Transmission mechanism

Abstract

The present invention discloses a speed change mechanism including an outer wheel, an inner wheel, an eccentric shaft, a first flange body, a rotating shaft, and a planetary gear set. The inner wheel is attached to the outer wheel and engages with the outer wheel. The eccentric shaft is rotatable about a central axis, and an eccentric portion, an eccentric shaft external teeth, and a first support portion are attached to the eccentric shaft, and the inner wheel is attached to the eccentric portion. The first flange body and the inner wheel are arranged side by side, and the first flange body is attached to the first support portion. The rotating shaft has rotating shaft external teeth. The planetary gear set is supported by the first flange body, and the periphery of the planetary gear set is provided with a first row of planetary teeth that mesh with the rotating shaft external teeth and a second row of planetary teeth that mesh with the eccentric shaft external teeth. The speed change mechanism provides a wide range of speed ratios and can reduce manufacturing costs.

Description

[Technical Field]

[0001] The present invention relates to a transmission mechanism, and more particularly to an internally engaged transmission mechanism. [Background technology]

[0002] In conventional internal engagement transmission mechanisms, a rotating shaft is disposed on an eccentric shaft, and the external teeth of the rotating shaft engage with the internal teeth of the eccentric shaft, causing the rotating shaft to directly rotate and drive the eccentric shaft. While this type of drive method has a simple structure, the internal teeth disposed on the eccentric shaft are inconvenient to process. In particular, in small transmission mechanisms, the hollow space in the eccentric shaft is small, making it difficult to process the internal teeth of the eccentric shaft. Summary of the Invention

[0003] An exemplary embodiment of the present application can solve at least some of the problems described above. For example, the present application provides a transmission mechanism. The transmission mechanism includes an outer wheel, an inner wheel, an eccentric shaft, a first flange, a rotating shaft, and at least one planetary gear set. The inner wheel is disposed on the outer wheel. The inner wheel is engageable with the outer wheel. The eccentric shaft is rotatable about a central axis. An eccentric portion is disposed on the outer periphery of the eccentric shaft. The eccentric shaft external teeth, a first support portion, and the inner wheel are disposed around the eccentric portion, such that rotation of the eccentric shaft can eccentrically rotate the inner wheel, or eccentric rotation of the inner wheel can rotate the eccentric shaft. The first flange and the inner wheel are disposed side by side, and the first flange is disposed around the first support portion. The rotating shaft has external rotating shaft teeth. At least one planetary gear set is supported by the first flange. A first planetary gear set and a second planetary gear set are disposed around each of the at least one planetary gear sets. The first planetary teeth row engages with the external teeth of the rotary shaft, and the second planetary teeth row engages with the external teeth of the eccentric shaft.

[0004] According to the above-mentioned transmission mechanism, when power is input via the rotating shaft, the rotation of the eccentric shaft drives the inner wheel to rotate eccentrically, thereby outputting power via the first flange; alternatively, when power is input to the outer wheel or the transmission mechanism via the first flange or the outer wheel, the eccentric rotation of the inner wheel drives and rotates the eccentric shaft, thereby outputting power via the rotating shaft.

[0005] According to the above-described speed change mechanism, the first flange includes at least one support hole, and the at least one planetary gear device can be rotatably supported on the first flange via the at least one support hole.

[0006] According to the above-mentioned transmission mechanism, a second support portion is provided around the eccentric shaft. The inner wheel is provided with at least two inner wheel through-holes. The transmission mechanism further includes a second flange and at least two connecting transmission components. The first flange and the second flange are respectively arranged on both sides of the inner wheel, and the second flange is arranged around the second support portion. Each of the at least two connecting transmission components passes through a corresponding one of the at least two inner wheel through-holes of the inner wheel, and the first flange and the second flange on both sides of the inner wheel are connected together. The eccentric portion of the eccentric shaft is arranged between the first flange and the second flange.

[0007] According to the above-mentioned transmission mechanism, each of the at least one planetary gear set further includes a planetary gear support portion, a first planetary gear, and a second planetary gear. The first planetary gear is connected to the second planetary gear via the planetary gear support portion. The first planetary tooth row and the second planetary tooth row are arranged on the first planetary gear and the second planetary gear, respectively.

[0008] According to the above-described transmission mechanism, the first planetary gear train and the second planetary gear train are arranged on both sides of the support hole.

[0009] According to the transmission mechanism, the first flange includes at least one planetary gear unit receiving portion disposed around a corresponding one of the at least one support hole for receiving the second planetary gear unit.

[0010] According to the above speed change mechanism, the first planetary gear and the second planetary gear are arranged at both ends of the planetary gear support portion.

[0011] According to the above-described transmission mechanism, the first planetary gear train and the second planetary gear train are arranged on the same side of the first flange, and the second planetary gear train is closer to the first flange than the first planetary gear train. The first flange includes an eccentric shaft accommodating portion that penetrates the first flange. The eccentric shaft penetrates the eccentric shaft accommodating portion so that the eccentric shaft external teeth are arranged on the same side of the first flange as the first planetary gear train and the second planetary gear train.

[0012] The speed change mechanism of the present application transmits power between a rotating shaft and an eccentric shaft via at least one planetary gear set, and the at least one planetary gear set, the rotating shaft, and the eccentric shaft are provided with external teeth, thereby providing a wide range of speed ratios while reducing production costs.

[0013] Other features, advantages, and embodiments of the present application may be described in detail or may become apparent by considering the following specific embodiments, the accompanying drawings, and the claims. Furthermore, it should be understood that the summary and the following specific embodiments are all exemplary and are intended to provide further explanation, but are not intended to limit the scope of protection of the present application. However, the specific embodiments and specific examples merely represent preferred embodiments of the present application. Various variations and modifications within the spirit and scope of the present application will be apparent to those skilled in the art from the specific embodiments. [Brief explanation of the drawings]

[0014] These and other features and advantages of the present application may be better understood by reading the following detailed description in conjunction with the accompanying drawings, in which like reference numerals represent like parts throughout the figures. [Figure 1A] FIG. 1A is a perspective view of one embodiment of a transmission mechanism according to the present application, viewed from right to left. [Figure 1B] FIG. 1B is a perspective view of the transmission mechanism shown in FIG. 1A, viewed from left to right. [Figure 1C] FIG. 1C is a cross-sectional view of the transmission mechanism shown in FIG. 1A. [Figure 2A] FIG. 2A is a perspective view of the rotating shaft of the speed change mechanism shown in FIG. 1C, viewed from right to left. [Figure 2B] FIG. 2B is an axial cross-sectional view of the rotating shaft shown in FIG. 2A. [Figure 3A] 3A is a perspective view of the eccentric shaft of the speed change mechanism shown in FIG. 1C, viewed from right to left. [Figure 3B] FIG. 3B is an axial cross-sectional view of the eccentric shaft shown in FIG. 3A. [Figure 4A] FIG. 4A is an exploded view of the planetary gear unit of the speed change mechanism shown in FIG. 1C, seen from right to left. [Figure 4B] 4B is an axial cross-sectional view of the planetary gear device of the speed change mechanism shown in FIG. 1C. [Figure 5A] 5A is a perspective view of the first flange of the speed change mechanism shown in FIG. 1C, viewed from right to left. [Figure 5B] FIG. 5B is a perspective view of the first flange shown in FIG. 5A viewed from left to right. [Figure 5C] FIG. 5C is an axial cross-sectional view of the first flange shown in FIG. 5A. [Figure 6A] 6A is a perspective view of the second flange of the speed change mechanism shown in FIG. 1C, viewed from right to left. [Figure 6B] FIG. 6B is a perspective view of the second flange shown in FIG. 6A viewed from left to right. [Figure 6C] FIG. 6C is an axial cross-sectional view of the second flange shown in FIG. 6A. [Figure 7A]FIG. 7A is a perspective view of the connecting transmission parts of the speed change mechanism shown in FIG. 1C. [Figure 7B] FIG. 7B is an axial cross-sectional view of the coupling transmission part shown in FIG. 7A. [Figure 8A] 8A is a perspective view of an auxiliary transmission component of the speed change mechanism shown in FIG. 1C. [Figure 8B] FIG. 8B is an axial cross-sectional view of the auxiliary transmission component shown in FIG. 8A. [Figure 9] FIG. 9 is a perspective view of the first inner wheel and the second inner wheel of the transmission mechanism shown in FIG. 1C. [Figure 10A] FIG. 10A is a perspective view of an outer wheel of the transmission mechanism shown in FIG. 1C. [Figure 10B] FIG. 10B is an axial cross-sectional view of the outer wheel shown in FIG. 10A. [Figure 11A] FIG. 11A is a side view of the transmission mechanism shown in FIG. 1C viewed from right to left. [Figure 11B] 11B is a cross-sectional view of the transmission mechanism shown in FIG. 1C taken along line AA in FIG. 11A. [Figure 12] FIG. 12 is an axial cross-sectional view of another embodiment of a speed change mechanism according to the present application. DETAILED DESCRIPTION OF THE INVENTION

[0015] Specific embodiments of the present application are described below with reference to the accompanying drawings, which form a part of this description. Terms such as "left" and "right," as well as "outside" and "inside," are used herein to describe various exemplary structural parts and elements, but it should be appreciated that these terms as used herein are determined solely for ease of description and based on the exemplary orientations shown in the accompanying drawings. Because the embodiments disclosed herein can be oriented in different directions, these directional terms are merely exemplary and should not be considered limiting. Note that identical parts are designated by the same reference numerals in the following drawings.

[0016] In the transmission mechanism 100 of the present application, the rotating shaft 112, the outer wheel 102, and the first flange 104 and second flange 106, which are connected to each other, move relative to each other, thereby outputting power through the transmission mechanism 100, allowing the transmission mechanism 100 to achieve the purpose of deceleration or acceleration. When the rotating shaft 112 functions as a power input component (i.e., connected to a driving component) and the transmission mechanism 100 needs to achieve deceleration, the outer wheel 102 is fixed and the first flange 104 and / or the second flange 106 function as a power output component (i.e., connected to a driven component), or the first flange 104 and the second flange 106 are fixed and the outer wheel 102 functions as a power output component. When the outer wheel 102 is the power input component and the transmission mechanism 100 needs to achieve acceleration, the first flange 104 and the second flange 106 may be fixed and the rotating shaft 112 may function as a power output component. When the first flange 104 and / or the second flange 106 function as a power input component and the transmission mechanism 100 needs to achieve acceleration, the outer wheel 102 may be fixed and the rotating shaft 112 may function as a power output component. For ease of explanation, the following describes an example in which the rotating shaft 112 functions as a power input component, the outer wheel 102 is fixed, and the second flange 106 functions as a power output component to achieve deceleration.

[0017] FIG. 1A is a right-to-left perspective view of one embodiment of a transmission mechanism 100 according to the present disclosure. FIG. 1B is a left-to-right perspective view of the transmission mechanism 100 shown in FIG. 1A. FIG. 1C is a cross-sectional view of the transmission mechanism shown in FIG. 1A, showing more components of the transmission mechanism 100. As shown in FIGS. 1A-1C, the transmission mechanism 100 includes an outer wheel 102, a first flange 104, a second flange 106, a first inner wheel 131, a second inner wheel 132, a connecting transmission component 110, an auxiliary transmission component 120, an eccentric shaft 108, planetary gear sets 151, 152, and 153, and a rotating shaft 112. The first inner wheel 131, the second inner wheel 132, the first flange 104, and the second flange 106 are arranged side by side and supported by the outer wheel 102. The first flange 104 and the second flange 106 are disposed on two sides of the first inner wheel 131 and the second inner wheel 132, respectively, and are rigidly connected to each other via a connecting transmission piece 110. The connecting transmission piece 110 passes through the first flange 104, the first inner wheel 131, the second inner wheel 132, and the second flange 106 so as to hold the first inner wheel 131 and the second inner wheel 132 between the first flange 104 and the second flange 106. The auxiliary transmission piece 120 passes through the first inner wheel 131, the second inner wheel 132, and the second flange 106. Planetary gear sets 151, 152, 153 are disposed on the first flange 104. The eccentric shaft 108 passes through the first flange 104, the second flange 106, the first inner wheel 131, and the second inner wheel 132, and can engage with the planetary gear sets 151, 152, and 153. The rotating shaft 112 is disposed to the right of the eccentric shaft 108, and also engages with the planetary gear sets 151, 152, and 153.

[0018] When the transmission mechanism 100 is in operation, the power transmission relationship can be essentially described as follows.

[0019] The rotating shaft 112 engages with the planetary gear sets 151, 152, 153 to rotate the planetary gear sets 151, 152, 153. The planetary gear sets 151, 152, 153 engage with the eccentric shaft 108 to rotate the eccentric shaft 108. The eccentric shaft 108 can rotate the first inner wheel 131 and the second inner wheel 132. The connecting transmission part 110 and the auxiliary transmission part 120 transmit the movement of the first inner wheel 131 and the second inner wheel 132 to the first flange 104 and the second flange 106, causing the first flange 104 and the second flange 106 to rotate. The first flange 104 and the second flange 106 are connected to a driven part (not shown) to achieve speed change and torque output.

[0020] The specific configuration of each component in transmission mechanism 100 will be described in detail below with reference to FIGS. 2A to 11B.

[0021] FIG. 2A is a right-to-left perspective view of the rotating shaft 112 of the transmission mechanism 100 shown in FIG. 1C. FIG. 2B is an axial cross-sectional view of the rotating shaft 112 shown in FIG. 2A, illustrating a specific configuration of the rotating shaft 112. As shown in FIGS. 2A-2B, the rotating shaft 112 is substantially cylindrical and has a central axis X. The circumferential surface of the left end of the rotating shaft 112 is provided with rotating shaft external teeth 202 for engaging with the first row of planetary teeth 411 of the planetary gear units 151, 152, and 153 (see FIGS. 4A-4B). The rotating shaft 112 is provided with an internal housing portion 208 and a fastener receiving portion 212 inside. The internal housing portion 208 extends inward from the right side of the rotating shaft 112 and is intended to house an output component of a driving component (e.g., a rotating shaft of a motor). The internal housing portion 208 also has a central axis X. The internal housing 208 has a key slot 210 formed on its side to prevent the output end of the drive component from rotating about the central axis X relative to the rotary shaft 112. The rotary shaft 112 further has a fastener receiving portion 212 therein for receiving a fastener. The fastener receiving portion 212 is disposed perpendicular to the central axis X. After the output end of the drive component is inserted into the internal housing 208, a fastener can be inserted into the fastener receiving portion 212 to abut against the output end of the drive component to prevent the output end of the drive component from moving along the central axis X relative to the rotary shaft 112.

[0022] FIG. 3A is a right-to-left perspective view of the eccentric shaft 108 of the transmission mechanism 100 shown in FIG. 1C. FIG. 3B is an axial cross-sectional view of the eccentric shaft 108 shown in FIG. 3A, illustrating the specific structure of the eccentric shaft 108. As shown in FIGS. 3A and 3B, the eccentric shaft 108 includes an eccentric shaft body 318 having a substantially cylindrical central axis Y. The eccentric shaft 108 includes an eccentric shaft engaging portion 310 extending radially outward from the eccentric shaft body 318. The eccentric shaft engaging portion 310 has an outer peripheral surface provided with eccentric shaft external teeth 301 for engaging with the second row of planetary teeth 431 of the planetary gear sets 151, 152, and 153 (see FIG. 4B). The eccentric shaft 108 further includes a first eccentric portion 311 and a second eccentric portion 312 disposed to the left of the eccentric shaft engaging portion 310. The first eccentric portion 311 and the second eccentric portion 312 are arranged symmetrically and eccentrically with respect to the central axis Y, and have the same eccentricity. The first eccentric portion 311 and the second eccentric portion 312 are both circular rings arranged eccentrically with respect to the central axis Y of the eccentric shaft 108. The outer circumferential surface of the first eccentric portion 311 and the outer circumferential surface of the second eccentric portion 312 have the same diameter. More specifically, the first eccentric portion 311 and the second eccentric portion 312 have a first inner wheel central axis N1 and a second inner wheel central axis N2, respectively. The first inner wheel central axis N1 and the second inner wheel central axis N2 are at a distance e from the central axis Y of the eccentric shaft 108. The distance e is greater than 0. The first inner wheel central axis N1 and the second inner wheel central axis N2 are arranged symmetrically with respect to the central axis Y. That is, there is an axial phase difference of 180° between the first eccentric portion 311 and the second eccentric portion 312. When the eccentric shaft 108 rotates around its central axis Y, the first inner wheel central axis N1 of the first eccentric portion 311 and the second inner wheel central axis N2 of the second eccentric portion 312 both rotate around the central axis Y.

[0023] The right end of the eccentric shaft body 318 extends along the central axis Y beyond the first eccentric portion 311 and forms a first support portion 321 that abuts against the inner wall of the first flange bearing 1104 (see FIG. 11B). Because the eccentric shaft engagement portion 310 extends radially beyond the first support portion 321, it is possible to restrict leftward axial movement of the first flange bearing 1104. The left end of the eccentric shaft body 318 extends along the central axis Y beyond the second eccentric portion 312 and forms a second support portion 322 that abuts against the inner wall of the second flange bearing 1106 (see FIG. 11B). Because the second eccentric portion 312 extends radially beyond the second support portion 322, it is possible to restrict rightward axial movement of the second flange bearing 1106.

[0024] 1A to 1C, planetary gear set 151, planetary gear set 152, and planetary gear set 153 have the same structure and are evenly arranged on first flange 104. For easier explanation, planetary gear set 151 is taken as an example for the following structural description with reference to FIGS. 4A to 4B.

[0025] FIG. 4A is an exploded view of the planetary gear set 151 of the transmission mechanism 100 shown in FIG. 1C, viewed from right to left. FIG. 4B is a cross-sectional view of the planetary gear set 151 of the transmission mechanism shown in FIG. 1C, illustrating the specific structure of the planetary gear set 151. As shown in FIGS. 4A-4B, the planetary gear set 151 includes a first planetary gear 401, a planetary gear support portion 421, and a second planetary gear 402. The first planetary gear 401, the planetary gear support portion 421, and the second planetary gear 402 have a central axis Z. The first planetary gear 401 is provided with a first row of planetary teeth 411 for engaging with the rotating shaft external teeth 202. The second planetary gear 402 is provided with a second planetary gear 431 for engaging with the eccentric shaft external teeth 301. The planetary gear support portion 421 is used to arrange the planetary gear bearing 1133 (see FIG. 11B). In this embodiment, the second planetary gear 402 and the planetary gear support portion 421 are integrally formed. A right end portion of the planetary gear support portion 421 has a substantially rectangular connecting portion 444 for connecting with the first planetary gear 401. The first planetary gear 401 has a connecting receiving portion 445 that passes through the second planetary gear 402 and is used to receive the connecting portion 444 to enable the first planetary gear 401 and the second planetary gear 402 to be connected together so that the first planetary gear 401 and the second planetary gear 402 rotate together around the central axis Z.

[0026] Those skilled in the art will understand that although the first planetary gear 401 is integrally formed with the planetary gear support portion 421 and is connected to the second planetary gear 402 in this embodiment, the first planetary gear 401 and the second planetary gear 402 can be connected to each other in any manner within the scope of protection of the present application.

[0027] FIG. 5A is a right-to-left perspective view of the first flange 104 of the transmission mechanism 100 shown in FIG. 1C. FIG. 5B is a left-to-right perspective view of the first flange 104 shown in FIG. 5A. FIG. 5C is an axial cross-sectional view of the first flange 104 shown in FIG. 5A. Specifically, the first flange 104 includes a first flange main body 512 and a first flange protrusion 514. The first flange main body 512 is generally ring-shaped and has a central axis E. The first flange protrusion 514 is disposed on the right side of the first flange main body 512 and extends radially from the first flange main body 512. The first flange main body 512 and the first flange protrusion 514 form a step 516 used to receive a ball in a first outboard wheel bearing assembly 1114 (see FIG. 11B) and limit rightward axial movement of the first outboard wheel bearing assembly 1114.

[0028] The first flange 104 is provided with an eccentric shaft accommodating portion 508 that penetrates the first flange 104 in the transverse direction and accommodates the eccentric shaft 108. Specifically, the size of the left portion of the eccentric shaft accommodating portion 508 is larger than the size of the right portion of the eccentric shaft accommodating portion 508, and the left portion of the eccentric shaft accommodating portion 508 is capable of accommodating the eccentric shaft external teeth 301 of the eccentric shaft 108, while the right portion of the eccentric shaft accommodating portion 508 is capable of accommodating the first support portion 321 of the eccentric shaft 108 and the first flange bearing 1104 that covers the first support portion 321 (see FIG. 11B ). More specifically, the right portion of the eccentric shaft accommodating portion 508 is provided with an inner wall 528 that comes into contact with the outer wall of the first flange bearing 1104.

[0029] The first flange 104 is further provided with three support holes 504 that penetrate the first flange 104 in the transverse direction. The three support holes 504 are evenly arranged in the circumferential direction of the first flange 104. The first flange 104 is further provided with three planetary gear accommodating portions 506. Each of the three planetary gear accommodating portions 506 is arranged around a corresponding one of the three support holes 504. The right portion of the planetary gear accommodating portion 506 can accommodate the planetary gear support portion 421 and the planetary gear bearing 1133 that is fitted on the planetary gear support portion 421. The planetary gear receiving portion 506 is used to receive the second planetary gear 402, and when the planetary gear set 151, 152, 153 and the eccentric shaft 108 are placed in position, the second row of planetary teeth 431 on the second planetary gear 402 can engage with the eccentric shaft external teeth 301 on the eccentric shaft 108.

[0030] The first flange 104 is further provided with nine coupling transmission component mounting portions 510 that penetrate transversely through the first flange 104. Each group of three coupling transmission component mounting portions 510 is evenly spaced between the two planetary gear unit accommodating portions 506. All nine coupling transmission component mounting holes 510 are counterbore holes used to receive the coupling transmission components 110 (see FIG. 11B).

[0031] FIG. 6A is a right-to-left perspective view of the second flange 106 of the transmission mechanism 100 shown in FIG. 1C. FIG. 6B is a left-to-right perspective view of the second flange 106 shown in FIG. 6A. FIG. 6C is an axial cross-sectional view of the second flange 106 shown in FIG. 6A. Specifically, the second flange 106 includes a second flange main body 604 and a second flange protrusion 606. The second flange main body 604 is generally ring-shaped and has a central axis F. The second flange protrusion 606 is disposed on the left side of the second flange main body 604 and extends radially from the second flange main body 604. The second flange main body 604 and the second flange protrusion 606 form a shoulder 608 that receives a ball in the second outboard wheel bearing assembly 1116 (see FIG. 11B) and is used to limit axial leftward movement of the second outboard wheel bearing assembly 1116.

[0032] The second flange 106 has an internal accommodating space 641 that penetrates the second flange main body 604 in the transverse direction and accommodates the second support portion 322. A radially extending groove 653 is formed on the inner wall of the internal accommodating space 641. The inner wall 651 on the right side of the groove 653 is used to receive the second flange bearing 1106 (see FIG. 11B), and the groove 653 is used to attach a stop seat 1108 (see FIG. 11B) and restricts the second flange bearing 1106 from moving axially to the left.

[0033] The second flange 106 further has nine connecting transmission component attachment portions 631 and three auxiliary transmission component attachment portions 632 that are evenly arranged around the circumference of the second flange 106 and are used to receive nine connecting transmission components 110 and three auxiliary transmission components 120 (see FIG. 1C ). Each of the nine connecting transmission component attachment portions 631 has a thread that mates with a thread on one end of a connecting transmission component 110, allowing the second flange 106 to be connected to the connecting transmission component 110. As shown in FIGS. 1A and 11A , the transmission mechanism 100 of this embodiment is provided with nine connecting transmission components 110. Each of the connecting transmission components 110 has the same structure and is used to connect the first flange 104 and the second flange 106 together and transmit power from the first inner wheel 131 and the second inner wheel 132 to the first flange 104 and the second flange 106.

[0034] FIG. 7A is a perspective view of the connecting transmission part 110 of the transmission mechanism 100 shown in FIG. 1C. FIG. 7B is an axial cross-sectional view of the connecting transmission part 110 shown in FIG. 7A. As shown in FIGS. 7A-7B, the connecting transmission part 110 includes a pin 725, a sleeve 727, and a fastener 722. In this embodiment, the fastener 722 is a nut. The pin 725 is substantially cylindrical, and its diameter is larger at the center and smaller at the two ends. The sleeve 727 is fitted over the central part of the pin 725, which has a larger diameter. The central parts of the pin 725 and the sleeve 727 are housed in the inner wheel through-holes 921 (see FIG. 9) of the first inner wheel 131 and the second inner wheel 132 to transmit power from the first inner wheel 131 and the second inner wheel 132 to the first flange 104 and the second flange 106. The sleeve 727 is used to protect the pin 725 from wear. The two ends of pin 725 having the smaller diameter are provided with threads. The threads on the left end of pin 725 can mate with the threads of coupling transfer component attachment portion 631 so that pin 725 can be connected to second flange 106. The threads on the right end of pin 725 can mate with the threads of fastener 722 so that pin 725 can be connected to first flange 104.

[0035] 1A and 11A, the transmission mechanism 100 according to this embodiment is provided with three auxiliary transmission parts 120. Each auxiliary transmission component 120 has the same structure and is used to transmit power from the first inner wheel 131 and the second inner wheel 132 to the second flange 106. Because the first flange 104 and the second flange 106 are connected to each other, the auxiliary transmission components 120 can transmit power from the first inner wheel 131 and the second inner wheel 132 to the first flange 104 and the second flange 106.

[0036] FIG. 8A is a perspective view of the auxiliary transmission part 120 of the transmission mechanism 100 shown in FIG. 1C. FIG. 8B is an axial cross-sectional view of the auxiliary transmission part 120 shown in FIG. 8A. As shown in FIGS. 8A-8B, the auxiliary transmission part 120 includes a pin 825 and a sleeve 828. The pin 825 is substantially cylindrical, and its diameter is larger on the right side and smaller on the left side. The left part of the pin 825 is received in the auxiliary transmission part mounting portion 632 of the second flange 106 so as to fit with the second flange 106. The sleeve 828 is fitted over the right part of the pin 825, which has a larger diameter. The right parts of the pin 825 and the sleeve 828 are received in the inner wheel through-holes 921 (see FIG. 9) of the first inner wheel 131 and the second inner wheel 132 to transmit power from the first inner wheel 131 and the second inner wheel 132 to the second flange 106. The sleeve 828 is used to protect the pin 825 from wear.

[0037] 1C and 11B, the transmission mechanism 100 according to this embodiment is provided with a first inner wheel 131 and a second inner wheel 132. In this embodiment, the first inner wheel 131 and the second inner wheel 132 have the same structure and are used to transmit power from the eccentric shaft 108 to the connecting transmission component 110 and the auxiliary transmission component 120.

[0038] FIG. 9 is a perspective view of the first inner wheel 131 and the second inner wheel 132 of the transmission mechanism 100 shown in FIG. 1C. As shown in FIG. 9, the first inner wheel 131 and the second inner wheel 132 are substantially ring-shaped and have a constant thickness. The first inner wheel 131 and the second inner wheel 132 have central axes N1 and N2, respectively. The first inner wheel 131 and the second inner wheel 132 are further provided with a receiving portion 904 that radially penetrates the first inner wheel 131 and the second inner wheel 132. The diameter of a wall 906 of the receiving portion 904 is substantially the same as the outer diameter of the inner wheel bearings 1117, 1118 (see FIG. 11B). As a result, the first inner wheel 131 and the second inner wheel 132 are fitted over the inner wheel bearings 1117, 1118 arranged around the eccentric portions 311, 312. When the eccentric shaft 108 rotates, the eccentric portions 311, 312 of the eccentric shaft 108 can drive the eccentric rotation of the first inner wheel 131 and the second inner wheel 132 via the inner wheel bearings 1117, 1118. In other words, when the eccentric shaft 108 rotates, the eccentric shaft 108 allows the central axes N1, N2 of the first inner wheel 131 and the second inner wheel 132 to rotate around the central axis Y of the eccentric shaft 108 (i.e., the first inner wheel 131 and the second inner wheel 132 can rotate along a circular path around the central axis Y of the eccentric shaft 108). Inner wheel external teeth 911 are provided on the peripheries of the first inner wheel 131 and the second inner wheel 132. The inner wheel external teeth 911 are configured to engage with outer wheel internal teeth 1002 of the outer wheel 102 (see Figures 10A and 10B). More specifically, when the first inner wheel 131 and the second inner wheel 132 move, at least some of the inner wheel external teeth 911 can engage with the outer wheel internal teeth 1002 of the outer wheel 102. There is a difference in the number of teeth between the inner wheel external teeth 911 and the outer wheel internal teeth 1002. The number of the outer wheel internal teeth 1002 is greater than the number of the inner wheel external teeth 911 (i.e., the difference in the number of teeth is an integer greater than zero).When the first inner wheel 131 and the second inner wheel 132 are driven by the eccentric shaft 108 to rotate eccentrically with the outer wheel 102, the first inner wheel 131 and the second inner wheel 132 rotate (auto-rotate) due to engagement between the inner wheel external teething 911 and the outer wheel internal teething 1002. In this way, the eccentric shaft 108 enables the first inner wheel 131 and the second inner wheel 132 to rotate within the outer wheel 102 along a circular path and on their own axis.

[0039] The first inner wheel 131 and the second inner wheel 132 further include twelve inner wheel through holes 921 that are evenly arranged around the central axes N1, N2 in the circumferential direction and are used to accommodate the connecting transmission part 110 and the auxiliary transmission part 120. The outer diameter of the sleeve 727 of the connecting transmission part 110 is the same size as the outer diameter of the sleeve 828 of the auxiliary transmission part 120, and therefore the twelve inner wheel through holes 921 have the same size. Gaps are provided between the walls of the inner wheel through holes 921 and the peripheries of the sleeves 727 and 828, so that when the first inner wheel 131 and the second inner wheel 132 rotate eccentrically, the first flange 104 and the second flange 106 can be driven to rotate together via the connecting transmission part 110 and the auxiliary transmission part 120.

[0040] Figure 10A is a perspective view of the outer wheel 102 of the transmission mechanism 100 shown in Figure 1C. Figure 10B is an axial cross-sectional view of the outer wheel 102 shown in Figure 10A. As shown in Figures 10A and 10B, the outer wheel 102 is substantially ring-shaped and has an outer wheel central axis O. The outer wheel 102 has a accommodating portion 1012 that penetrates the outer wheel 102. An outer wheel internal toothing 1002 that can engage with the inner wheel external toothing 911 of the first inner wheel 131 and the second inner wheel 132 is provided at the center of the wall of the accommodating portion 1012.

[0041] The outer wheel 102 further includes a first support portion 1004 and a second support portion 1006 respectively arranged on the left and right of the inner teeth 1002 of the outer wheel. The first support portion 1004 is used to support the first outer wheel bearing assembly 1114, and the second support portion 1006 is used to support the second outer wheel bearing assembly 1116 (see FIG. 11B).

[0042] FIG. 11A is a side view of the transmission mechanism 100 shown in FIG. 1C as viewed from right to left. FIG. 11B is a cross-sectional view of the transmission mechanism shown in FIG. 1C along the line A-A of FIG. 11A, showing the relative positions and mating relationships of the components in the transmission mechanism 100. The rotating shaft 112, the eccentric shaft 108, the first flange 104, and the second flange 106 are arranged coaxially with the outer wheel 102. A first inner wheel bearing 1117 is provided on the first eccentric portion 311 of the eccentric shaft 108. A second inner wheel bearing 1118 is provided on the second eccentric portion 312 of the eccentric shaft 108. Specifically, the inner wall of the first inner wheel bearing 1117 contacts the outer peripheral surface of the first eccentric portion 311, the outer wall of the first inner wheel bearing 1117 contacts the wall 906 of the accommodating portion 904 of the first inner wheel 131, and the first inner wheel 131 is covered by the first eccentric portion 311. When the eccentric shaft 108 rotates about the central axis O, the first inner wheel 131 can rotate along a circular orbit centered on the central axis O. That is, the first inner wheel central axis N1 of the first inner wheel 131 rotates (i.e., translates) about the central axis O. The inner wall of the second inner wheel bearing 1118 contacts the outer peripheral surface of the second eccentric portion 312, the outer wall of the second inner wheel bearing 1118 contacts the wall 906 of the accommodating portion 904 of the second inner wheel 132, and the second inner wheel 132 is covered by the second eccentric portion 312. When the eccentric shaft 108 rotates about the central axis O, the second inner wheel 132 rotates along a circular orbit centered on the central axis O. That is, the second inner wheel central axis N2 of the second inner wheel 132 rotates (translates) about the central axis O.

[0043] The first inner wheel 131 and the second inner wheel 132 have the same structure, and are disposed symmetrically and eccentrically about the central axis O. Therefore, when the eccentric shaft 108 drives the first inner wheel 131 and the second inner wheel 132 to rotate, the phase difference between the first inner wheel 131 and the second inner wheel 132 is always 180°, and the first inner wheel 131 and the second inner wheel 132 can maintain dynamic balance as a whole when they move.

[0044] Furthermore, both the first inner wheel 131 and the second inner wheel 132 engage with the outer wheel 102. Specifically, when the eccentric shaft 108 drives the first inner wheel 131 and the second inner wheel 132 to rotate along a circular orbit, there is a difference in the number of teeth between the inner wheel external teeth 911 and the outer wheel internal teeth 1002, and the outer wheel 102 is fixed, so the first inner wheel 131 and the second inner wheel 132 can rotate around their respective central axes (i.e., the first inner wheel central axis N1 and the second inner wheel central axis N2). In other words, the first inner wheel 131 and the second inner wheel 132 rotate on their own axes while rotating along a circular orbit (eccentric rotation).

[0045] The first flange 104 and the second flange 106 are respectively arranged on two side surfaces of the first inner wheel 131 and the second inner wheel 132, and the first flange 104 and the second flange 106 are connected to each other via a connecting transmission part 110. The first inner wheel 131 and the second inner wheel 132 drive the first flange 104 and the second flange 106 to rotate via the connecting transmission part 110. The first flange 104 is arranged on the right side of the inner wheel 131, and the second flange 106 is arranged on the left side of the inner wheel 132.

[0046] Specifically, the first flange 104 is placed over the eccentric shaft 108 via the first flange bearing 1104, and is disposed on the outer wheel 102 via the first outer wheel bearing assembly 1114. The inner wall of the first flange bearing 1104 contacts the first support portion 321, and the outer wall of the first flange bearing 1104 contacts the inner wall 528 of the eccentric shaft accommodating portion 508 of the first flange 104. The balls in the first outer wheel bearing assembly 1114 abut against the step portion 516 of the first flange 104, and the outer wall of the first outer wheel bearing assembly 1114 abuts against the first support portion 1004 of the outer wheel 102.

[0047] Similarly, the second flange 106 is placed over the eccentric shaft 108 via a second flange bearing 1106, and is disposed on the outer wheel 102 via a second outboard wheel bearing assembly 1116. The inner wall of the second flange bearing 1106 contacts the second support 322, and the outer wall of the second flange bearing 1106 contacts the inner wall 651 of the second flange body 604. The balls in the second outboard wheel bearing assembly 1116 abut against the step 608 of the second flange 106, and the outer wall of the second outboard wheel bearing assembly 1116 contacts the second support 1006 of the outer wheel 102, so that the second flange 106 is attached to the outer wheel 102 via the second outboard wheel bearing assembly 1116.

[0048] Thus, both the first flange 104 and the second flange 106 can rotate about the central axis O relative to the outer wheel 102 .

[0049] The first flange 104 and the second flange 106 are connected to each other via a pin 725 and a fastener 722 in the connecting transmission element 110, and the first inner wheel 131 and the second inner wheel 132 are driven via the connecting transmission element 110, the first flange 104, and the second flange 106 to rotate about a central axis O. Specifically, the threads on the left end of the pin 725 mate with the threads in the connecting transmission element mounting portion 631 on the second flange 106 so that the pin 725 is connected to the second flange 106. The right end of the pin 725 passes through the connecting transmission element mounting hole 510 of the first flange 104 from the left side of the first flange 104, and the fastener 722 is fitted over the right side of the first flange 104 and the right end of the pin 725. The threads on fastener 722 mate with the threads on the right end of pin 725, thereby connecting first flange 104 and second flange 106 together.

[0050] Each of the planetary gear units 151, 152, and 153 is supported on the first flange 104. Specifically, a planetary gear bearing 1133 is fitted over the planetary gear support portion 421 of each of the planetary gear units 151, 152, and 153, passes through the support hole 504 of the first flange 104 from the left side, and extends outward from the right side of the first flange 104. The left end of the planetary gear support portion 421 is connected to the second planetary gear 402, and the right end of the planetary gear support portion 421 is connected to the first planetary gear 401, and the three planetary gear units 151, 152, and 153 are rotatably supported on the first flange 104. The second row of planetary teeth 431 on the second planetary gears 402 of the three planetary gear sets 151, 152, 153 engage with the eccentric shaft external teeth 301 of the eccentric shaft 108, so that the three planetary gear sets 151, 152, 153 can be driven to rotate the eccentric shaft 108.

[0051] The rotating shaft 112 is disposed on the right side of the first flange 104 and is disposed between the three planetary gear sets 151, 152, and 153. The right end of the rotating shaft 112 is connected to a drive component (not shown) and configured to allow the rotating shaft 112 to rotate. The rotating shaft external teeth 202 on the left end of the rotating shaft 112 engage with the first row of planetary teeth 411 of the planetary gear sets 151, 152, and 153, so that the rotating shaft 112 can drive and rotate the three planetary gear sets 151, 152, and 153.

[0052] Furthermore, the first inner wheel 131 and the second inner wheel 132 can also drive the second flange 106 to rotate about the central axis O via the auxiliary transmission part 120. Specifically, a left portion of the pin 825 of the auxiliary transmission part 120 is housed in the auxiliary transmission part mounting portion 632 of the second flange 106, and right portions of the pin 825 and the sleeve 828 are housed in the inner wheel through-holes 921 of the first inner wheel 131 and the second inner wheel 132. When the first inner wheel 131 and the second inner wheel 132 rotate, the second flange 106 can be driven to rotate via the auxiliary transmission part 120.

[0053] The process of torque / power transmission during operation of the transmission mechanism 100 will be described in detail below, taking an example in which the outer wheel 102 is fixed (i.e., the outer wheel 102 does not translate or rotate), the first flange 104 and / or the second flange 106 act as the output component, and the rotating shaft 112 acts as the input component.

[0054] A drive component (e.g., a motor, not shown) drives the rotating shaft 112 to rotate about the central axis O. The external rotating shaft teeth 202 of the rotating shaft 112 engage with the first row of planetary teeth 411 of the three planetary gear sets 151, 152, and 153, allowing the three planetary gear sets 151, 152, and 153 to rotate about their respective central axes (i.e., rotate on their own axes). The second row of planetary teeth 431 of the three planetary gear sets 151, 152, and 153 engage with the external eccentric shaft teeth 301 of the eccentric shaft 108, so that the rotation of the three planetary gear sets 151, 152, and 153 drives the eccentric shaft 108 to rotate about the central axis O. The eccentric shaft 108 drives the first inner wheel 131 and the second inner wheel 132 via the first eccentric part 311 and the second eccentric part 312 to rotate along a circular path (i.e., the first inner wheel central axis N1 and the second inner wheel central axis N2 rotate about the central axis O). The inner wheel external teeth 911 of the first inner wheel 131 and the second inner wheel 132 engage with the outer wheel internal teeth 1002 of the outer wheel 102, and the first inner wheel 131 and the second inner wheel 132 rotate on their own axes (i.e., the first inner wheel 131 and the second inner wheel 132 can rotate about their respective central axes N1, N2). In this way, the first inner wheel 131 and the second inner wheel 132 can rotate on their own axes while rotating along a circular path.

[0055] When the first inner wheel 131 and the second inner wheel 132 rotate along a circular path and on their own axes, the connecting transmission part 110 (including the pin 725 and the sleeve 727) and the auxiliary transmission part 120 transmit the rotation of the first inner wheel 131 and the second inner wheel 132 to the first flange 104 and the second flange 106 on their own axes by means of the connecting transmission part 110 (including the pin 725 and the sleeve 727) and the auxiliary transmission part 120 which fit with the inner wheel through-holes 921 of the first inner wheel 131 and the second inner wheel 132, so that the first flange 104 and the second flange 106 rotate about the central axis O. The first flange 104 and / or the second flange 106 may be connected to a driven device (not shown). This allows the torque of the drive mechanism to be output to the driven device via the speed change mechanism 100.

[0056] When the outer wheel 102 is fixed (i.e., the outer wheel 102 does not rotate translationally), and the first flange 104 and / or the second flange 106 act as output components and the rotating shaft 112 acts as an input component, the three planetary gear sets 151, 152, 153 are rotatably supported on the first flange 104 via the support holes 504, so that the rotation of the first flange 104 also drives the three planetary gear sets 151, 152, 153 to rotate along a circular path (i.e., the three planetary gear sets 151, 152, 153 rotate around the central axis O). However, the rotation of the three planetary gear sets 151, 152, 153 along the circular path does not prevent the second row of planet teeth 431 of the three planetary gear sets 151, 152, 153 from rotating the eccentric shaft 108.

[0057] It should be noted that, because the first flange 104 and the second flange 106 are attached to the outer wheel 102 via the first outer wheel bearing assembly 1114 and the second outer wheel bearing assembly 1116, the first flange 104 and the second flange 106 only rotate about the central axis O. Therefore, when power is transmitted from the first inner wheel 131 and the second inner wheel 132 to the first flange 104 and the second flange 106, only the rotation of the first inner wheel 131 and the second inner wheel 132 about their own axes is transmitted to the first flange 104 and the second flange 106, and the rotation of the first inner wheel 131 and the second inner wheel 132 along a circular path is not transmitted to the first flange 104 and the second flange 106.

[0058] In this embodiment, when the first row of planetary teeth 411 and the rotating shaft external teeth 202 have a first tooth number difference, the second row of planetary teeth 431 and the eccentric shaft external teeth 301 have a second tooth number difference, and the inner wheel external teeth 911 and the outer wheel internal teeth 1002 have a third tooth number difference, the transmission mechanism 100 can achieve three-stage speed change. Specifically, the three-stage speed change includes a first stage speed change, a second stage speed change, and a third stage speed change. The first stage speed change is achieved at a speed ratio i1 between the rotating shaft external teeth 202 of the rotating shaft 112 and the first row of planetary teeth 411 of the planetary gear sets 151, 152, and 153. The second stage speed change is achieved at a speed ratio i2 between the second row of planetary teeth 431 of the planetary gear sets 151, 152, and 153 and the eccentric shaft external teeth 301 of the eccentric shaft 108. The third speed change is realized by a speed change from the first inner wheel 131 and the second inner wheel 132 to the first flange 104 and the second flange 106 at a speed ratio i3. Specifically, the number of teeth of the rotating shaft external teeth 202 of the rotating shaft 112 is Z a and the number of planetary teeth 411 in the first row of the planetary gear devices 151, 152, and 153 is Z b1 and the number of planetary teeth 431 in the second row of the planetary gear devices 151, 152, and 153 is Z b2 and the number of teeth of the eccentric shaft outer teeth 301 of the eccentric shaft 108 is Z c and the number of teeth of the inner wheel outer teeth 911 of the first inner wheel 131 and the second inner wheel 132 is Z dand the number of teeth of the outer wheel inner teeth 1002 of the outer wheel 102 is Z e is.

[0059] The first stage speed ratio i1 satisfies the following equation.

number

[0060] The second stage speed ratio i2 satisfies the following equation.

number

[0061] The third stage speed ratio i3 satisfies the following equation.

number

[0062] Therefore, the overall speed ratio I satisfies the following equation:

number

[0063] As described herein, the transmission mechanism 100 of the present application has four transmission modes: (1) when the transmission mechanism 100 needs to achieve deceleration, the outer wheel 102 is fixed, the rotating shaft 112 is the power input component, and the first flange 104 and / or the second flange 106 is the power output component; (2) when the transmission mechanism 100 needs to achieve deceleration, the first flange 104 and the second flange 106 are fixed, and the rotating shaft 112 is the power input component; (3) when the transmission mechanism 100 needs to achieve acceleration, the outer wheel 102 is fixed, the first flange 104 and / or the second flange 106 are the power input component, and the rotating shaft 112 is the power output component; and (4) when the transmission mechanism 100 needs to achieve acceleration, the first flange 104 and the second flange 106 are fixed, and the outer wheel 102 functions as the power input component, and the rotating shaft 112 functions as the power output component. These are the speed ratio steps and total speed ratios in the first speed change mode. Similarly, the speed ratio steps and total speed ratios in the other three speed change modes may also be calculated.

[0064] Specifically, in the second speed change mode (i.e., when the transmission mechanism 100 needs to achieve deceleration, the first flange 104 and the second flange 106 are fixed, the rotating shaft 112 functions as a power input component, and the outer wheel 102 functions as a power output component), the first-stage speed ratio k1 and the second-stage speed ratio k2 are the same as the first-stage speed ratio i1 and the second-stage speed ratio i2 in the first-stage speed change mode. However, because the first flange 104 and the second flange 106 are fixed in the second speed change mode, the planetary gear sets 151, 152, 153 in the second speed change mode do not rotate along a circular orbit, and therefore the third-stage speed ratio k3 in the second speed change mode satisfies the following equation:

number

[0065] Therefore, the overall speed ratio K of the transmission mechanism 100 satisfies the following equation.

number

[0066] In the above-mentioned third speed change mode (i.e., when the transmission mechanism 100 needs to achieve acceleration, the outer wheel 102 is fixed, the first flange 104 and / or the second flange 106 functions as the power input component, and the rotating shaft 112 functions as the power output component), based on the shifting order in the first speed change mode, it will be easily understood by those skilled in the art that the shifting order in the third speed change mode is the reverse order of the shifting order in the first speed change mode, and therefore the shifting order will not be described in detail. A three-speed transmission may also be achieved, and the overall speed ratio m satisfies the following equation:

number

[0067] Similarly, in the above-mentioned fourth speed change mode (i.e., when the transmission mechanism 100 needs to achieve acceleration, the first flange 104 and the second flange 106 are fixed, the outer wheel 102 functions as the power input component, and the rotating shaft 112 functions as the power output component), based on the speed change order in the second speed change mode, it will be easily understood by those skilled in the art that the speed change order in the fourth speed change mode is the reverse of that in the second mode, and therefore the speed change order will not be described in detail. A three-speed transmission may also be achieved, and the total speed ratio n satisfies the following equation:

number

[0068] Note that if the overall speed ratio is calculated as a positive number, it indicates that the rotation direction of the output component is the same as the rotation direction of the input component. If the overall speed ratio is calculated as a negative number, it indicates that the rotation direction of the output component is opposite to the rotation direction of the input component.

[0069] In conventional transmission mechanisms, one end of a rotating shaft must be attached to an eccentric shaft. The rotating shaft is provided with external teeth, and the eccentric shaft is provided with internal teeth. The eccentric shaft is then engaged with the rotating shaft to rotate the eccentric shaft. This configuration requires a space to accommodate the rotating shaft and the internal teeth, which increases the overall size of the transmission mechanism. Furthermore, machining internal teeth is more difficult than machining external teeth, resulting in lower machining efficiency. For example, for a part with a diameter of 40 mm, machining the external teeth takes only 3 to 15 minutes, while machining the internal teeth takes at least an hour.

[0070] The transmission mechanism 100 of the present application provides at least the following beneficial effects compared to conventional transmission mechanisms.

[0071] First, the transmission mechanism 100 of the present application requires a short processing time and is manufactured at low cost. Specifically, the transmission mechanism 100 of the present application achieves speed change between the rotating shaft 112 and the eccentric shaft 108 by providing planetary gear sets 151, 152, and 153 on the first flange 104. More specifically, in the transmission mechanism 100 of the present application, the rotating shaft 112, the planetary gear sets 151, 152, and 153, and the eccentric shaft 108 are all provided with external teeth, and speed changes are achieved by engagement of the external teeth. Because the external teeth have good machinability and require a short processing time, the transmission mechanism 100 of the present application requires a short processing time and is manufactured at low cost.

[0072] Second, the transmission mechanism 100 of the present application can achieve a larger speed ratio. Specifically, in the transmission mechanism 100 of the present application, the planetary gear devices 151, 152, and 153 include a first row of planetary teeth 411 and a second row of planetary teeth 431, and the transmission mechanism 100 achieves three-stage speed change. Taking the first speed change mode as an example, Z a =14, Z b1 =58, Z b2 =15, Z c =42, Z d =125, Z e= 126, the transmission 100 of the present application can achieve an overall speed ratio I = -1460. However, conventional transmissions can generally achieve speed ratios of less than 200.

[0073] Although the above embodiment includes three planetary gear units 151, 152, and 153, it can be understood by those skilled in the art that the number of planetary gear units is not limited to three, and that at least one planetary gear unit falls within the scope of protection of the present application.

[0074] Furthermore, a person skilled in the art can understand that the number of inner wheels is not limited to two as shown in the embodiment of the present application, and that the multiple inner wheels are configured so as to be able to maintain dynamic balance as a whole during eccentric rotation at rotational speeds.

[0075] In this embodiment, nine connecting transmission components 110 are provided, and therefore the first flange 104 and the second flange 106 are each provided with nine connecting transmission component mounting holes 510 and nine connecting transmission component mounting holes 631, but those skilled in the art will understand that the transmission component 100 is provided with at least two connecting transmission components 110, and the first flange 104 and the second flange 106 are each provided with a corresponding number of connecting transmission component mounting holes 510 and connecting transmission component mounting holes 631.

[0076] In this embodiment, the connecting transmission part mounting hole 510 is a countersunk hole and the connecting transmission part mounting hole 631 is a blind hole, but it will be understood by those skilled in the art that they may be through holes or other shapes as long as they can mate with the connecting transmission part 110.

[0077] In this embodiment, it will be understood by those skilled in the art that the connecting transmission part 110 includes a pin 725, a sleeve 727, and a fastener 722, but it is only necessary that it be able to mate with the first inner wheel 131, the second inner wheel 132, and the second flange 106.

[0078] Although the auxiliary transmission component 120 is provided in this embodiment, those skilled in the art will also understand that the auxiliary transmission component 120 may not be provided in other embodiments.

[0079] In this embodiment, the rotating shaft 112 is positioned on the right side of the first flange 104 and engages with the planetary gear devices 151, 152, and 153, but in other embodiments, when the power input component is positioned on the left side of the transmission mechanism 100, it can also be understood by those skilled in the art that the rotating shaft 112 can pass through the internal accommodating space of the eccentric shaft 108, allowing the left portion of the rotating shaft 112 to be connected to the power input component and the rotating shaft external teeth 202 of the right portion to engage with the planetary gear devices 151, 152, and 153.

[0080] FIG. 12 shows an axial cross-sectional view of another embodiment of a transmission mechanism according to the present application. The transmission mechanism 1200 shown in FIG. 12 is substantially the same as the transmission mechanism 100 shown in FIGS. 1A to 11B. For simplicity, the same parts will not be described in detail. The difference is that in the transmission mechanism 100, the first planetary gear 401 and the second planetary gear 402 in the planetary gear sets 151, 152, and 153 are arranged at both ends of the planetary gear support portion 421 (i.e., the first planetary gear 401 and the second planetary gear 402 are arranged on both sides of the first flange 104), and the eccentric shaft engaging portion 310 and the first support portion 321 in the eccentric shaft 108 are arranged sequentially to the right of the first eccentric portion 311. However, in the transmission mechanism 1200 shown in FIG. 12 , the first planetary gear 1241 and the second planetary gear 1242 in the planetary gear devices 1251, 1252, and 1253 are arranged on the right side of the planetary gear support portion 1243 (i.e., the first planetary gear 1241 and the second planetary gear 1242 are arranged on the same side of the first flange 104). Both the first planetary gear 1241 and the second planetary gear 1242 are rotatable and are supported by the first flange 104 via the planetary gear support portion 1243. The second planetary gear 402 is arranged closer to the first flange 104 than the first planetary gear 401. The first row of planetary teeth 1211 on the first planetary gear 1241 can engage with the rotary shaft external teeth 202. As a result, the first support portion 1232 and the eccentric shaft engaging portion 1231 of the eccentric shaft 108 are sequentially arranged on the right side of the first eccentric portion 311. The first support portion 1232 is covered by the first flange bearing assembly 1104 so that the eccentric shaft 108 is arranged within the first flange 104. The eccentric shaft external teeth 1261 on the eccentric shaft engaging portion 1231 can engage with the second row of planetary teeth 1212 on the second planetary gear 1242.

[0081] In the transmission mechanism 100, the first flange 104 is provided with an eccentric shaft accommodating portion 508 that traverses the first flange 104, but the eccentric shaft accommodating portion 508 does not have to pass through the first flange 104, and a recess may be provided to accommodate the first support portion 321 and the first flange bearing 1104 that covers the first support portion 321. However, in the configuration of the transmission mechanism 1200, the first flange 104 is necessarily provided with an eccentric shaft accommodating portion that passes through the first flange 104 in the lateral direction, and the eccentric shaft engaging portion 1231 of the eccentric shaft 108 can be disposed on the right side (outside) of the first flange 104, so that the eccentric shaft external teeth 1261 of the eccentric shaft engaging portion 1231 engage with the second row of planetary teeth 1212.

[0082] The embodiment shown in FIG. 12 can achieve the same technical effects as the transmission mechanism 100, but will not be described in detail here.

[0083] While only certain features of the present application have been illustrated and described herein, various modifications and changes may occur to those skilled in the art, and it is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes that fall within the true spirit and scope of the present application.

Claims

1. A transmission mechanism (100), an outer wheel (102); an inner wheel (131, 332); an eccentric shaft (108); a first flange (104); a rotating shaft (112); At least one planetary gear set (151), the inner wheel (131, 332) is disposed within the outer wheel (102), and the inner wheel (131, 332) is engageable with the outer wheel (102); the eccentric shaft (108) is rotatable about a central axis (O), and comprises eccentric portions (311, 312), eccentric shaft external teeth (301), and a first support portion (321) around the eccentric shaft (108); the inner wheel (131, 332) is arranged around the eccentric portions (312, 313) such that the rotation of the eccentric shaft (108) can eccentrically rotate the inner wheel (131, 332), or the eccentric rotation of the inner wheel (131, 332) can rotate the eccentric shaft (108); the first flange (104) and the inner wheel (131, 332) are arranged side by side, and the first flange (104) is arranged around the first support portion (321); The rotating shaft (112) has external rotating shaft teeth (202), The at least one planetary gear set (151) is supported by the first flange (104), and the periphery of each of the at least one planetary gear sets (151) comprises a first planetary gear (401) having a first planetary tooth row (411) and a second planetary gear (402) having a second planetary tooth row (431), the first planetary tooth row (411) engaging with the rotating shaft external teeth (202), and the second planetary tooth row (431) engaging with the eccentric shaft external teeth (301); the first flange (104) has at least one support hole (504), and the at least one planetary gear device (151) is rotatably supported on the first flange (104) via the at least one support hole (504); the first planetary teeth row (411) and the second planetary teeth row (431) are arranged on both sides of the support hole (504); the first flange (104) includes at least one planetary gear receiving portion (506), the at least one planetary gear receiving portion (506) being disposed around a corresponding one of the at least one support hole (504) to receive a second planetary gear (402).

2. the transmission mechanism (100) is configured such that when power is input via the rotating shaft (112), the rotation of the eccentric shaft (108) can eccentrically rotate the inner wheel (131, 332), and the power is output via the first flange (104) or the outer wheel (102); or 2. The transmission mechanism (100) according to claim 1, wherein when power is input via the first flange (104) or the outer wheel (102), eccentric rotation of the inner wheel (131, 332) can rotationally drive the eccentric shaft (108), and the transmission mechanism (100) is configured to output power via the rotating shaft (112).

3. A second support portion (322) is provided around the eccentric shaft (108), said inner wheel (131, 332) comprises at least two inner wheel through-holes (921); The transmission mechanism (100) a second flange (106); At least two connecting transmission components (110), the second flange (106), the first flange (104) and the second flange (106) are respectively disposed on either side of the inner wheel (131, 332), and the second flange (106) is disposed around the second support (322); each of the at least two coupling transmission components (110) passes through a corresponding one of the at least two inner wheel through-holes (921) in the inner wheel (131, 332), and a first flange (104) and a second flange (106) on both sides of the inner wheel (131, 332) are coupled to each other; The transmission mechanism according to claim 1, wherein the eccentric portion (311, 312) of the eccentric shaft (108) is disposed between the first flange (104) and the second flange (106).

4. Each of the at least one planetary gear set (151) further comprises a planet gear support (421); 4. The transmission mechanism according to claim 3, wherein the first planetary gear (401) is connected to the second planetary gear (402) via the planetary gear support portion (421).

5. The transmission mechanism according to claim 4, wherein the first planetary gear (401) and the second planetary gear (402) are arranged on both ends of the planetary gear support portion (421).

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