can be installed on the side of the input gear 12, directly pressing the input gear 122 towards the fixed or driven gear side. Therefore, these multiple elastic members 15 can solve the problem of facilitating the movement of the fixed gear 13 and / or the driven gear 14 relative to the planetary gear 122. Consequently, a structure such as a housing 16 can also be installed on the lower side of the elastic member to provide support for it.

[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 meshes with the meshing teeth of the fixed gear 13 and the moving gear 14. Since the fixed gear 13 is stationary 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 driving of the planetary gear 122 can achieve a larger torque output, and can meet the requirements of a miniaturized power input mechanism, and can achieve a larger output effect in products with limited space.

[0057] The number of planetary gears 122 is a fraction of the absolute difference in the number of teeth between the fixed gear 13 and the driven gear 14, to achieve tooth locking and better dynamic balance. Furthermore, the ratio of the number of teeth on the fixed gear 13 to the number of teeth on the planetary gears 122 meshing with the fixed gear 13 is not equal to the ratio of the number of teeth on the driven gear 14 to the number of teeth on the planetary gears 122 driving the driven gear 14. This allows for a larger transmission ratio, and when the planetary gears 122 rotate, the movement of the driven gear 14 is greater than the movement of the fixed gear 13, thus achieving the desired output effect.

[0058] In this embodiment, the planetary gears 122 of the input gear 12, which mesh with the fixed gear 13 and the moving gear 14 respectively, have the same tooth profile and number of teeth. That is, the planetary gears 122 are provided with the same tooth profile and number of teeth, meshing with the fixed gear 13 and the moving gear 14. Of course, the tooth profile or number of teeth of the planetary gears 122 can be set differently. That is, the planetary gears 122 that mesh with the meshing teeth 131 of the fixed gear 13 and the planetary gears 122 that mesh with the meshing teeth 141 of the moving gear 14 can be provided with different tooth profiles and numbers of teeth, and can also mesh with the fixed gear 13 and the moving gear 14 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 may not be connected perpendicularly at 90 degrees as disclosed in the accompanying drawings of the embodiment. For example, the axis of the pivot shaft 121 and the axis of the input shaft may be at any angle of 20-160 degrees, which can also achieve the output effect, and the planetary gear 122 may mesh simultaneously with the meshing teeth of the fixed gear 13 and the meshing teeth of the moving gear 14.

[0060] Another variation is that the pivot shafts 121 can be arranged in multiple configurations and evenly distributed axially relative to the input shaft 121, with the planetary gears 122 provided at the end of each pivot shaft 121.

[0061] Please see Figure 6 and Figure 7 The diagram shows the driving device according to the second embodiment of this utility model. Since the power input mechanism is the same as that in the first embodiment, the attached diagram only illustrates the gear transmission mechanism 21 that drives the power input mechanism. The transmission principle of this gear transmission mechanism 21 is roughly the same as that in the first embodiment. The difference is that the tooth profile of the gear transmission mechanism 21 has changed, that is, it has changed from straight teeth in the first embodiment to bevel teeth, which can achieve a larger torque output and also provide a miniaturized mechanism, which facilitates greater flexibility in spatial layout.

[0062] Therefore, the planetary gear 222 of the input gear is bevel gear, and the meshing teeth 231 of the fixed gear 23 and the meshing teeth 241 of the moving gear 24 can be bevel gear or helical gear. That is, the rotation of the input shaft drives the pivot shaft to move, which in turn drives the bevel gear 222 to mesh with the fixed gear 23 and the moving gear 24, and drives the bevel teeth of the moving gear 24 to move relative to each other, thus realizing the output.

[0063] Of course, the tooth profile of planetary gear 222 can also be adjusted in other ways, and the meshing teeth 231 and 241 of the corresponding moving gear 24 and fixed gear 23 can also be changed accordingly, all of which can achieve the output effect. Furthermore, the tooth profile of the planetary gear 222 of the input gear 22 that meshes with the fixed gear 23 and the moving gear 24 can be set differently. For example, the tooth profile or number of teeth of the planetary gear 222 that meshes 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 that meshes with the meshing teeth 241 of the moving gear 24; output can also be achieved, but for the sake of ease of processing, the tooth profile and number of teeth of the planetary gear 222 are the same in this embodiment.

[0064] Please see Figures 8 to 10 As shown, this is the drive device 300 of the third embodiment of the present invention. The power input mechanism 30, the fixed gear 33 and the moving gear 34 are the same as those in the first embodiment. The difference is that the input gear 32 has been modified, which can 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 moving gear 34 that cooperate with the power input mechanism 30. The input gear 32 has a bracket 324 for mounting planetary gears 322. The bracket 324 has a first receiving groove 325 and a second receiving groove 326 that are interconnected. 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. The end of the input shaft 320 is provided with a first gear 327, and one end of the pivot shaft 321 is provided with a second gear 328 that meshes with the first gear 327. The first gear 327 and the second gear 328 mesh to form a primary transmission. The planetary gears 322 are located on the other end of the pivot shaft 321. The primary transmission drives the planetary gears 322 to rotate.

[0066] In this embodiment, the second receiving slots 326 are arranged in a pair facing each other, so the pivot shafts 321 are also arranged in a pair, and each pivot 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 an integral whole, which improves 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 pivot shafts 321 simultaneously; the pivot shafts 321 can also be multiple and evenly distributed to increase the driving force.

[0067] The first gear 327 protrudes towards the axial side of the planetary gear 122 and meshes with the second gear 328 on the pivot shaft 321. The second gear 328 has external round teeth. That is, the power input mechanism 30 drives the input shaft to rotate axially and drives the first gear 327 to rotate horizontally, thereby causing the second gear 328 to rotate, which in turn drives the planetary gear 322 to mesh with the fixed gear 33 and the moving gear 34, achieving the output effect. In this embodiment, the bracket 324 also improves the ease of assembly of the gear transmission mechanism 31.

[0068] Please see Figures 11 to 13 As shown, this is the drive device 400 of the fourth embodiment of the present invention. The power input mechanism 40, the fixed gear 43 and the moving gear 44 are the same as those in the first embodiment. The difference is that the input gear 42 has been modified to provide a greater torque output. Similarly, the input gear 42 is supported by a bracket 424.

[0069] One end of the input shaft 420 is provided with a worm gear, and the gear of the pivot shaft 421 that cooperates with it is a helical gear. The cooperation between the worm gear and the helical gear achieves the output of ultra-high torque and 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 is intersected with the axis of the input shaft 420.

[0070] Please see Figures 14 to 16 The figure shows the driving device of the fifth embodiment of the present invention. The power input mechanism, fixed gear 53 and moving gear 54 are the same as those of the first embodiment. The difference is that the input gear 52 has been changed. The figure only shows 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 manner. It can also be understood that the pivot shafts 521 (planetary gear axes) 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 form any angle of 20-160 degrees, which can also achieve the output effect.

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

Claims

1. A gear mechanism comprising a sun gear, a planet gear and an input gear, said sun and planet gears having respective meshing teeth, said input gear having at least one planet wheel; characterised in that: The meshing teeth of the planet wheel of the input gear mesh with the meshing teeth of the fixed gear and the meshing teeth of the movable gear, the movable gear rotates relative to the fixed gear around the axis to realize the output of the movable gear; the meshing teeth of the fixed gear and the meshing teeth of the movable gear protrude towards one side along the axial direction and are located at the same side of the input gear.

2. The gear mechanism of claim 1, wherein: The number of the planet wheel is a divisor of the absolute value of the difference between the number of teeth of the fixed gear and the number of teeth of the movable gear.

3. The gear mechanism of claim 1, wherein: The ratio between the number of teeth of the fixed gear and the number of teeth of the planet wheel of the meshing fixed gear is not equal to the ratio between the number of teeth of the movable gear and the number of teeth of the planet wheel of the driving movable gear.

4. The gear mechanism of claim 1, wherein: 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 a radial parallel manner.

5. The gear mechanism of claim 1, wherein: 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 planet wheel is mounted on the pivot shaft.

6. The gear mechanism of claim 5, wherein: The input shaft is connected to the power input mechanism to drive the input shaft to rotate and drive the pivot shaft to move to drive the planet wheel to rotate.

7. The gear drive mechanism of claim 5, wherein: The pivot shaft is arranged in multiple and is uniformly distributed relative to the input shaft, and each pivot shaft is provided with the planet wheel.

8. The gear drive of claim 4, wherein: One of the fixed gear and the movable gear is provided with a rotating shaft and a through hole penetrating 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 arranged in a stacked manner.

9. The gear drive mechanism of claim 5, wherein: The input gear has a support with a first receiving groove and a second receiving groove in communication with each other, the input shaft is arranged in the first receiving groove, the pivot shaft is arranged in the second receiving groove, the end of the input shaft is provided with a first gear, one end of the pivot shaft is provided with a second gear meshing with the first gear, the first gear and the second gear mesh to form a first-stage transmission, and the planet wheel is arranged on the other end of the pivot shaft; the first-stage transmission drives the planet wheel to rotate.

10. The gear mechanism of claim 9, wherein: The axis of the planet wheel and the axis of the input shaft are coplanar or staggered.

11. The gear drive mechanism of claim 9, wherein: The input shaft is clamped between the second gears of the pivot shaft.

12. The gear drive of claim 9, wherein: The first gear protrudes towards the axis of the planet wheel and meshes with the second gear of the pivot shaft, and the second gear is an external gear.

13. The gear mechanism according to any one of claims 1 to 12, characterized in that: The gear transmission mechanism has at least one elastic member supporting 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 closely meshed with the planet wheel.

14. The gear drive of claim 1, wherein: The planet wheels of the input gear meshing with the fixed gear and the movable gear have the same tooth shape and the same number of teeth.

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

16. A drive arrangement comprising a power input mechanism and a gear train driven by the power input mechanism, the gear train comprising an input gear driven by the power input mechanism, a sun gear and a planet gear, the sun and planet gears each having meshing teeth, the input gear having a planet wheel; characterised in that: The planet wheel of the input gear meshes with the meshing teeth of the fixed gear and the meshing teeth of the movable gear, the movable gear rotates relative to the fixed gear around the axis to realize the output of the movable gear, and the axis of the planet wheel is not parallel to the axis of the power input mechanism.

17. The drive apparatus according to claim 16, characterized by: The fixed gear has a base, and the meshing teeth protrude out of the base; the movable gear has a bottom plate opposite to the base, and the meshing teeth protrude out of the bottom plate, and the meshing teeth all protrude towards the axis of the planet wheel.

18. A drive apparatus 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 movable gear being rotatable relative to the fixed gear; characterized in that: The fixed gear and the movable gear are arranged in a stacked manner in the up-down direction and are respectively provided with meshing teeth, the input gear has a planet wheel driving the meshing teeth to realize the output of the movable gear, the gear transmission mechanism does not have an internal gear, and the axis of the planet wheel is perpendicular to the protruding direction of the meshing teeth.

19. The drive apparatus according to claim 18, characterized by: The input gear includes a support, the planetary gear is installed on the support; the support has a first receiving groove and a second receiving groove which are communicated with each other, the input gear has an input shaft arranged in the first receiving groove and a pivot shaft arranged in the second receiving groove, and the input shaft is provided with a first gear at the end, the pivot shaft is provided with a second gear at one end which is engaged with the first gear, the first gear and the second gear are engaged to form a first-stage transmission, and the planetary gear is arranged on the other end of the pivot shaft; the first-stage transmission drives the planetary gear to rotate.

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