Transmission apparatus

Abstract

A transmission apparatus (100) comprising an input mechanism (10), a transmission mechanism (20), an output mechanism (30), and a one-way bearing (40). The input mechanism and the output mechanism are connected to the transmission mechanism. Rotation input by the input mechanism is transmitted by means of the transmission mechanism, and then output from the output mechanism. The transmission mechanism comprises a first transmission system (21) and a second transmission system (22). The first transmission system comprises a first gear (211) in mesh with a second gear (212). The gear teeth of the second gear comprise first tooth surfaces (2121), and the first gear abuts against the first tooth surfaces. The second transmission system comprises a third gear (221) in mesh with a fourth gear (222). The gear teeth of the fourth gear comprise fourth tooth surfaces (2222), and the third gear abuts against the fourth tooth surfaces. The first tooth surfaces are oriented in one of either a clockwise direction or a counterclockwise direction, and the fourth tooth surfaces are oriented in the other of these directions. At least one of the input mechanism, the first transmission system, and the second transmission system is provided with a one-way bearing. The one-way bearing is used for enabling the first gear to remain abutted against the first tooth surfaces, and / or the third gear to remain abutted against the fourth tooth surfaces.

Description

transmission Technical Field

[0001] The present application relates to the field of mechanical devices, and in particular to a transmission device. Background Art

[0002] Gear meshing transmission is a commonly used transmission method in transmission devices. It has the advantages of high efficiency, compact structure, reliable operation and long life. General transmission devices include multiple meshing gears. In order to make the meshing gears rotate smoothly, appropriate gaps are set in advance between the gear teeth. However, due to work tolerances and operational wear, the gaps may be larger than the appropriate gaps, which makes the gear meshing transmission have a disadvantage. In the process of gears changing from clockwise to counterclockwise rotation or from counterclockwise to clockwise rotation, due to the gaps, the gear teeth need to move a certain distance before they can abut with the teeth of the meshing gears, which is the common backlash in gear movement. In particular, as the number of gears in the transmission device increases, the corresponding total backlash will also be superimposed, which leads to a decrease in the transmission accuracy between gears.

[0003] Summary of the Invention

[0004] In view of this, the present application proposes a transmission device.

[0005] The transmission device provided in the first aspect of the present application includes an input mechanism, a transmission mechanism, an output mechanism, and a one-way bearing, wherein the input mechanism and the output mechanism are connected to the transmission mechanism, and the rotation input by the input mechanism is transmitted by the transmission mechanism and then output from the output mechanism;

[0006] The transmission mechanism comprises:

[0007] a first transmission system, the first transmission system comprising a first gear and a second gear, the first gear being connected to the input mechanism, the second gear being connected to the output mechanism, the second gear being meshed with the first gear, the gear teeth of the second gear comprising a first tooth surface and a second tooth surface disposed opposite to the first tooth surface, the first gear being in contact with the first tooth surface;

[0008] a second transmission system, the second transmission system comprising a third gear and a fourth gear, the third gear being connected to the input mechanism, the fourth gear being connected to the output mechanism, the fourth gear being meshed with the third gear, the gear teeth of the fourth gear comprising a third tooth surface and a fourth tooth surface disposed opposite to the third tooth surface, the third gear being in contact with the fourth tooth surface;

[0009] The first transmission system and the second transmission system are two links for transmitting rotation, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the first transmission system and the second transmission system;

[0010] wherein the first tooth surface and the third tooth surface face one of a clockwise direction and a counterclockwise direction, and the second tooth surface and the fourth tooth surface face the other of a clockwise direction and a counterclockwise direction;

[0011] Wherein, at least one of the input mechanism, the first transmission system and the second transmission system is provided with the one-way bearing, and the one-way bearing is used to keep the first gear in contact with the first tooth surface; and / or keep the third gear in contact with the fourth tooth surface.

[0012] The transmission device provided in a second aspect of the present application includes an input mechanism, a transmission mechanism, an output mechanism, and a one-way bearing, wherein the input mechanism and the output mechanism are connected to the transmission mechanism, and the rotation input by the input mechanism is transmitted by the transmission mechanism and then output from the output mechanism;

[0013] The transmission mechanism comprises:

[0014] a first transmission system, the first transmission system comprising a first gear meshing with an input mechanism, wherein the teeth of the first gear comprise a first tooth surface for abutting against the input mechanism;

[0015] a second transmission system, the second transmission system comprising a second gear meshing with the input mechanism, the gear teeth of the second gear comprising a second tooth surface for abutting against the input mechanism;

[0016] The first transmission system and the second transmission system are two links for transmitting rotation, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the first transmission system and / or the second transmission system;

[0017] wherein the first tooth surface faces one of a clockwise direction and a counterclockwise direction, and the second tooth surface faces the other of a clockwise direction and a counterclockwise direction;

[0018] The one-way bearing is provided on the input mechanism and is used to keep the first tooth surface and the second tooth surface in contact with the input mechanism.

[0019] A transmission device according to a third aspect of the present application comprises an input mechanism, a transmission mechanism, an output mechanism, and a one-way bearing, wherein the input mechanism and the output mechanism are connected to the transmission mechanism, and the rotation input by the input mechanism is transmitted by the transmission mechanism and then output from the output mechanism;

[0020] The transmission mechanism comprises:

[0021] A first transmission system includes a plurality of first gears connected in sequence, wherein the plurality of first gears include at least one first gear set, and the first gear set includes two first gears meshing with each other;

[0022] a second transmission system comprising a plurality of second gears connected in sequence, wherein the plurality of second gears comprises at least one second gear set, and the second gear set comprises two second gears meshing with each other;

[0023] The first transmission system and the second transmission system are two links for transmitting rotation, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the first transmission system and / or the second transmission system;

[0024] Wherein, the one-way bearing is provided in at least one of the input mechanism, the first transmission system and the second transmission system;

[0025] The one-way bearing is used to ensure that the first tooth surface of the gear teeth of the first first gear of at least part of the two first gears of the at least one first gear set is kept in contact with the gear teeth of the next first gear, and the orientation of the first tooth surface is consistent with the rotation direction of the first first gear when the input mechanism rotates in the first direction; and / or

[0026] The one-way bearing is used to ensure that the second tooth surface of the teeth of the first second gear in the two second gears of at least part of the second gear groups in the at least one second gear group remains in contact with the teeth of the second gear in the latter second gear, and the orientation of the second tooth surface is consistent with the rotation direction of the first second gear when the input mechanism rotates in the second direction.

[0027] A fourth aspect of the present application provides a transmission device comprising an input mechanism, a transmission mechanism, an output mechanism, and a one-way bearing, wherein the input mechanism and the output mechanism are connected to the transmission mechanism, and the rotation input by the input mechanism is transmitted by the transmission mechanism and then output from the output mechanism;

[0028] The transmission mechanism comprises:

[0029] a first transmission system comprising a first gear, a first shaft, a second gear, and at least one third gear, wherein the first gear is connected to the input mechanism, the first gear and the second gear are disposed on the same first shaft, a first third gear of the at least one third gear is meshed with the second gear, and a last third gear of the at least one third gear is connected to the output mechanism;

[0030] a second transmission system comprising a fourth gear, a second shaft, a fifth gear, and at least one sixth gear, wherein the fourth gear is connected to the input mechanism, the fourth gear and the fifth gear are both disposed on the second shaft, a first sixth gear of the at least one sixth gear is meshed with the fifth gear, and a last sixth gear of the at least one sixth gear is connected to the output mechanism;

[0031] In which, the one-way bearing is arranged between the first gear and the second gear, and the one-way bearing is used to ensure that the second gear and the first third gear of the at least one third gear and any two adjacent meshing third gears of the at least one third gear maintain abutment along the first chain direction, and the first chain direction is the rotation transmission direction of the first transmission system from the input mechanism to the output mechanism.

[0032] A fifth aspect of the present application provides a transmission device comprising an input mechanism, a transmission mechanism, an output mechanism, and a one-way bearing, wherein the input mechanism and the output mechanism are connected to the transmission mechanism, and the rotation input by the input mechanism is transmitted by the transmission mechanism and then output from the output mechanism;

[0033] The transmission mechanism comprises:

[0034] a first transmission system comprising a first gear, a first shaft, a second gear, and at least one third gear, wherein the first gear is connected to the input mechanism, the first gear and the second gear are disposed on the same first shaft, a first third gear of the at least one third gear is meshed with the second gear, and a last third gear of the at least one third gear is connected to the output mechanism;

[0035] a second transmission system comprising at least one fourth gear, wherein a first fourth gear of the at least one fourth gear is connected to the input mechanism, and a last fourth gear of the at least one fourth gear is connected to the output mechanism;

[0036] In which, the one-way bearing is arranged between the first gear and the second gear, and the one-way bearing is used to keep the second gear and the first third gear of the at least one third gear and any two adjacent meshing third gears of the at least one third gear in contact along the first chain direction.

[0037] As can be seen from the above technical solutions, the transmission device proposed in the first aspect of the present application firstly comprises a transmission mechanism comprising two rotation-transmitting links, a first transmission system and a second transmission system. The rotation input by the input mechanism is transmitted by the first and second transmission systems and then output from the output mechanism. Secondly, the first gear of the first transmission system is arranged to abut against the first tooth flank of the second gear, and the third gear of the second transmission system is arranged to abut against the fourth tooth flank of the fourth gear, with the first and fourth tooth flanks facing opposite directions. Furthermore, a one-way bearing is provided in at least one of the input mechanism, the first transmission system, and the second transmission system, so that the first gear maintains abutment against the first tooth flank and / or the third gear maintains abutment against the fourth tooth flank. Thus, when the input mechanism transitions from clockwise to counterclockwise rotation or vice versa, gear backlash between at least some of the gears of the first transmission system and at least some of the gears of the second transmission system is not affected. This means that the total backlash of the first transmission system and the total backlash of the second transmission system can be reduced, thereby improving transmission accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained from these drawings without any creative work.

[0039] FIG1 is a schematic structural diagram of a transmission device according to an embodiment of the present application;

[0040] FIG2 is a schematic diagram of the coordination between the first gear and the second gear, and the third gear and the fourth gear according to an embodiment of the present application;

[0041] FIG3 is a schematic diagram of a partial structure of a transmission device proposed in one embodiment of the present application;

[0042] FIG4 is a schematic diagram of a partial structure of a transmission device proposed in another embodiment of the present application;

[0043] FIG5 is a schematic structural diagram of an input mechanism proposed in one embodiment of the present application;

[0044] FIG6 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0045] FIG7 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0046] FIG8 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0047] FIG9 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0048] FIG10 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0049] FIG11 is a schematic structural diagram of an output mechanism proposed in one embodiment of the present application;

[0050] FIG12 is a schematic structural diagram of an output mechanism proposed in another embodiment of the present application;

[0051] FIG13 is a schematic structural diagram of an output mechanism proposed in another embodiment of the present application;

[0052] FIG14 is a schematic structural diagram of an output mechanism proposed in another embodiment of the present application;

[0053] FIG15 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0054] FIG16 is an exploded schematic diagram of a transmission device according to another embodiment of the present application;

[0055] FIG17 is an exploded schematic diagram of a partial structure of a transmission device proposed in another embodiment of the present application;

[0056] FIG18 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0057] FIG19 is a schematic structural diagram of a transmission device according to another embodiment of the present application from a first perspective;

[0058] FIG20 is a schematic structural diagram of a transmission device according to another embodiment of the present application from a second perspective;

[0059] FIG21 is an exploded schematic diagram of a transmission device according to another embodiment of the present application from a first perspective;

[0060] FIG22A is an exploded schematic diagram of a transmission device according to another embodiment of the present application from a second perspective;

[0061] FIG22B is a partial enlarged schematic diagram of the coordination of the inner ring gear, the first gear, and the second gear of the transmission device according to another embodiment of the present application;

[0062] FIG23 is an exploded schematic diagram of a transmission device according to another embodiment of the present application from a third perspective;

[0063] FIG24 is a schematic structural diagram of a transmission device according to another embodiment of the present application from a first perspective;

[0064] FIG25 is a schematic structural diagram of a transmission device according to another embodiment of the present application from a second perspective;

[0065] FIG26 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0066] FIG27 is an exploded schematic diagram of a transmission device according to another embodiment of the present application;

[0067] FIG28 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0068] FIG29 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0069] FIG30 is a schematic diagram of the coordination of the first gear and the third gear according to another embodiment of the present application;

[0070] FIG31 is a schematic diagram of the coordination of the second gear and the fourth gear proposed in another embodiment of the present application;

[0071] FIG32 is a schematic structural diagram of an input mechanism proposed in one embodiment of the present application;

[0072] FIG33 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0073] FIG34 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0074] FIG35 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0075] FIG36 is a partial structural diagram of a first transmission system and a second transmission system according to another embodiment of the present application;

[0076] FIG37 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0077] FIG38 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0078] FIG39 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0079] FIG40 is a schematic diagram of the coordination of the fifth gear and the sixth gear proposed in another embodiment of the present application. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0081] As shown in Figures 1 and 2, an embodiment of the present application proposes a transmission device 100. The proposed transmission device 100 includes an input mechanism 10, a transmission mechanism 20, an output mechanism 30 and a one-way bearing 40. The input mechanism 10 and the output mechanism 30 are connected to the transmission mechanism 20. The rotation input by the input mechanism 10 is transmitted by the transmission mechanism 20 and then output from the output mechanism 30.

[0082] The transmission mechanism 20 includes a first transmission system 21 and a second transmission system 22. The first transmission system 21 includes a first gear 211 and a second gear 212. The first gear 211 is connected to the input mechanism 10, and the second gear 212 is connected to the output mechanism 30. The second gear 212 meshes with the first gear 211. The teeth of the second gear 212 include a first tooth surface 2121 and a second tooth surface 2122 disposed opposite to the first tooth surface 2121. The first gear 211 abuts the first tooth surface 2121. The second transmission system 22 includes a third gear 221 and a fourth gear 222. The third gear 221 is connected to the input mechanism 10, and the fourth gear 222 is connected to the output mechanism 30. The fourth gear 222 meshes with the third gear 221. The teeth of the fourth gear 222 include a third tooth surface 2221 and a fourth tooth surface 2222 disposed opposite to the third tooth surface 2221. The third gear 221 abuts the fourth tooth surface 2222. The first transmission system 21 and the second transmission system 22 are two links for transmitting rotation. The rotation input by the input mechanism 10 is output from the output mechanism 30 after being transmitted by the first transmission system 21 and / or the second transmission system 22 .

[0083] Optionally, the first transmission system 21 and the second transmission system 22 of the present application can both be transmission chains composed of multiple gears, and the gears can be connected by meshing or rotating shafts. The multiple gears can also be connected in series or in parallel, which is not limited here.

[0084] The first gear 211 and the third gear 221 are connected to the input mechanism 10 , which can be directly or indirectly connected. Similarly, the second gear 212 and the fourth gear 222 are connected to the output mechanism 30 , which can be directly or indirectly connected.

[0085] It should be noted that the connection mentioned in this application can be a direct connection or an indirect connection. The direct connection can be a meshing connection or a coaxial connection. The indirect connection can be achieved through other gears or through other combinations of gears and shafts.

[0086] It should be noted that "the teeth of the second gear 212 include a first tooth surface 2121 and a second tooth surface 2122 arranged opposite to the first tooth surface 2121" may specifically mean that each tooth of the second gear 212 includes a first tooth surface 2121 and a second tooth surface 2122, or it may mean that when the second gear 212 is meshed with the first gear 211 for transmission, the teeth of the second gear 212 that can mesh / abut with the first gear 211 include a first tooth surface 2121 and a second tooth surface 2122.

[0087] Similarly, "the teeth of the fourth gear 222 include a third tooth surface 2221 and a fourth tooth surface 2222 arranged opposite to the third tooth surface 2221" may specifically mean that each tooth of the fourth gear 222 includes a third tooth surface 2221 and a fourth tooth surface 2222, or it may mean that when the fourth gear 222 is meshed with the third gear 213 for transmission, the teeth of the fourth gear 222 that can engage / abut with the third gear 213 include the third tooth surface 2221 and the fourth tooth surface 2222.

[0088] In some embodiments, the rotation of the input mechanism 10 can be synchronously transmitted by the first transmission system 21 and the second transmission system 22 and then output from the output mechanism 30 .

[0089] In other embodiments, the rotation of the input mechanism 10 may be transmitted through the first transmission system 21 or the second transmission system 22 and then output from the output mechanism 30 .

[0090] The first tooth surface 2121 and the third tooth surface 2221 face one of the clockwise direction and the counterclockwise direction, and the second tooth surface 2122 and the fourth tooth surface 2222 face the other of the clockwise direction and the counterclockwise direction.

[0091] At least one of the input mechanism 10 , the first transmission system 21 and the second transmission system 22 is provided with a one-way bearing 40 , which is used to keep the first gear 211 in contact with the first tooth surface 2121 ; and / or keep the third gear 221 in contact with the fourth tooth surface 2222 .

[0092] Among them, "the first tooth surface 2121 and the third tooth surface 2221 are facing one of the clockwise direction and the counterclockwise direction, and the second tooth surface 2122 and the fourth tooth surface 2222 are facing the other of the clockwise direction and the counterclockwise direction" includes two embodiments, one of which is that the first tooth surface 2121 and the third tooth surface 2221 are facing the clockwise direction, and the second tooth surface 2122 and the fourth tooth surface 2222 are facing the counterclockwise direction, and the other embodiment is that the first tooth surface 2121 and the third tooth surface 2221 are facing the counterclockwise direction, and the second tooth surface 2122 and the fourth tooth surface 2222 are facing the clockwise direction.

[0093] It should be noted that “at least one of the input mechanism 10, the first transmission system 21, and the second transmission system 22 is provided with a one-way bearing 40, and the one-way bearing 40 is used to maintain the first gear 211 in contact with the first tooth surface 2121, and / or to maintain the third gear 221 in contact with the fourth tooth surface 2222” includes at least the following embodiments:

[0094] In one embodiment, the first transmission system 21 is provided with a one-way bearing 40, and in another embodiment, the second transmission system 22 is provided with a one-way bearing 40. In these two embodiments, the one-way bearing 40 is used to keep the first gear 211 in contact with the first tooth surface 2121 and / or the third gear 221 in contact with the fourth tooth surface 2222.

[0095] In one embodiment, the first transmission system 21 and the second transmission system 22 are both provided with a one-way bearing 40, and in another embodiment, the input mechanism 10 is provided with a one-way bearing 40. In these two embodiments, the one-way bearing 40 is used to keep the first gear 211 in contact with the first tooth surface 2121 and to keep the third gear 221 in contact with the fourth tooth surface 2222.

[0096] In an optional embodiment, if the one-way bearing 40 is arranged in the first transmission system 21, then the one-way bearing 40 needs to be located between the first gear 211 and the input mechanism 10, and the third gear 221 needs to be a gear of the same level as the first gear 211, or a gear behind the first gear 211 of the same level in the second transmission system 22.

[0097] In an optional embodiment, if the one-way bearing 40 is arranged in the first transmission system 21 and the second transmission system 22, then the one-way bearing 40 located in the first transmission system 21 needs to be located between the first gear 211 and the input mechanism 10, and the one-way bearing 40 located in the second transmission system 22 needs to be located between the third gear 221 and the input mechanism 10.

[0098] The one-way bearing 40 is a bearing that can rotate freely in one direction and is locked in the other direction. The one-way bearing 40 can transmit rotation in the locked direction, so the direction in which it can transmit rotation is called the rotation transmission direction.

[0099] It should be noted that the one-way bearing 40 includes an inner ring and an outer ring. For the same one-way bearing 40, since the rotation transmission direction of the inner ring relative to the outer ring and the rotation transmission direction of the outer ring relative to the inner ring are opposite, the rotation transmission directions of the different one-way bearings 40 mentioned in this application are the same or opposite, and are all compared based on the inner ring or the outer ring.

[0100] Optionally, the one-way bearing 40 mentioned in this application transmits torque clockwise, which is not limited to being based on the inner ring or the outer ring, but means that when the input part rotates clockwise, it can drive the output part to rotate clockwise. Here, the input part and the output part can be the gear and shaft, or the shaft and gear, or the gear and gear connecting the one-way bearing respectively.

[0101] Optionally, the two gear sleeves mentioned in the present application are arranged on the same shaft, and a one-way bearing 40 is arranged between the two gears and the shaft. The two one-way bearings 40 need to satisfy the matching that can transmit rotation in one direction. For example, when the gear of the two gears close to the input mechanism 10 rotates clockwise, the two one-way bearings 40 need to ensure that the gear of the two gears close to the output mechanism 30 can also rotate clockwise, and when the gear of the two gears close to the input mechanism 10 rotates counterclockwise, the two one-way bearings 40 need to ensure that the gear of the two gears close to the output mechanism 30 does not rotate.

[0102] It should be noted that the input mechanism 10 of the present application includes one or more independent structures or combined structures of a driving component (motor component), a shaft, and a gear.

[0103] Similarly, the first transmission system 21 and the second transmission system 22 of the present application may each be a tooth, or a combination of one or more teeth and a shaft.

[0104] Similarly, the output mechanism 30 of the present application may also be a tooth, or a combination of one or more teeth and a shaft, or a pure torque ring connecting the first transmission system 21 and the second transmission system 22 .

[0105] Taking the one-way bearing 40 disposed in the first transmission system 21 and used to transmit clockwise rotation as an example, the working process of the transmission device 100 proposed in this embodiment is as follows:

[0106] In the first step, the input mechanism 10 inputs clockwise rotation, which is transmitted to the first transmission system 21 and the second transmission system 22 respectively, and after being transmitted by the first transmission system 21 and the second transmission system 22, is simultaneously transmitted to the output mechanism 30 to drive the output mechanism 30 to rotate.

[0107] In the second step, the input mechanism 10 inputs counterclockwise rotation, which is also transmitted to the first transmission system 21 and the second transmission system 22 respectively. However, due to the one-way bearing 40 provided in the first transmission system 21, the transmission of the first transmission system 21 is interrupted. Any two meshing gears of the first transmission system 21 behind the one-way bearing 40 (including the first gear 211 and the second gear 212) still maintain a close contact state, transmitting clockwise rotation. The second transmission system 22 is not affected and can still drive the output mechanism 30 to rotate. During the rotation process, the output mechanism 30 will transmit the rotation in the opposite direction along the first transmission system 21 to the first transmission system 21, so that any two meshing gears of the first transmission system 21 behind the one-way bearing 40 still maintain a close contact state, transmitting clockwise rotation.

[0108] In the third step, the input mechanism 10 inputs clockwise rotation again, which will be transmitted to the first transmission system 21 and the second transmission system 22 respectively. At this time, since any two meshing gears of the first transmission system 21 behind the one-way bearing 40 still maintain a fitting state for transmitting clockwise rotation, they can respond quickly, and any two meshing gears of the first transmission system 21 behind the one-way bearing 40 (such as the first gear 211 and the second gear 212) are not affected by gear backlash. Since the first rotating shaft 11 is input clockwise rotation again, the gears behind the one-way bearing 40 of the first transmission system 21 are fitted first, so that the first transmission system 21 is subjected to force and drives the output mechanism 30 to rotate. Although the gears of the second transmission system 22 will also rotate, since the first transmission system 21 as a whole is subjected to force and transmits rotation first, some adjacent gears of the second transmission system 22 (including the third gear 221 and the fourth gear 222) will still maintain the fitted state of transmitting counterclockwise rotation (this is because the output mechanism 30 drives some of its adjacent gears to rotate in the opposite direction, so it will maintain the fitted state of transmitting counterclockwise rotation).

[0109] In the fourth step, the input mechanism 10 is input again to rotate counterclockwise. Since the gears of the second transmission system 22 maintain the fitted state during counterclockwise transmission, they can respond in time and drive the output mechanism 30 to rotate.

[0110] Therefore, in subsequent rotations, the one-way bearing 40 can continue to keep the first gear 211 in the first transmission system 21 in contact with the first tooth surface 2121; and / or, keep the third gear 221 in the second transmission system 22 in contact with the fourth tooth surface 2222.

[0111] In an optional embodiment, the first step and the second step can be completed before leaving the factory through a fixed process or other methods (such as pre-tensioning, etc.).

[0112] It should be noted that the one-way bearing 40 mentioned in this application allows the two tooth surfaces to maintain abutment or contact, mainly because they have already achieved abutment or contact, and then the one-way bearing 40 continues to maintain this abutment or contact trend. In some cases, the one-way bearing 40 can cooperate with the back-and-forth rotation of the transmission device 100 to cause the teeth of some gears to enter abutment or contact, and then the one-way bearing 40 can maintain this state.

[0113] As described above, during subsequent rotation, the input mechanism 10 can respond promptly to both clockwise and counterclockwise rotation, at least between the first gear 211 and the second gear 212, and between the third gear 221 and the fourth gear 222, without any gear backlash, thereby achieving highly precise transmission. Furthermore, as can be seen from the above description, during subsequent rotation, the one-way bearing 40 can maintain contact between the first gear 211 and the first tooth surface 2121 of the second gear 212 in the first transmission system 21, and between the third gear 221 and the fourth tooth surface 2222 in the second transmission system 22.

[0114] The transmission device 100 proposed in the embodiment of the present application firstly comprises a transmission mechanism 20 including two rotation-transmitting links, a first transmission system 21 and a second transmission system 22. The rotation input by the input mechanism 10 is transmitted through the first transmission system 21 and / or the second transmission system 22 and then output from the output mechanism 30. Secondly, the first gear 211 of the first transmission system 21 is arranged to abut against the first tooth surface 2121 of the second gear 212, and the third gear 221 of the second transmission system 22 is arranged to abut against the fourth tooth surface 2222 of the fourth gear 222, with the first tooth surface 2121 and the fourth tooth surface 2222 facing opposite directions. Furthermore, a one-way bearing 40 is provided in at least one of the input mechanism 10, the first transmission system 21, and the second transmission system 22, so that the first gear 211 maintains abutment with the first tooth surface 2121, and / or the third gear 221 maintains abutment with the fourth tooth surface 2222. In this way, during the process of the input mechanism 10 changing from clockwise rotation to counterclockwise rotation or from counterclockwise rotation to clockwise rotation, the gear backlash between at least part of the gears of the first transmission system 21 and at least part of the gears of the second transmission system 22 is not affected or reduced, that is, at least the total backlash of the first transmission system 21 and the total backlash of the second transmission system 22 can be reduced, thereby improving the transmission accuracy.

[0115] It should be noted that Figures 1 and 2 illustrate only one embodiment of the transmission device 100 proposed in the embodiments of this application, and are intended to illustrate the above description, but are not intended to be limiting of the above description. Several other embodiments will be presented below to further illustrate the above description, and common principles between the various embodiments may be used to explain each other, as detailed below.

[0116] As shown in FIG3 , in an alternative embodiment, the first transmission system 21 includes a first gearbox 213, and the second transmission system 22 includes a second gearbox 223. The first gearbox 213 includes a first gear 211 and a second gear 212, while the second gearbox 223 includes a third gear 221 and a fourth gear 222. That is, the first gear 211 and the second gear 212 are part of the first gearbox 213, while the third gear 221 and the fourth gear 222 are part of the second gearbox 223. It should be noted that the first gearbox 213 and the second gearbox 223 proposed in this embodiment may be, but are not limited to, housings. For example, in some other embodiments, the first gearbox 213 may only include a gear set formed by several gears, without a housing for accommodating the gear set. Similarly, the second gearbox 223 may only include a gear set formed by several gears, without a housing for accommodating the gear set. The specific design can be determined based on actual design requirements. In other embodiments, the first gearbox 213 and the second gearbox 223 may be gear trains composed of multiple gears in series or parallel, providing rotational transmission.

[0117] In an optional embodiment, the rotation input by the input mechanism 10 is output to the output mechanism 30 after being transmitted by the first gear box 213 and / or the second gear box 223 .

[0118] In an optional embodiment, the first gearbox 213 and the second gearbox 223 are reduction gearboxes or flat-speed gearboxes. When the first gearbox 213 and the second gearbox 223 are reduction gearboxes, the rotation of the first speed input from the input mechanism 10 is transmitted through the first gearbox 213 and the second gearbox 223 and then outputted from the output mechanism 30 at a second speed, wherein the second speed is less than the first speed. When the first gearbox 213 and the second gearbox 223 are flat-speed gearboxes, the rotation of the first speed input from the input mechanism 10 is transmitted through the first gearbox 213 and the second gearbox 223 and then outputted from the output mechanism 30 at a second speed, wherein the second speed is equal to the first speed. When the first gearbox 213 and the second gearbox 223 are reduction gearboxes, the first gearbox 213 and the second gearbox 223 can be, but are not limited to, a planetary reduction gearbox, a diameter difference reduction gearbox, a worm gear reduction gearbox, or a harmonic reduction gearbox.

[0119] It should be noted that in the present application, different definitions may be given to the input mechanism 10, the output mechanism 30, the first transmission system 21 and the second transmission system 22 in different embodiments. For example, the input mechanism 10 may include only one shaft, or may include a shaft-tooth combination structure, etc. Even for the same transmission device 100, it may have different definitions.

[0120] In an optional embodiment, the first gearbox 213 and the second gearbox 223 may also be acceleration gearboxes, which is not limited here.

[0121] In an optional embodiment, the first gearbox 213 and the second gearbox 223 can be planetary reducers, diametrical differential reducers, etc. commonly available on the market, or can be composed of a planetary reducer or diametrical differential reducer plus one or more connected gears.

[0122] In an optional embodiment, the first gearbox 213 and the second gearbox 223 are reduction gearboxes with the same or different reduction ratios.

[0123] In an optional embodiment, the first transmission system 21 and the second transmission system 22 can be the same system. On this basis, the one-way bearing 40 can be considered to be independent of the first transmission system 21 and the second transmission system 22. Although the one-way bearing 40 may be arranged in the first transmission system 21 and / or the second transmission system 22, it is the same or symmetrical to the first transmission system 21 and the second transmission system 22, that is, each stage of gear in the first transmission system 21 has a corresponding gear in the second transmission system 22.

[0124] In an optional embodiment, the existence of corresponding gears is mainly a correspondence in transmission ratio, rather than a limitation to a correspondence in size. For example, if the transmission from the input mechanism 10 to a certain gear in the first transmission system 21 has a transmission ratio of 1:0.3, then there is also a certain gear in the second transmission system 22, and the transmission ratio between the input mechanism 10 and the certain gear is also 1:0.3.

[0125] In other embodiments, the first transmission system 21 and the second transmission system 22 may also be different systems, that is, excluding the one-way bearing 40, and the gear composition of the first transmission system 21 and the second transmission system 22 may also be different, such as the first transmission system 21 may have one more stage or multiple stages of gears.

[0126] It should be noted that the first gear 211 and the second gear 212 are not limited to being part of the first gearbox 213, and the third gear 221 and the fourth gear 222 are not limited to being part of the second gearbox 223. For example, in another embodiment, as shown in FIG4 , the first transmission system 21 includes the first gearbox 213, the second transmission system 22 includes the second gearbox 223, the second gear 212 is connected to the input end of the first gearbox 213, and the fourth gear 222 is connected to the input end of the second gearbox 223. That is, in this embodiment, the first gear 211 and the second gear 212 are disposed outside the first gearbox 213 and are not part of the first gearbox 213, and the third gear 221 and the fourth gear 222 are disposed outside the second gearbox 223 and are not part of the second gearbox 223. As described above, in some embodiments, the first gearbox 213 and the second gearbox 223 may not be provided with a housing. In this embodiment, the first gear 211 and the second gear 212 are arranged outside the first gearbox 213, which means that the first gear 211 and the second gear 212 do not belong to the gear set forming the first gearbox 213. Similarly, the third gear 221 and the fourth gear 222 are arranged outside the second gearbox 223, which means that the third gear 221 and the fourth gear 222 do not belong to the gear set forming the second gearbox 223.

[0127] Regarding the solution in which the first transmission system 21 includes a first gearbox 213, the second transmission system 22 includes a second gearbox 223, the second gear 212 is connected to the input end of the first gearbox 213, and the fourth gear 222 is connected to the input end of the second gearbox 223, the input mechanism 10 has at least one of the following embodiments:

[0128] Example A1

[0129] As shown in FIG5 , the input mechanism 10 includes a first rotating shaft 11, a first gear 211 and a third gear 221 connected to the first rotating shaft 11, a second gear 212 fixedly connected to the input end of the first gearbox 213, and a fourth gear 222 fixedly connected to the input end of the second gearbox 223. The first rotating shaft 11 is fixedly connected to the third gear 221, with a one-way bearing 40 disposed between the first rotating shaft 11 and the first gear 211. Alternatively, the first rotating shaft 11 is fixedly connected to the first gear 211, with a one-way bearing 40 disposed between the first rotating shaft 11 and the third gear 221. Alternatively, one-way bearings 40 are disposed between the first rotating shaft 11 and the first gear 211 and between the first rotating shaft 11 and the third gear 221, with the two one-way bearings 40 transmitting rotation in opposite directions.

[0130] How the transmission device proposed in this embodiment reduces the influence of gear backlash and achieves high-precision transmission can be referred to the above description and will not be elaborated here.

[0131] Regarding the solution in which the first transmission system 21 includes a first gearbox 213, the second transmission system 22 includes a second gearbox 223, the first gearbox 213 includes a first gear 211 and a second gear 212, and the second gearbox 223 includes a third gear 221 and a fourth gear 222, the input mechanism 10 has at least the following embodiments:

[0132] Example B1

[0133] As shown in Figure 6, the input mechanism 10 includes a first rotating shaft 11, a second rotating shaft 12, a third rotating shaft 13, a fifth gear 14, a sixth gear 15 and a seventh gear 16. The first rotating shaft 11, the second rotating shaft 12 and the third rotating shaft 13 are arranged at intervals, the fifth gear 14 is arranged on the outside of the first gear box 213, the first gear 211 and the fifth gear 14 are installed on the first rotating shaft 11, the sixth gear 15 is arranged on the outside of the second gear box 223, the third gear 221 and the sixth gear 15 are installed on the second rotating shaft 12, and the seventh gear 16 is installed on the third rotating shaft 13 and meshes with the fifth gear 14 and the sixth gear 15. The second rotating shaft 12 is fixedly connected to the third gear 221, and a one-way bearing 40 is provided between the first rotating shaft 11 and the first gear 211; or, the first rotating shaft 11 and the first gear 211 are fixedly connected, and a one-way bearing 40 is provided between the second rotating shaft 12 and the third gear 221; or, one-way bearings 40 are provided between the first rotating shaft 11 and the first gear 211 and between the second rotating shaft 12 and the third gear 221, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0134] Optionally, the first rotating shaft 11 , the second rotating shaft 12 , and the third rotating shaft 13 may be arranged in parallel and spaced apart.

[0135] How the transmission device proposed in this embodiment reduces the influence of gear backlash and achieves high-precision transmission can be referred to the above description and will not be elaborated here.

[0136] Example B2

[0137] As shown in Figure 7, the input mechanism 10 includes a first rotating shaft 11, a second rotating shaft 12, a third rotating shaft 13, a fifth gear 14, a sixth gear 15 and a seventh gear 16. The first rotating shaft 11, the second rotating shaft 12 and the third rotating shaft 13 are arranged at intervals, the fifth gear 14 is arranged on the outside of the first gear box 213, the first gear 211 and the fifth gear 14 are installed on the first rotating shaft 11, the sixth gear 15 is arranged on the outside of the second gear box 223, the third gear 221 and the sixth gear 15 are installed on the second rotating shaft 12, and the seventh gear 16 is installed on the third rotating shaft 13 and meshes with the fifth gear 14 and the sixth gear 15. The sixth gear 15 is fixedly connected to the second rotating shaft 12, and a one-way bearing 40 is provided between the fifth gear 14 and the first rotating shaft 11; or, the fifth gear 14 is fixedly connected to the first rotating shaft 11, and a one-way bearing 40 is provided between the sixth gear 15 and the second rotating shaft 12; or, one-way bearings 40 are provided between the fifth gear 14 and the first rotating shaft 11 and between the sixth gear 15 and the second rotating shaft 12, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0138] Optionally, the first rotating shaft 11 , the second rotating shaft 12 , and the third rotating shaft 13 may be arranged in parallel and spaced apart.

[0139] How the transmission device proposed in this embodiment reduces the influence of gear backlash and achieves high-precision transmission can be referred to the above description and will not be elaborated here.

[0140] In other embodiments, a one-way bearing 40 may be provided between the fifth gear 14 and the first rotating shaft 11 and then fixed between the first gear 211 and the first rotating shaft 11, a one-way bearing 40 may be provided between the first gear 211 and the first rotating shaft 11, the third gear 221 and the second rotating shaft 12 may be fixedly connected, a one-way bearing 40 may be provided between the third gear 221 and the second rotating shaft 12, the sixth gear 15 may be fixedly connected to the second rotating shaft 12, and a one-way bearing 40 may be provided between the sixth gear 15 and the second rotating shaft 12.

[0141] Example B3

[0142] As shown in Figure 8, the input mechanism 10 includes a first rotating shaft 11, a second rotating shaft 12, a third rotating shaft 13, a fifth gear 14, a sixth gear 15, a seventh gear 16 and an eighth gear 17. The first rotating shaft 11, the second rotating shaft 12 and the third rotating shaft 13 are arranged at intervals. The fifth gear 14 is arranged on the outside of the first gear box 213. The first gear 211 and the fifth gear 14 are installed on the first rotating shaft 11. The sixth gear 15 is arranged on the outside of the second gear box 223. The third gear 221 and the sixth gear 15 are installed on the second rotating shaft 12. The seventh gear 16 and the eighth gear 17 are installed on the third rotating shaft 13. The seventh gear 16 is engaged with the fifth gear 14, and the eighth gear 17 is engaged with the sixth gear 15. The second rotating shaft 12 is fixedly connected to the third gear 221, and a one-way bearing 40 is provided between the first rotating shaft 11 and the first gear 211; or, the first rotating shaft 11 and the first gear 211 are fixedly connected, and a one-way bearing 40 is provided between the second rotating shaft 12 and the third gear 221; or, one-way bearings 40 are provided between the first rotating shaft 11 and the first gear 211 and between the second rotating shaft 12 and the third gear 221, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0143] Optionally, the first rotating shaft 11 , the second rotating shaft 12 , and the third rotating shaft 13 may be arranged in parallel and spaced apart.

[0144] How the transmission device proposed in this embodiment reduces the influence of gear backlash and achieves high-precision transmission can be referred to the above description and will not be elaborated here.

[0145] Example B4

[0146] As shown in Figure 9, the input mechanism 10 includes a first rotating shaft 11, a second rotating shaft 12, a third rotating shaft 13, a fifth gear 14, a sixth gear 15, a seventh gear 16 and an eighth gear 17. The first rotating shaft 11, the second rotating shaft 12 and the third rotating shaft 13 are arranged at intervals. The fifth gear 14 is arranged on the outside of the first gear box 213. The first gear 211 and the fifth gear 14 are installed on the first rotating shaft 11. The sixth gear 15 is arranged on the outside of the second gear box 223. The third gear 221 and the sixth gear 15 are installed on the second rotating shaft 12. The seventh gear 16 and the eighth gear 17 are installed on the third rotating shaft 13. The seventh gear 16 is engaged with the fifth gear 14, and the eighth gear 16 is engaged with the sixth gear 15. The fifth gear 14 is fixedly connected to the first rotating shaft 11, and the sixth gear 15 is fixedly connected to the second rotating shaft 12. The seventh gear 16 is fixedly connected to the third rotating shaft 13, and a one-way bearing 40 is provided between the eighth gear 17 and the third rotating shaft 13; or, the eighth gear 17 is fixedly connected to the third rotating shaft 13, and a one-way bearing 40 is provided between the seventh gear 16 and the third rotating shaft 13; or, one-way bearings 40 are provided between the seventh gear 16 and the third rotating shaft 13 and between the eighth gear 17 and the third rotating shaft 13, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0147] Optionally, the first rotating shaft 11 , the second rotating shaft 12 , and the third rotating shaft 13 may be arranged in parallel and spaced apart.

[0148] How the transmission device proposed in this embodiment reduces the influence of gear backlash and achieves high-precision transmission can be referred to the above description and will not be elaborated here.

[0149] Example B5

[0150] As shown in Figure 10, the input mechanism 10 includes a first rotating shaft 11, a second rotating shaft 12, a third rotating shaft 13, a fifth gear 14, a sixth gear 15, a seventh gear 16 and an eighth gear 17. The first rotating shaft 11, the second rotating shaft 12 and the third rotating shaft 13 are arranged at intervals. The fifth gear 14 is arranged on the outside of the first gear box 213. The first gear 211 and the fifth gear 14 are installed on the first rotating shaft 11. The sixth gear 15 is arranged on the outside of the second gear box 223. The third gear 221 and the sixth gear 15 are installed on the second rotating shaft 12. The seventh gear 16 and the eighth gear 17 are installed on the third rotating shaft 13. The seventh gear 16 is engaged with the fifth gear 14. The eighth gear 16 is engaged with the sixth gear 15. The seventh gear 16 and the eighth gear 17 are fixedly connected to the third rotating shaft 13. The fifth gear 14 is fixedly connected to the first rotating shaft 11, and a one-way bearing 40 is provided between the sixth gear 15 and the second rotating shaft 12; or, the sixth gear 15 is fixedly connected to the second rotating shaft 12, and a one-way bearing 40 is provided between the fifth gear 14 and the first rotating shaft 11; or, one-way bearings 40 are provided between the fifth gear 14 and the first rotating shaft 11 and between the sixth gear 15 and the second rotating shaft 12, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0151] Optionally, the first rotating shaft 11 , the second rotating shaft 12 , and the third rotating shaft 13 may be arranged in parallel and spaced apart.

[0152] How the transmission device proposed in this embodiment reduces the influence of gear backlash and achieves high-precision transmission can be referred to the above description and will not be elaborated here.

[0153] For the solution in which the first transmission system 21 includes the first gearbox 213 and the second transmission system 22 includes the second gearbox 223, the output mechanism 30 has at least the following implementation modes:

[0154] Example C1

[0155] As shown in Figure 11, the output mechanism 30 includes a second rotating shaft 12, a fifth gear 14, a sixth gear 15 and a seventh gear 16. The fifth gear 14 is connected to the output end of the first gear box 213, the sixth gear 15 is connected to the output end of the second gear box 223, and the seventh gear 16 is connected to the second rotating shaft 12 and meshes with the fifth gear 14 and the sixth gear 15.

[0156] Example C2

[0157] As shown in Figure 12, the output mechanism 30 includes a second rotating shaft 12, a fifth gear 14, a sixth gear 15, a seventh gear 16 and an eighth gear 17. The fifth gear 14 is connected to the output end of the first gear box 213, the sixth gear 15 is connected to the output end of the second gear box 223, the seventh gear 16 and the eighth gear 17 are connected to the second rotating shaft 12, the seventh gear 16 is engaged with the fifth gear 14, and the eighth gear 17 is engaged with the sixth gear 15.

[0158] Example C3

[0159] As shown in Figure 13, the output mechanism 30 includes a second rotating shaft 12, a first bevel gear 31, a second bevel gear 32, a third bevel gear 33 and a fourth bevel gear 34. The first bevel gear 31 is connected to the output end of the first gear box 213, the second bevel gear 32 is connected to the output end of the second gear box 223, the third bevel gear 33 and the fourth bevel gear 34 are connected to the second rotating shaft 12, the third bevel gear 33 is engaged with the first bevel gear 31, and the fourth bevel gear 34 is engaged with the second bevel gear 32.

[0160] Example C4

[0161] As shown in Figure 14, the output mechanism 30 includes an inner ring gear 35, a fifth gear 14 and a sixth gear 15. The fifth gear 14 is connected to the output end of the first gearbox 213, and the sixth gear 15 is connected to the output end of the second gearbox 223. The fifth gear 14 and the sixth gear 15 are located on the inner side of the inner ring gear 35 and mesh with the inner ring gear 35.

[0162] Example C5

[0163] The output mechanism 30 includes a torque ring (not shown) that is directly connected to the first transmission system 21 and the second transmission system 22. For example, if the last stages of the first transmission system 21 and the second transmission system 22 are the same internal gear ring, the output mechanism 30 is a torque ring fixedly connected to the internal gear ring.

[0164] The following are several specific implementation methods:

[0165] Example D1

[0166] As shown in Figures 15 to 17, the input mechanism 10 includes a first rotating shaft 11, the output mechanism 30 includes a planetary carrier 36, and the first transmission system 21 also includes an inner ring gear 35. The first rotating shaft 11 is disposed along the centerline of the inner ring gear 35, and the planetary carrier 36 is rotatable about the centerline. The planetary carrier 36 includes planetary shafts 361 spaced apart from the first rotating shaft 11. The first gear 211 and the third gear 221 are both mounted on the first rotating shaft 11, and the second gear 212 and the fourth gear 222 are rotatably mounted on the planetary shafts 361 and mesh with the inner ring gear 35.

[0167] Optionally, the first rotating shaft 11 and the planetary shaft 361 may be arranged in parallel and spaced apart.

[0168] The first rotating shaft 11 is fixedly connected to the third gear 221, and a one-way bearing 40 is provided between the first rotating shaft 11 and the first gear 211; or, the first rotating shaft 11 is fixedly connected to the first gear 211, and a one-way bearing 40 is provided between the first rotating shaft 11 and the third gear 221; or, one-way bearings 40 are provided between the first rotating shaft 11 and the first gear 211 and between the first rotating shaft 11 and the third gear 221, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0169] Here, “the first rotating shaft 11 is fixedly connected to the first gear 211” means that the first rotating shaft 11 and the first gear 211 cannot rotate relative to each other, and does not mean that the first rotating shaft 11 and the first gear 211 cannot be disassembled. Similarly, “the first rotating shaft 11 and the third gear 221 are fixedly connected to each other” means that the first rotating shaft 11 and the third gear 221 cannot rotate relative to each other, and does not mean that the first rotating shaft 11 and the third gear 221 cannot be disassembled.

[0170] Taking the example of a one-way bearing 40 provided between the first rotating shaft 11 and the first gear 211, and the one-way bearing 40 being used to transmit clockwise rotation, the working process of the transmission device 100 proposed in this embodiment is as follows:

[0171] In the first step, the first rotating shaft 11 rotates clockwise, driving the first gear 211 and the third gear 221 to rotate clockwise. The clockwise rotating first gear 211 then drives the second gear 212 to rotate counterclockwise. At this point, as shown in Figure 2, the teeth of the first gear 211 engage the first tooth surface 2121 of the second gear 212. Because the second gear 212 is meshed with the inner ring gear 35, the counterclockwise rotating second gear 212 revolves clockwise around the first rotating shaft 11, thereby driving the planet carrier 36 to rotate clockwise. Similarly, the clockwise rotating third gear 221 drives the fourth gear 222 to rotate counterclockwise. Because the fourth gear 222 is meshed with the inner ring gear 35, the counterclockwise rotating fourth gear 222 revolves clockwise around the first rotating shaft 11, thereby driving the planet carrier 36 to rotate clockwise.

[0172] In the second step, the first rotating shaft 11 is input with counterclockwise rotation. Due to the one-way bearing 40 disposed between the first rotating shaft 11 and the first gear 211, the counterclockwise rotation of the first rotating shaft 11 is interrupted at the first gear 211. The first gear 211 and the second gear 212 maintain the engagement state observed during the clockwise rotation of the first gear 211, i.e., the teeth of the first gear 211 engage the first tooth surface 2121 of the second gear 212. The third gear 221, however, is unaffected and rotates counterclockwise under the drive of the first rotating shaft 11. The counterclockwise rotation of the third gear 221 drives the fourth gear 222 to rotate clockwise. At this point, as shown in FIG2 , the teeth of the third gear 221 engage the fourth tooth surface 2222 of the fourth gear 222. Since the fourth gear 222 is meshed with the inner ring gear 35, the clockwise rotation of the fourth gear 222 revolves counterclockwise around the first rotating shaft 11, thereby driving the planetary carrier 36 to rotate counterclockwise. When the planet carrier 36 rotates counterclockwise, the second gear 212 is driven to revolve counterclockwise around the first rotating shaft 11. Since the second gear 212 is engaged with the inner ring gear 35, the second gear 212 rotates clockwise, thereby maintaining the contact state with the first gear 211 when the first gear 211 rotates clockwise, that is, the gear teeth of the first gear 211 are in contact with the first tooth surface 2121 of the second gear 212.

[0173] In the third step, the first rotating shaft 11 is again input to rotate clockwise, driving the first gear 211 and the third gear 221 to rotate clockwise. Since the teeth of the first gear 211 were in contact with the first tooth surface 2121 of the second gear 212 in the previous step, the first gear 211 can immediately drive the second gear 212 to rotate, thereby driving the planetary carrier 36. During this process, the third gear 221 also rotates, but is not subject to force or only minimal relative force. Under the reverse drive of the planetary carrier 36, the third gear 221 maintains the contact state with the fourth gear 222 in the previous step, that is, the teeth of the third gear 221 are in contact with the fourth tooth surface 2222 of the fourth gear 222.

[0174] In the fourth step, the first rotating shaft 11 inputs counterclockwise rotation. Since the third gear 221 and the fourth gear 222 maintain the fitting state of the previous step, that is, the gear teeth of the third gear 221 fit with the fourth tooth surface 2222 of the fourth gear 222, they can respond in time and drive the planetary carrier 36 to rotate.

[0175] Similarly, in an optional embodiment, the first and second steps can be completed before shipment through a fixed process or other methods (such as pre-tensioning, etc.). It should be noted that the one-way bearing 40 mentioned in this application allows the two tooth surfaces to maintain abutment or fit, mainly because they have already achieved abutment or fit, and then the one-way bearing 40 continues to maintain this abutment or fit trend. In some cases, the one-way bearing 40 can cooperate with the rotation of the transmission device to cause the teeth of some gears to enter abutment or fit, and then the one-way bearing 40 can maintain this state.

[0176] As described above, during subsequent rotation, whether the first rotating shaft 11 is input clockwise or counterclockwise, the first gear 211 and the second gear 212, as well as the third gear 221 and the fourth gear 222, can respond promptly without any gear backlash, thereby achieving highly precise transmission. Furthermore, as can be seen from the above description, during subsequent rotation, the one-way bearing 40 can continuously maintain contact between the first gear 211 and the first tooth surface 2121 of the second gear 212 in the first transmission system 21, and continuously maintain contact between the third gear 221 and the fourth tooth surface 2222 of the fourth gear 222 in the second transmission system 22.

[0177] In an alternative embodiment, the planet carrier 36 includes at least two planetary shafts 361. The second gear 212 and the fourth gear 222 combine to form a planetary gear set. There are at least two planetary gear sets, with each planetary shaft 361 rotatably mounting a planetary gear set. In this embodiment, by providing at least two planetary gear sets, the torque acting on the first gear 211 and the third gear 221 can be reduced. In particular, when the at least two planetary gear sets are arranged circumferentially symmetrically around the first rotating shaft 11, the torque acting on the first gear 211 and the third gear 221 can be minimized, thereby extending the service life of the transmission device 100.

[0178] In an optional embodiment, at least two planetary gear sets are disposed around the first rotating shaft 11 and are equally spaced circumferentially. "Equally spaced circumferentially" means that the planetary gear sets' rotation paths around the first rotating shaft 11 form a circular ring, and the lengths of the arc segments between any two adjacent planetary gear sets are equal. In other words, the angles between the midpoints of any two adjacent planetary gear sets and the centerline of the first rotating shaft 11 are equal.

[0179] In an alternative embodiment, there are four planetary shafts 361 and four planetary gear sets. Each planetary shaft 361 is rotatably mounted with a planetary gear set, and the four planetary gear sets are evenly spaced around the first rotating shaft 11. That is, the angle between the midpoints of any two adjacent planetary gear sets and the centerline of the first rotating shaft 11 is 90 degrees. It should be noted that the number of planetary gear sets is not limited to four; it can also be two, three, five, or more, depending on actual design requirements.

[0180] In an alternative embodiment, the transmission device 100 further includes a first end cover 50 and a second end cover 60. The ring gear 35 is sandwiched between the first end cover 50. The first end cover 50 is provided with a first assembly hole 51, and the second end cover 60 is provided with a second assembly hole 61. The planet carrier 36 further includes a rotating disk 362 and an output shaft 363. The rotating disk 362 is disposed between the first end cover 50 and the second end cover 60. The side of the rotating disk 362 facing the first end cover 50 is provided with a third assembly hole 3621. The output shaft 363 is connected to the side of the rotating disk 362 facing the second end cover 60. The first rotating shaft 11 is rotatably inserted through the first assembly hole 51 and the third assembly hole 3621, and the output shaft 363 is rotatably inserted through the second assembly hole 61.

[0181] In an alternative embodiment, the transmission device 100 further includes a first bearing, a second bearing, and a third bearing. The first bearing is inserted into the first assembly hole 51, the second bearing is inserted into the second assembly hole 61, and the third bearing is inserted into the third assembly hole 3621. The first rotating shaft 11 is engaged with the inner rings of the first bearing and the third bearing, and the output shaft 363 is engaged with the inner ring of the third bearing.

[0182] Example D2

[0183] As shown in Figures 3 and 18, the first gearbox 213 includes a first gear 211 and a second gear 212, and the second gearbox 223 includes a third gear 221 and a fourth gear 222. As shown in Figure 18, the transmission device 100 also includes a first rotating shaft 11 and a second rotating shaft 12. The input mechanism 10 includes a fifth gear 14 and a sixth gear 15 meshing with the fifth gear 14. The first transmission system 21 also includes a seventh gear 16 and an eighth gear 17. The seventh gear 16 is connected to the sixth gear 15. The first gear 211 and the seventh gear 16 are coaxially arranged via the first rotating shaft 11. The seventh gear 16 is fixedly connected to the first rotating shaft 11. The eighth gear 17 is connected to the output end of the first gearbox 213. The second transmission system 22 also includes a ninth gear 224 and a tenth gear 225. The ninth gear 224 is connected to the sixth gear 15. The third gear 221 and the ninth gear 224 are coaxially arranged via the second rotating shaft 12. The ninth gear 224 is fixedly connected to the second rotating shaft 12. The tenth gear 225 is connected to the output end of the second gearbox 223. The output mechanism 30 includes an inner ring gear 35, with which the eighth gear 17 and the tenth gear 225 mesh.

[0184] The third gear 221 is fixedly connected to the second rotating shaft 12, and a one-way bearing 40 is provided between the first gear 211 and the first rotating shaft 11; or, the first gear 211 is fixedly connected to the first rotating shaft 11, and a one-way bearing 40 is provided between the third gear 221 and the second rotating shaft 12; or, one-way bearings 40 are provided between the first gear 211 and the first rotating shaft 11 and between the third gear 221 and the second rotating shaft 12, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0185] The “seventh gear 16 is connected to the sixth gear 15 ” includes direct meshing between the seventh gear 16 and the sixth gear 15 , and also includes that other gears are provided between the seventh gear 16 and the sixth gear 15 , and the seventh gear 16 and the sixth gear 15 are indirectly meshed.

[0186] Among them, "the first gear 211 and the seventh gear 16 are coaxially arranged through the first rotating shaft 11" means that the first gear 211 and the seventh gear 16 are both mounted on the first rotating shaft 11, and "the seventh gear 16 is fixedly connected to the first rotating shaft 11" means that the seventh gear 16 and the first rotating shaft 11 cannot rotate relative to each other, and does not limit the seventh gear 16 and the first rotating shaft 11 to be inseparable. Similarly, "the third gear 221 and the ninth gear 224 are coaxially arranged through the second rotating shaft 12" means that the third gear 221 and the ninth gear 224 are both mounted on the second rotating shaft 12, and "the ninth gear 224 is fixedly connected to the second rotating shaft 12" means that the ninth gear 224 and the second rotating shaft 12 cannot rotate relative to each other, and does not limit the ninth gear 224 and the second rotating shaft 12 to be inseparable.

[0187] Optionally, the first rotating shaft 11 and the second rotating shaft 12 may be arranged in parallel and spaced apart.

[0188] Taking the first gearbox 213 and the second gearbox 223 as the transmission device described in Example D1, the one-way bearing 40 is disposed between the first rotating shaft 11 and the first gear 211, and the one-way bearing 40 is used to transmit clockwise rotation as an example, the working process of the transmission device 100 proposed in this embodiment is as follows:

[0189] In the first step, the fifth gear 14 rotates clockwise, driving the sixth gear 15 to rotate counterclockwise. The sixth gear 15 then drives the seventh gear 16 and the ninth gear 224 to rotate clockwise. Since the first gear 211 and the seventh gear 16 are coaxially arranged via the first rotating shaft 11, the seventh gear 16 drives the first gear 211 to rotate clockwise via the first rotating shaft 11, and the first gear 211 drives the second gear 212 to rotate counterclockwise. At this point, as shown in FIG. 2 , the first gear 211 is in contact with the first tooth surface 2121 of the second gear 212. Similarly, since the third gear 221 and the ninth gear 224 are coaxially arranged via the second rotating shaft 12, the ninth gear 224 drives the third gear 221 to rotate clockwise via the second rotating shaft 12, and the third gear 221 drives the fourth gear 222 to rotate counterclockwise. The second gear 212 rotating counterclockwise drives the planetary carrier of the first gear box 213 to rotate clockwise, thereby driving the eighth gear 17 to rotate clockwise. The fourth gear 222 rotating counterclockwise drives the planetary carrier of the second gear box 223 to rotate clockwise, thereby driving the tenth gear 223 to rotate clockwise. The eighth and ninth gears 17 and the tenth gear 223 drive the inner ring gear 35 to rotate clockwise.

[0190] In the second step, the fifth gear 14 inputs counterclockwise rotation, driving the sixth gear 15 to rotate clockwise. The sixth gear 15 drives the seventh gear 16 and the ninth gear 224 to rotate counterclockwise. A one-way bearing 40 is provided between the first rotating shaft 11 and the first gear 211. The rotation transmission of the seventh gear 16 is interrupted at the first gear 211. The first gear 211 and the first tooth surface 2121 of the second gear 212 remain in contact with each other. The eighth gear 17 and the inner gear ring 35 also maintain a contact state of transmitting clockwise rotation. The ninth gear 224 is unaffected. The ninth gear 224 drives the third gear 221 to rotate counterclockwise via the second rotating shaft 12, and the third gear 221 drives the fourth gear 222 to rotate clockwise. At this time, as shown in FIG2 , the gear teeth of the third gear 221 are in contact with the fourth tooth surface 2222 of the fourth gear 222. The clockwise rotation of the fourth gear 222 drives the planetary carrier of the second gearbox 223 to rotate counterclockwise, thereby driving the tenth gear 223 to rotate counterclockwise. The counterclockwise rotation of the tenth gear 223 drives the inner ring gear 35 to rotate counterclockwise. During the counterclockwise rotation of the inner ring gear 35, the eighth gear 17 can be driven to rotate counterclockwise, so that the eighth gear 17 and the inner ring gear 35 also maintain a contact state, transmitting clockwise rotation, until the first gear 211 and the first tooth surface 2121 of the second gear 212 also maintain a contact state.

[0191] In the third step, the fifth gear 14 is again input with clockwise rotation, driving the sixth gear 15 to rotate counterclockwise. The sixth gear 15 then drives the seventh gear 16 and the ninth gear 224 to rotate clockwise. The seventh gear 16 drives the first gear 211 to rotate clockwise via the first rotating shaft 11. Since the first gear 211 and the first tooth surface 2121 of the second gear 212 maintain contact, and the eighth gear 17 and the inner ring gear 35 also maintain contact, transmitting clockwise rotation, the first transmission system 21 can quickly transmit the clockwise rotation input by the fifth gear 14 to the inner ring gear 35. During this process, although the second transmission system 22 also rotates, it is not subjected to any relative force or is subjected to very little relative force, maintaining the contact state from the previous step. That is, the teeth of the third gear 221 maintain contact with the fourth tooth surface 2222 of the fourth gear 222.

[0192] In the fourth step, the fifth gear 14 inputs counterclockwise rotation. Since the gears of the second transmission system 22 maintain the fitting state of the previous step, that is, the gear teeth of the third gear 221 and the fourth tooth surface 2222 of the fourth gear 222 maintain the fitting state, they can respond in time and drive the output mechanism 30 to rotate.

[0193] Similarly, in an optional embodiment, the first and second steps can be completed before shipment through a fixed process or other methods (such as pre-tensioning, etc.). It should be noted that the one-way bearing 40 mentioned in this application allows the two tooth surfaces to maintain abutment or fit, mainly because they have already achieved abutment or fit, and then the one-way bearing 40 continues to maintain this abutment or fit trend. In some cases, the one-way bearing 40 can cooperate with the rotation of the transmission device to cause the teeth of some gears to enter abutment or fit, and then the one-way bearing 40 can maintain this state.

[0194] As described above, during subsequent rotation, whether the fifth gear 14 receives clockwise or counterclockwise rotation, the first gear 211 and the second gear 212, as well as the third gear 221 and the fourth gear 222, can respond promptly without any gear backlash, thereby achieving highly precise transmission. Furthermore, as can be seen from the above description, during subsequent rotation, the one-way bearing 40 can maintain contact between the first gear 211 in the first transmission system 21 and the first tooth surface 2121 of the second gear 212; and maintain contact between the third gear 221 and the fourth tooth surface 2222 of the fourth gear 222 in the second transmission system 22.

[0195] It should be noted that the transmission device 100 as a whole includes two links. The first link includes the first transmission system 21 and a portion that may include the input mechanism 10 and / or the output mechanism 30. The second link includes the second transmission system 22 and a portion that may include the input mechanism 10 and / or the output mechanism 30. The first transmission system 21 and the second transmission system 22 are symmetrical or identical systems. The first link and the second link are identical or symmetrical systems. The gear conditions that can reduce or eliminate backlash are as follows:

[0196] In the first case, taking the one-way bearing 40 set in the first link as an example, the first link has a first "I" structure with a one-way bearing 40, such as the seventh gear 16 and the first gear 211 are coaxially arranged through the first rotating shaft 11, and the first gear 211 is close to the output mechanism 30, and the one-way bearing 40 is set between the first gear 211 and / or the seventh gear 16, which can reduce or eliminate the backlash between the first gear 211 and the meshing gear (such as the second gear 212) with the first gear 211, and can achieve the backlash from the second gear 212 to any two meshing gears of the output mechanism 30, that is, starting from the gear behind this "I" structure to the output mechanism 30, the backlash can be reduced or eliminated.

[0197] At the same time, although the one-way bearing 40 is provided in the first link, it also produces the same effect on the second link. Since the second link and the first link are identical or symmetrical systems, for each gear or shaft in the first link, the second link has a corresponding gear or shaft. Starting from the gear corresponding to the rear gear of the "I" structure of the first link to the output mechanism 30, backlash can be reduced or eliminated in the second link. For example, if the rear gear of the "I" structure in the first link is the first gear 211, and the corresponding gear in the second link is the third gear 221, then backlash can be reduced or eliminated from the third gear 211 to the output mechanism 30.

[0198] In the second case, the first gears of the first link and the second link are both arranged on the same shaft, and the one-way bearing 40 is arranged between at least one of the two first gears and the shaft. Then, the two first links can both start from the first gear and go to the output mechanism 30, and both can reduce or eliminate backlash.

[0199] It should be noted that if the first transmission system 21 and the second transmission system 22 are asymmetric or identical systems, the principle of reducing the influence of gear backlash is also described in other embodiments.

[0200] In an optional embodiment, the sixth gear 15, the seventh gear 16, the eighth gear 17, the first gearbox 213, the second gearbox 223, the ninth gear 224, and the tenth gear 225 are combined to form a transmission gear set. There are at least two transmission gear sets, and the at least two gear transmission sets are arranged around the axis of the fifth gear 14. In this embodiment, by providing at least two transmission gear sets, the torque applied to the fifth gear 14 can be reduced. In particular, when the at least two gear transmission sets are circumferentially symmetrical about the axis of the fifth gear 14, the torque applied to the fifth gear 14 can be minimized, thereby extending the service life of the transmission device 100. Circular symmetry refers to the fact that the midpoint of any sixth gear 15, after rotating through a first angle about the axis of the fifth gear 14, coincides with the midpoint of another adjacent sixth gear 15.

[0201] In an optional embodiment, the number of transmission gear sets is three, and the three gear transmission sets are distributed around the axis of the fifth gear 14 and are evenly spaced in the circumferential direction. That is, the angle between the midpoints of any two sixth gears 15 and the midpoint of the fifth gear 14 is 120 degrees. In this embodiment, the circumferentially symmetrical arrangement of the three gear transmission sets can minimize the torque on the fifth gear 14 while simplifying the device structure, thereby extending the service life of the transmission device 100. It should be noted that the number of transmission gear sets is not limited to three, and can be two, four, or more than four, and can be determined according to actual design requirements.

[0202] In an optional embodiment, the line connecting the midpoints of the sixth gear 15, the seventh gear 16 and the ninth gear 224 of each gear transmission group forms an isosceles triangle, and the line connecting the midpoints of the fifth gear 14 and the sixth gear 15 is perpendicular to the line connecting the midpoints of the seventh gear 16 and the ninth gear 224.

[0203] In an optional embodiment, the transmission device 100 also includes a first plate 101 and a second plate 102 spaced apart from the first plate 101, the first gear box 213 and the second gear box 223 are clamped between the first plate 101 and the second plate 102, the fifth gear 14, the sixth gear 15, the seventh gear 16 and the ninth gear 224 are arranged on the side of the first plate 101 facing away from the second plate 102, and the eighth gear 17, the tenth gear 225 and the inner ring gear 35 are arranged on the side of the second plate 102 facing away from the first plate 101.

[0204] In an alternative embodiment, a side of the first plate 101 facing away from the second plate 102 is recessed toward the second plate 102 to form a groove 1011. The fifth gear 14, the sixth gear 15, the seventh gear 16, and the ninth gear 224 are disposed within the groove 1011. The transmission 100 further includes a cover plate 103 connected to the first plate 101 to cover the fifth gear 14, the sixth gear 15, the seventh gear 16, and the ninth gear 224.

[0205] In an optional embodiment, the transmission device 100 further includes a motor, which is at least partially disposed between the first plate 101 and the second plate 102 , and the output shaft of the motor is connected to the fifth gear 14 .

[0206] Example D3

[0207] As shown in Figures 3 and 18, the first gearbox 213 includes a first gear 211 and a second gear 212, and the second gearbox 223 includes a third gear 221 and a fourth gear 222. As shown in Figure 18, the transmission device 100 also includes a first rotating shaft 11 and a second rotating shaft 12. The input mechanism 10 includes a fifth gear 14 and a sixth gear 15 meshing with the fifth gear 14. The first transmission system 21 also includes a seventh gear 16 and an eighth gear 17. The seventh gear 16 is connected to the sixth gear 15. The first gear 211 and the seventh gear 16 are coaxially arranged via the first rotating shaft 11. The first gear 211 is fixedly connected to the first rotating shaft 11, and the eighth gear 17 is connected to the output end of the first gearbox 213. The second transmission system 22 also includes a ninth gear 224 and a tenth gear 225. The ninth gear 224 is connected to the sixth gear 15. The third gear 221 and the ninth gear 224 are coaxially arranged via the second rotating shaft 12. The third gear 221 is fixedly connected to the second rotating shaft 12. The tenth gear 225 is connected to the output end of the second gearbox 223. The output mechanism 30 includes an inner ring gear 35, with which the eighth gear 17 and the tenth gear 225 mesh.

[0208] The seventh gear 16 is fixedly connected to the first rotating shaft 11, and a one-way bearing 40 is provided between the ninth gear 224 and the second rotating shaft 12; or, the ninth gear 224 is fixedly connected to the second rotating shaft 12, and a one-way bearing 40 is provided between the seventh gear 16 and the first rotating shaft 11; or, a one-way bearing 40 is provided between the seventh gear 16 and the first rotating shaft 11, and a one-way bearing 40 is provided between the ninth gear 224 and the second rotating shaft 12, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0209] The difference between this embodiment and the above-mentioned embodiment D2 is that the first gear 211 is fixedly connected to the first rotating shaft 11, the third gear 221 is fixedly connected to the second rotating shaft 12, and the one-way bearing 40 is arranged between the seventh gear 16 and the first rotating shaft 11 and / or between the ninth gear 224 and the second rotating shaft 12.

[0210] The working process of the transmission device 100 proposed in this embodiment can be referred to in Example D2 and will not be described in detail.

[0211] The other structures, connection relationships and beneficial effects of the transmission device 100 proposed in this embodiment can be referred to in Example D2 and will not be described in detail here.

[0212] Example D4

[0213] As shown in Figures 1, 19 and 20, the transmission device 100 also includes a first rotating shaft 11 and a second rotating shaft 12. The input mechanism 10 includes a fifth gear 14. The first transmission system 21 also includes a sixth gear 15, which is connected to the fifth gear 14. The first gear 211 and the sixth gear 15 are coaxially arranged through the first rotating shaft 11, and the first gear 211 is fixedly connected to the first rotating shaft 11. The second transmission system 22 also includes a seventh gear 16, which is connected to the fifth gear 14. The third gear 221 and the seventh gear 16 are coaxially arranged through the second rotating shaft 12, and the third gear 221 is fixedly connected to the second rotating shaft 12. The output mechanism 30 includes an inner ring gear 35, and the first gear 211 and the third gear 221 are meshed with the inner ring gear 35. The inner ring gear 35 is the second gear 212 and the fourth gear 222.

[0214] The seventh gear 16 is fixedly connected to the second rotating shaft 12, and a one-way bearing 40 is provided between the sixth gear 15 and the first rotating shaft 11; or, the sixth gear 15 is fixedly connected to the first rotating shaft 11, and a one-way bearing 40 is provided between the seventh gear 16 and the second rotating shaft 12; or, one-way bearings 40 are provided between the sixth gear 15 and the first rotating shaft 11 and between the seventh gear 16 and the second rotating shaft 12, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0215] Among them, "the first gear 211 and the sixth gear 15 are coaxially arranged through the first rotating shaft 11" means that the first gear 211 and the sixth gear 15 are both mounted on the first rotating shaft 11, and "the first gear 211 is fixedly connected to the first rotating shaft 11" means that the first gear 211 and the first rotating shaft 11 cannot rotate relative to each other, and does not limit the first gear 211 and the first rotating shaft 11 to be inseparable. Similarly, "the third gear 221 and the seventh gear 16 are coaxially arranged through the first rotating shaft 11" means that the third gear 221 and the seventh gear 16 are both mounted on the first rotating shaft 11, and "the third gear 221 is fixedly connected to the second rotating shaft 12" means that the third gear 221 and the second rotating shaft 12 cannot rotate relative to each other, and does not limit the third gear 221 and the second rotating shaft 12 to be inseparable.

[0216] Optionally, the first rotating shaft 11 and the second rotating shaft 12 are arranged in parallel and spaced apart.

[0217] The transmission device 100 of this embodiment operates as follows: when the fifth gear 14 rotates, it drives the sixth gear 15 and the seventh gear 16 to rotate. The rotating sixth gear 15 drives the first gear 211 to rotate, and the rotating seventh gear 16 drives the second gear 212 to rotate. The rotating first gear 211 and the third gear 221 then drive the inner ring gear 35 to rotate. The detailed transmission process of the transmission device 100 of this embodiment can be found in Example D2 and is not described in detail here.

[0218] Example D5

[0219] As shown in Figures 1, 19 and 20, in an optional embodiment, the transmission device 100 further includes a first rotating shaft 11 and a second rotating shaft 12. The input mechanism 10 includes a fifth gear 14. The first transmission system 21 further includes a sixth gear 15, which is connected to the fifth gear 14. The first gear 211 and the sixth gear 15 are coaxially arranged through the first rotating shaft 11, and the sixth gear 15 is fixedly connected to the first rotating shaft 11. The second transmission system 22 further includes a seventh gear 16, which is connected to the fifth gear 14. The third gear 221 and the seventh gear 16 are coaxially arranged through the second rotating shaft 12, and the seventh gear 16 is fixedly connected to the second rotating shaft 12. The output mechanism 30 includes an inner ring gear 35, and the first gear 211 and the third gear 221 are meshed with the inner ring gear 35. The inner ring gear 35 is the second gear 212 and the fourth gear 222.

[0220] The third gear 221 is fixedly connected to the second rotating shaft 12, and a one-way bearing 40 is provided between the first gear 211 and the first rotating shaft 11; or, the first gear 211 is fixedly connected to the first rotating shaft 11, and a one-way bearing 40 is provided between the third gear 221 and the second rotating shaft 12; or, one-way bearings 40 are provided between the first gear 211 and the first rotating shaft 11 and between the third gear 221 and the second rotating shaft 12, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0221] This embodiment differs from the above-described embodiment D4 in that the sixth gear 15 is fixedly connected to the first rotating shaft 11, the seventh gear 16 is fixedly connected to the second rotating shaft 12, and the one-way bearing 40 is disposed between the first gear 211 and the first rotating shaft 11 and / or between the third gear 221 and the second rotating shaft 12. The detailed transmission process of the transmission device 100 proposed in this embodiment can be referred to in embodiment D2 and will not be described in detail.

[0222] Optionally, the first rotating shaft 11 and the second rotating shaft 12 are arranged in parallel and spaced apart.

[0223] Example D6

[0224] As shown in Figures 1 and 21 to 23, the transmission device 100 further includes a first rotating shaft 11, a second rotating shaft 12, and a third rotating shaft 13. The input mechanism 10 includes a fifth gear 14, a sixth gear 15, and a seventh gear 16. The sixth gear 15 is connected to the fifth gear 14, and the seventh gear 16 is coaxially arranged with the sixth gear 15 via the first rotating shaft 11. The first transmission system 21 further includes an eighth gear 17 and an inner ring gear 35. The eighth gear 17 is coaxially arranged with the first gear 211 via the second rotating shaft 12. The eighth gear 17 is fixedly connected to the second rotating shaft 12, and the eighth gear 17 is connected to the seventh gear 16. The second transmission system 22 further includes a ninth gear 224 and an inner ring gear 35. The ninth gear 224 is coaxially arranged with the third gear 221 via the third rotating shaft 13. The ninth gear 224 is fixedly connected to the third rotating shaft 13, and the ninth gear 224 is connected to the seventh gear 16. The output mechanism 30 is connected to the inner gear ring 35 . The first gear 211 and the third gear 221 are both meshed with the inner gear ring 35 . The inner gear ring 35 comprises the second gear 212 and the fourth gear 222 .

[0225] The third gear 221 is fixedly connected to the third rotating shaft 13, and a one-way bearing 40 is provided between the first gear 211 and the second rotating shaft 12; or, the first gear 211 is fixedly connected to the second rotating shaft 12, and a one-way bearing 40 is provided between the third gear 221 and the third rotating shaft 13; or, one-way bearings 40 are provided between the first gear 211 and the second rotating shaft 12 and between the third gear 221 and the third rotating shaft 13, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0226] Here, “the seventh gear 16 and the sixth gear 15 are coaxially arranged via the first rotating shaft 11” may mean that the seventh gear 16 and the sixth gear 15 are both mounted on the first rotating shaft 11. Similarly, “the eighth gear 17 and the first gear 211 are coaxially arranged via the second rotating shaft 12” may mean that the eighth gear 17 and the first gear 211 are both mounted on the second rotating shaft 12. Similarly, “the ninth gear 224 and the third gear 221 are coaxially arranged via the third rotating shaft 13” may mean that the ninth gear 224 and the third gear 221 are both mounted on the third rotating shaft 13.

[0227] The phrase "the eighth gear 17 is fixedly connected to the second rotating shaft 12" means that the eighth gear 17 and the second rotating shaft 12 cannot rotate relative to each other, and does not necessarily mean that the eighth gear 17 and the second rotating shaft 12 cannot be disassembled. Similarly, the phrase "the ninth gear 224 is fixedly connected to the third rotating shaft 13" means that the ninth gear 224 and the third rotating shaft 13 cannot rotate relative to each other, and does not necessarily mean that the ninth gear 224 and the third rotating shaft 13 cannot be disassembled.

[0228] Taking the example of a one-way bearing 40 provided between the first gear 211 and the second rotating shaft 12, and the one-way bearing 40 being used to transmit clockwise rotation, the working process of the transmission device 100 proposed in this embodiment is as follows:

[0229] In the first step, the fifth gear 14 rotates clockwise, driving the sixth gear 15 counterclockwise. Since the seventh gear 16 is coaxial with the sixth gear 15 via the first rotating shaft 11, the sixth gear 15 drives the seventh gear 16 counterclockwise. The seventh gear 16 then drives the eighth gear 17 and the ninth gear 224 clockwise. Since the eighth gear 17 is coaxial with the first gear 211 via the second rotating shaft 12, the eighth gear 17 drives the first gear 211 clockwise. At this point, as shown in FIG22B , the teeth of the first gear 211 mate with the first tooth surface 2121 of the second gear 212. Similarly, since the ninth gear 224 is coaxial with the third gear 221 via the third rotating shaft 13, the ninth gear 224 drives the third gear 221 clockwise. The clockwise rotation of the first gear 211 and the third gear 221 drives the inner ring gear 35 clockwise.

[0230] In the second step, the fifth gear 14 rotates counterclockwise, and the seventh gear 16 drives the eighth gear 17 and the ninth gear 224 to rotate counterclockwise. Because a one-way bearing 40 for transmitting clockwise rotation is provided between the first gear 211 and the second rotating shaft 12, the counterclockwise rotation input of the eighth gear 17 is interrupted at the first gear 211. The first gear 211 and the second gear 212 maintain the engagement state during the clockwise rotation of the first gear 211. The third gear 221 is unaffected and rotates counterclockwise under the drive of the ninth gear 224. The counterclockwise rotation of the third gear 221 drives the fourth gear 222 to rotate counterclockwise. At this time, as shown in FIG. 22B , the gear teeth of the third gear 221 engage the fourth tooth surface 2222 of the fourth gear 222, and the counterclockwise rotation of the third gear 221 drives the fourth gear 222 to rotate counterclockwise. The fourth gear 222 rotating counterclockwise, that is, the second gear 212 rotating counterclockwise, will further abut the first gear 211 through the first tooth surface 2121, thereby maintaining the contact state with the first gear 211 when the first gear 211 rotates clockwise, that is, the first tooth surface 2121 of the second gear 212 maintains contact with the gear teeth of the first gear 211, that is, even if the rotation transmitted from the input mechanism 10 cannot directly reach the first gear 211 due to the obstruction of the one-way bearing 40, the rotation transmitted from the second transmission system 22 to the output mechanism 30 will still further drive the first gear 211, so that the first gear 211 can still rotate relative to the second shaft 12 as a whole.

[0231] In the third step, the fifth gear 14 is input to rotate clockwise again. Since the gear teeth of the first gear 211 are in contact with the first tooth surface 2121 of the second gear 212 in the previous step, the first gear 211 can immediately drive the second gear 212 to rotate at this level. During this process, since the gear teeth of the third gear 221 are still in contact with the fourth tooth surface 2222 of the fourth gear 222, the third gear 221 will rotate. However, at this time, since the inner ring gear 35 has been rotated under the drive of the first gear 211, the inner ring gear 35 and the third gear 221 will rotate synchronously, but the third gear 221 will not be subjected to force or very little relative force with the inner ring gear 35, and the third gear 221 will not rotate from the fourth tooth surface 2222 to the tooth surface opposite to the fourth tooth surface 2222, that is, under the reverse drive of the inner ring gear 35, the third gear 221 maintains the contact state of the previous step with the fourth gear 222, that is, the gear teeth of the third gear 221 and the fourth tooth surface 2222 of the fourth gear 222 are still kept in contact.

[0232] In the fourth step, the fifth gear 14 inputs counterclockwise rotation. Since the third gear 221 and the fourth gear 222 maintain the fitting state of the previous step, that is, the gear teeth of the third gear 221 fit with the fourth tooth surface 2222 of the fourth gear 222, they can respond in time at this level to drive the inner ring gear 35 to rotate.

[0233] Similarly, in an optional embodiment, the first and second steps can be completed before shipment through a fixed process or other methods (such as pre-tensioning, etc.). It should be noted that the one-way bearing 40 mentioned in this application allows the two tooth surfaces to maintain abutment or fit, mainly because they have already achieved abutment or fit, and then the one-way bearing 40 continues to maintain this abutment or fit trend. In some cases, the one-way bearing 40 can cooperate with the rotation of the transmission device to cause the teeth of some gears to enter abutment or fit, and then the one-way bearing 40 can maintain this state.

[0234] As described above, during subsequent rotation, whether the fifth gear 14 receives clockwise or counterclockwise rotation, the first gear 211 and the second gear 212, as well as the third gear 221 and the fourth gear 222, can respond promptly, with minimal or no backlash, thereby achieving highly precise transmission. Furthermore, as can be seen from the foregoing description, during subsequent rotation, the one-way bearing 40 can maintain contact between the first gear 211 in the first transmission system 21 and the first tooth surface 2121 of the second gear 212; and maintain contact between the third gear 221 and the fourth tooth surface 2222 of the fourth gear 222 in the second transmission system 22.

[0235] In an optional embodiment, regardless of whether the second gear 212 and the fourth gear 222 are the same gear or different gears, and there are other gears later, for the input mechanism 30, since it is respectively connected to the first transmission system 21 and the second transmission system 22, when it is driven by a certain transmission system 21, it will be fed back to the other transmission system like the inner ring 35 until the one-way bearing 40 blocks it, so the above principle can also be applied.

[0236] In an optional embodiment, if both the first transmission system 21 and the second transmission system 22 include a one-way bearing 40, and the one-way bearing 40 transmits rotation clockwise, for example, a one-way bearing 40 is provided between the first gear 211 and the second rotating shaft 12, and a one-way bearing 40 is also provided between the third gear 221 and the third rotating shaft 13, and the one-way bearing 40 transmits rotation counterclockwise, then the principle is similar to the above, and the details are as follows:

[0237] In the first step, the fifth gear 14 rotates clockwise, driving the sixth gear 15 to rotate counterclockwise. Since the seventh gear 16 and the sixth gear 15 are coaxially arranged via the first rotating shaft 11, the sixth gear 15 drives the seventh gear 16 to rotate counterclockwise. The seventh gear 16 drives the eighth gear 17 and the ninth gear 224 to rotate clockwise. Since the eighth gear 17 and the first gear 211 are coaxially arranged via the second rotating shaft 12, the eighth gear 17 drives the first gear 211 to rotate clockwise. At this time, as shown in Figure 22B, the teeth of the first gear 211 mate with the first tooth surface 2121 of the second gear 212, driving the inner ring gear 35 to rotate clockwise. Similarly, since the one-way bearing 40 is provided between the third gear 221 and the third rotating shaft 13, rotation is blocked, but the inner ring gear 35 (fourth gear 222) still rotates clockwise, driving the fourth tooth surface 2222 to mate with the third gear 221.

[0238] In the second step, the fifth gear 14 inputs counterclockwise rotation, and the seventh gear 16 drives the eighth gear 17 and the ninth gear 224 to rotate counterclockwise. Because a one-way bearing 40, which transmits clockwise rotation, is located between the first gear 211 and the second rotating shaft 12, the clockwise rotation input of the eighth gear 17 is interrupted at the first gear 211. The first gear 211 and the second gear 212 maintain the engagement state during the clockwise rotation of the first gear 211. The one-way bearing 40 corresponding to the third gear 221 transmits torque counterclockwise and is unaffected. Driven by the ninth gear 224, the third gear 221 rotates counterclockwise, driving the fourth gear 222 to rotate counterclockwise. At this point, as shown in FIG. 22B , the teeth of the third gear 221 engage the fourth tooth surface 2222 of the fourth gear 222, and the counterclockwise rotation of the third gear 221 drives the fourth gear 222 to rotate counterclockwise. The fourth gear 222 rotating counterclockwise, that is, the second gear 212 rotating counterclockwise, will further abut the first gear through the first tooth surface 2121, thereby maintaining the fit state with the first gear 211 when the first gear 211 rotates clockwise, that is, the first tooth surface 2121 of the second gear 212 maintains fit with the gear teeth of the first gear 211.

[0239] As described above, during subsequent rotation, whether the fifth gear 14 receives clockwise or counterclockwise rotation, the first gear 211 and the second gear 212, as well as the third gear 221 and the fourth gear 222, can respond promptly, with minimal or no backlash, thereby achieving highly precise transmission. Furthermore, as can be seen from the foregoing description, during subsequent rotation, the one-way bearing 40 can maintain contact between the first gear 211 in the first transmission system 21 and the first tooth surface 2121 of the second gear 212; and maintain contact between the third gear 221 and the fourth tooth surface 2222 of the fourth gear 222 in the second transmission system 22.

[0240] In an alternative embodiment, the first gear 211, the third gear 221, the sixth gear 15, the seventh gear 16, the eighth gear 17, and the ninth gear 224 are combined to form a transmission gear set. There are at least two transmission gear sets, and the at least two transmission gear sets are spaced apart around the axis of the fifth gear 14. This embodiment can reduce the torque applied to the fifth gear 14. In particular, when the at least two gear transmission sets are circumferentially symmetrical about the axis of the fifth gear 14, the torque applied to the fifth gear 14 can be minimized, thereby extending the service life of the transmission device 100.

[0241] In an optional embodiment, the number of transmission gear sets is three, and the three gear transmission sets are arranged around the axis of the fifth gear 14 and are evenly spaced in the circumferential direction. That is, the angle between the midpoints of any two sixth gears 15 and the midpoint of the fifth gear 14 is 120 degrees. In this embodiment, by arranging the three gear transmission sets in a circularly symmetrical manner, the torque applied to the fifth gear 14 can be minimized while simplifying the device structure, thereby extending the service life of the transmission device 100. It should be noted that the number of transmission gear sets is not limited to three, and can be two, four, or more than four, and can be determined according to actual design requirements.

[0242] In an optional embodiment, a line connecting the midpoints of the fifth gear 14 and the sixth gear 15 is perpendicular to a line connecting the midpoints of the eighth gear 17 and the ninth gear 224 .

[0243] In an alternative embodiment, the transmission device 100 further includes an assembly base 104 and a plate 105. The assembly base 104 includes a first side and a second side opposite the first side. The first side of the assembly base 104 is provided with a groove 1011. The plate 105 is connected to the assembly base 104 and covers the groove 1011. The fifth gear 14 and the sixth gear 15 are located on the side of the plate 105 facing away from the assembly base 104. The seventh gear 16, the eighth gear 17, and the ninth gear 224 are embedded in the groove 1011. The first gear 211, the third gear 221, and the inner ring gear 35 are located on the second side of the assembly base 104.

[0244] In an optional embodiment, the transmission device 100 further includes a cover 106 . The cover 106 is disposed on a side of the plate 105 facing away from the assembly seat 104 . The cover 106 is used to cover the fifth gear 14 and the sixth gear 15 .

[0245] In an optional embodiment, the transmission device 100 further includes a motor, which is disposed between the plate 105 and the assembly seat 104 , and the output shaft 363 of the motor is connected to the fifth gear 14 .

[0246] In an optional embodiment, the output mechanism 30 includes an annular member 37 , which is connected to the assembly seat 104 , and the first gear 211 and the third gear 221 are rotatably mounted on the annular member 37 .

[0247] Example D7

[0248] As shown in Figures 1, 21 and 22A, in an optional embodiment, the transmission device 100 further includes a first rotating shaft 11, a second rotating shaft 12 and a third rotating shaft 13. The input mechanism 10 includes a fifth gear 14, a sixth gear 15 and a seventh gear 16, the sixth gear 15 is connected to the fifth gear 14, and the seventh gear 16 is coaxially arranged with the sixth gear 15 via the first rotating shaft 11. The first transmission system 21 further includes an eighth gear 17 and an inner ring gear 35, the eighth gear 17 is coaxially arranged with the first gear 211 via the second rotating shaft 12, and the first gear 211 is fixedly connected to the second rotating shaft 12. The second transmission system 22 further includes a ninth gear 224 and the inner ring gear 35, the ninth gear 224 and the third gear 221 are coaxially arranged with the third rotating shaft 13, and the third gear 221 is fixedly connected to the third rotating shaft 13. The output mechanism 30 is connected to the inner gear ring 35 . The first gear 211 and the third gear 221 are both meshed with the inner gear ring 35 . The inner gear ring 35 comprises the second gear 212 and the fourth gear 222 .

[0249] The ninth gear 224 is fixedly connected to the third rotating shaft 13, and a one-way bearing 40 is provided between the eighth gear 17 and the second rotating shaft 12; or, the eighth gear 17 is fixedly connected to the second rotating shaft 12, and a one-way bearing 40 is provided between the ninth gear 224 and the third rotating shaft 13; or, a one-way bearing 40 is provided between the eighth gear 17 and the second rotating shaft 12 and between the ninth gear 224 and the third rotating shaft 13, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0250] The difference between this embodiment and the above-mentioned embodiment D6 is that the first gear 211 is fixedly connected to the second rotating shaft 12, the third gear 221 is fixedly connected to the third rotating shaft 13, and the one-way bearing 40 is arranged between the eighth gear 17 and the second rotating shaft 12 and / or between the ninth gear 224 and the third rotating shaft 13.

[0251] The detailed transmission process of the transmission device 100 proposed in this embodiment can refer to Example D2, and will not be repeated here. Other structures, connection relationships and beneficial effects of the transmission device 100 proposed in this embodiment can refer to Example D6, and will not be repeated here.

[0252] Example D8

[0253] As shown in Figures 1, 24, and 25, the transmission device 100 further includes a first rotating shaft 11, a second rotating shaft 12, a third rotating shaft 13, and a fourth rotating shaft 18. The input mechanism 10 includes a fifth gear 14. The first transmission system 21 further includes a sixth gear 15 and a seventh gear 16. The sixth gear 15 is connected to the fifth gear 14. The first gear 211 and the sixth gear 15 are coaxially arranged via the first rotating shaft 11. The seventh gear 16 and the second gear 212 are coaxially arranged via the third rotating shaft 13. The second transmission system 22 further includes an eighth gear 17 and a ninth gear 224. The eighth gear 17 is connected to the fifth gear 14. The third gear 221 and the eighth gear 17 are coaxially arranged via the second rotating shaft 12. The ninth gear 224 and the fourth gear 222 are coaxially arranged via the fourth rotating shaft 18. The output mechanism 30 includes an inner ring gear 35. The seventh gear 16 and the ninth gear 224 mesh with the inner ring gear 35.

[0254] The sixth gear 15 is fixedly connected to the first rotating shaft 11, and a one-way bearing 40 is provided between the eighth gear 17 and the second rotating shaft 12; or, the eighth gear 17 is fixedly connected to the second rotating shaft 12, and a one-way bearing 40 is provided between the sixth gear 15 and the first rotating shaft 11; or, one-way bearings 40 are provided between the sixth gear 15 and the first rotating shaft 11 and between the eighth gear 17 and the second rotating shaft 12, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0255] Among them, “the first gear 211 and the sixth gear 15 are coaxially arranged through the first rotating shaft 11” means that the first gear 211 and the sixth gear 15 are both mounted on the first rotating shaft 11. Similarly, “the third gear 221 and the eighth gear 17 are coaxially arranged through the second rotating shaft 12” means that the third gear 221 and the eighth gear 17 are both mounted on the second rotating shaft 12. “The seventh gear 16 and the second gear 212 are coaxially arranged through the third rotating shaft 13” means that the seventh gear 16 and the second gear 212 are both mounted on the third rotating shaft 13. “The ninth gear 224 and the fourth gear 222 are coaxially arranged through the fourth rotating shaft 18” means that the ninth gear 224 and the fourth gear 222 are both mounted on the fourth rotating shaft 18.

[0256] The transmission process of the transmission device 100 proposed in this embodiment is as follows: when the fifth gear 14 rotates, it drives the sixth gear 15 and the eighth gear 17 to rotate. The rotating sixth gear 15 drives the first gear 211 to rotate. The rotating eighth gear 17 drives the third gear 221 to rotate. The rotating first gear 211 drives the second gear 212 to rotate. The rotating second gear 212 drives the seventh gear 16 to rotate. The rotating third gear 221 drives the fourth gear 222 to rotate. The rotating fourth gear 222 drives the ninth gear 224 to rotate. The rotating seventh gear 16 and the ninth gear 224 drive the inner ring gear 35 to rotate. The detailed transmission process of the transmission device 100 proposed in this embodiment can be referred to Example D2 and is not described in detail here.

[0257] Optionally, the first rotating shaft 11 , the second rotating shaft 12 , the third rotating shaft 13 and the fourth rotating shaft 18 are arranged in parallel and spaced apart.

[0258] Example D9

[0259] As shown in Figures 1, 24, and 25, the transmission device 100 further includes a first rotating shaft 11, a second rotating shaft 12, a third rotating shaft 13, and a fourth rotating shaft 18. The input mechanism 10 includes a fifth gear 14. The first transmission system 21 further includes a sixth gear 15 and a seventh gear 16. The sixth gear 15 is connected to the fifth gear 14. The first gear 211 and the sixth gear 15 are coaxially arranged via the first rotating shaft 11. The seventh gear 16 and the second gear 212 are coaxially arranged via the third rotating shaft 13. The second transmission system 22 further includes an eighth gear 17 and a ninth gear 224. The eighth gear 17 is connected to the fifth gear 14. The third gear 221 and the eighth gear 17 are coaxially arranged via the second rotating shaft 12. The ninth gear 224 and the fourth gear 222 are coaxially arranged via the fourth rotating shaft 18. The output mechanism 30 includes an inner ring gear 35. The seventh gear 16 and the ninth gear 224 mesh with the inner ring gear 35.

[0260] The first gear 211 is fixedly connected to the first rotating shaft 11, and a one-way bearing 40 is provided between the third gear 221 and the second rotating shaft 12; or, the third gear 221 is fixedly connected to the second rotating shaft 12, and a one-way bearing 40 is provided between the first gear 211 and the first rotating shaft 11; or, one-way bearings 40 are provided between the first gear 211 and the first rotating shaft 11 and between the third gear 221 and the second rotating shaft 12, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0261] This embodiment differs from the above-mentioned embodiment D8 in that the one-way bearing 40 is disposed between the first gear 211 and the first rotating shaft 11 and / or between the third gear 221 and the second rotating shaft 12. The detailed transmission process of the transmission device 100 proposed in this embodiment can be referred to in embodiment D2 and will not be described in detail.

[0262] Example D10

[0263] As shown in Figures 1, 26, and 27, the input mechanism 10 includes a planetary carrier 36. The first transmission system 21 also includes a fifth gear 14, a first inner ring gear 351, and a second inner ring gear 352. The second transmission system 22 also includes a sixth gear 15, the first inner ring gear 351, and the second inner ring gear 352. The output mechanism 30 is connected to the second inner ring gear 352. Among them, the planet carrier 36 can rotate around the central axis of the first inner ring gear 351. The planet carrier 36 includes at least two planet shafts 361 spaced apart around the central axis. The fifth gear 14 can be rotatably mounted on one of the planet shafts 361, and the sixth gear 15 can be rotatably mounted on the other planet shaft 361. The fifth gear 14 and the sixth gear 15 are meshed with the first inner ring gear 351. The second inner ring gear 352 is coaxially arranged with the first inner ring gear 351. The second inner ring gear 352 and the first inner ring gear 351 have different pitch circle diameters and can rotate relative to each other. The second gear 212 and the fourth gear 222 constitute the second inner ring gear 352. The first gear 211 is coaxially arranged with the fifth gear 14 and meshed with the second inner ring gear 352. The third gear 221 is coaxially arranged with the sixth gear 15 and meshed with the second inner ring gear 352.

[0264] The first gear 211 is fixedly connected to the fifth gear 14, and a one-way bearing 40 is provided between the third gear 221 and the sixth gear 15; or, the third gear 221 is fixedly connected to the sixth gear 15, and a one-way bearing 40 is provided between the first gear 211 and the fifth gear 14; or, a one-way bearing 40 is provided between the first gear 211 and the fifth gear 14 and between the third gear 221 and the sixth gear 15, and the one-way bearing 40 located between the first gear 11 and the fifth gear 14 and the one-way bearing 40 located between the third gear 221 and the sixth gear 15 have opposite rotation transmission directions.

[0265] Among them, "the first gear 211 is fixedly connected to the fifth gear 14" can mean that both the first gear 211 and the fifth gear 14 are fixed on the planetary shaft 361, or that the fifth gear 14 is fixed on the planetary shaft 361, and the first gear 211 is fixed on the fifth gear 14, or that the first gear 211 is fixed on the planetary shaft 361, and the fifth gear 14 is fixed on the first gear 211.

[0266] The phrase "a one-way bearing 40 is provided between the third gear 221 and the sixth gear 15" may mean that both the third gear 221 and the sixth gear 1 are mounted on the planetary shaft 361, and a one-way bearing 40 is provided between the third gear 221 and the planetary shaft 361 and / or a one-way bearing 40 is provided between the sixth gear 15 and the planetary shaft 361. If both the third gear 221 and the sixth gear 15 are mounted on the planetary shaft 361 with one-way bearings 40, the rotation transmission directions of the two one-way bearings 40 are the same. Alternatively, the sixth gear 15 may be mounted on the planetary shaft 361, and the third gear 221 may be connected to the sixth gear 15 via the one-way bearing 40. For example, a protrusion may be provided on the end of the sixth gear 15 facing the third gear 221, the one-way bearing 40 may be mounted on the protrusion, and the third gear 221 may be mounted on the one-way bearing 40. This is not limited here. The third gear 221 can also be sleeved on the planetary shaft 361, and the sixth gear 15 can be connected to the third gear 221 through a one-way bearing 40. For example, a protrusion is provided at one end of the third gear 221 facing the sixth gear 15, the one-way bearing 40 is sleeved on the protrusion, and the sixth gear 15 is sleeved on the one-way bearing 40. This is not limited here.

[0267] Similarly, the third gear 221 is fixedly connected to the sixth gear 15 , and a one-way bearing 40 is provided between the first gear 211 and the fifth gear 14 . The implementation method is similar to the above and will not be repeated here.

[0268] Similarly, one-way bearings 40 are installed between the first gear 211 and the fifth gear 14, and between the third gear 221 and the sixth gear 15. The one-way bearings 40 are arranged in a similar manner as described above. However, the one-way bearings 40 between the first gear 211 and the fifth gear 14 and the one-way bearings 40 between the third gear 221 and the sixth gear 15 transmit rotation in opposite directions. That is, if the one or both one-way bearings 40 between the first gear 211 and the fifth gear 14 transmit rotation counterclockwise, the one or both one-way bearings 40 between the third gear 221 and the sixth gear 15 transmit rotation clockwise.

[0269] Here, "the first gear 211 and the fifth gear 14 are coaxially arranged" means that the first gear 211 and the fifth gear 14 are sleeved on the same planetary shaft 361, or that the fifth gear 14 is sleeved on the planetary shaft 361, and the first gear 211 is connected to the fifth gear 14. Similarly, "the third gear 221 and the sixth gear 15 are coaxially arranged" means that the third gear 221 and the sixth gear 15 are sleeved on the same planetary shaft 361, or that the sixth gear 15 is sleeved on the planetary shaft 361, and the third gear 221 is connected to the sixth gear 15.

[0270] Taking the example of a one-way bearing 40 provided between the third gear 221 and the sixth gear 15, and the one-way bearing 40 being used to transmit counterclockwise rotation, the working process of the transmission device 100 proposed in this embodiment is as follows:

[0271] In the first step, the planetary carrier 36 inputs clockwise rotation. Since the fifth gear 14 and the sixth gear 15 are engaged with the first inner ring gear 351, the fifth gear 14 and the sixth gear 15 rotate counterclockwise. The fifth gear 14 drives the first gear 211 to rotate counterclockwise, and the sixth gear 15 drives the third gear 221 to rotate counterclockwise. Since the second inner ring gear 352 and the first inner ring gear 351 have different pitch circle diameters and can rotate relative to each other, the second inner ring gear 352 rotates clockwise relative to the first inner ring gear 351 under the drive of the first gear 211 and the third gear 221.

[0272] In the second step, the planetary carrier 36 rotates counterclockwise. Since the fifth and sixth gears 14 and 15 mesh with the first inner ring gear 351, the fifth and sixth gears 14 and 15 rotate clockwise. Because a one-way bearing 40 is provided between the third gear 221 and the sixth gear 15, the clockwise rotation of the third gear 221 is interrupted, and the third gear 221 and the second inner ring gear 352 maintain the contact state during the counterclockwise rotation of the third gear 221. The first gear 211 is unaffected and drives the second inner ring gear 352 to rotate counterclockwise. As the second inner ring gear 352 rotates counterclockwise, it drives the third gear 221 to rotate counterclockwise, thereby maintaining the contact state between the third gear 221 and the second inner ring gear 352 during clockwise rotation.

[0273] In the third step, the planetary carrier 36 is again input with clockwise rotation. Since the third gear 221 and the second inner ring gear 352 remain in contact during clockwise rotation, the third gear 221 can immediately drive the second inner ring gear 352 to rotate clockwise. During this process, the first gear 211 responds more slowly and rotates, but without any force. Driven in the opposite direction by the second inner ring gear 352, the first gear 211 maintains the contact state with the second inner ring gear 352 from the previous step.

[0274] In the fourth step, the planet carrier 36 rotates counterclockwise. Since the first gear 211 and the second inner gear ring 352 maintain the contact state of the previous step, they can respond in time and drive the planet carrier 36 to rotate.

[0275] Similarly, in an optional embodiment, the first and second steps can be completed before shipment through a fixed process or other methods (such as pre-tensioning, etc.). It should be noted that the one-way bearing 40 mentioned in this application allows the two tooth surfaces to maintain abutment or fit, mainly because they have already achieved abutment or fit, and then the one-way bearing 40 continues to maintain this abutment or fit trend. In some cases, the one-way bearing 40 can cooperate with the rotation of the transmission device to cause the teeth of some gears to enter abutment or fit, and then the one-way bearing 40 can maintain this state.

[0276] As described above, during the subsequent rotation process, whether the planetary carrier 36 inputs clockwise rotation or counterclockwise rotation, the third gear 221 and the second inner ring gear 352, and the first gear 211 and the second inner ring gear 352 can respond in time without the influence of gear backlash, thereby achieving higher precision transmission.

[0277] In an alternative embodiment, the first gear 211 and the fifth gear 14 are combined to form a first gear set, and the third gear 221 and the sixth gear 15 are combined to form a second gear set. The first and second gear sets are evenly spaced around the central axis of the first inner ring gear 351. This embodiment can minimize the torque applied to the fifth gear 14, thereby extending the service life of the transmission device 100.

[0278] In an optional embodiment, the first gear 211 and the fifth gear 14 are combined to form a first gear set, and the third gear 221 and the sixth gear 15 are combined to form a second gear set. The center line of the first gear set rotates 90 degrees around the center axis of the first inner gear ring 351 and coincides with the center line of the second gear set.

[0279] In an optional embodiment, the planetary carrier 36 includes four planetary shafts 361 arranged at equal intervals around the central axis, the number of first gear sets and the number of second gear sets are both two, and the first gear sets and the second gear sets are staggered and evenly spaced around the central axis of the first inner gear ring 351.

[0280] Example D11

[0281] As shown in Figures 1 and 28, the input mechanism 10 includes a first rotating shaft 11, and the output mechanism 30 includes a second rotating shaft 12. The first rotating shaft 11 and the second rotating shaft 12 are spaced apart. The first gear 211 and the third gear 221 are mounted on the first rotating shaft 11, and the second gear 212 and the fourth gear 222 are fixedly mounted on the second rotating shaft 12.

[0282] Optionally, the first rotating shaft 11 and the second rotating shaft 12 may be arranged in parallel and spaced apart.

[0283] The third gear 221 is fixedly connected to the first rotating shaft 11, and a one-way bearing 40 is provided between the first gear 211 and the first rotating shaft 11; or, the first gear 211 is fixedly connected to the first rotating shaft 11, and a one-way bearing 40 is provided between the third gear 221 and the first rotating shaft 11; or, one-way bearings 40 are provided between the first gear 211 and the first rotating shaft 11 and between the third gear 221 and the first rotating shaft 11, and the rotation transmission directions of the two one-way bearings 40 are opposite.

[0284] Among them, "the second gear 212 and the fourth gear 222 are fixedly installed on the second rotating shaft 12" means that the second gear 212 and the fourth gear 222 cannot rotate relative to the second rotating shaft 12, and does not limit the second gear 212 and the fourth gear 222 to be non-detachably connected to the second rotating shaft 12.

[0285] The transmission process of the transmission device 100 proposed in this embodiment is as follows: when the first rotating shaft 11 rotates, it drives the first gear 211 and the third gear 221 to rotate, and the first gear 211 and the third gear 221 respectively drive the second gear 212 and the fourth gear 222 to rotate, and the rotating second gear 212 and the fourth gear 222 drive the second rotating shaft 12 to rotate.

[0286] Since the first tooth surface 2121 of the first gear 211 and the second gear 212 remain in contact, and the fourth tooth surface 2222 of the third gear 221 and the fourth gear 222 remain in contact, the influence of gear backlash is eliminated during the process of the first rotating shaft 11 changing from clockwise rotation to counterclockwise rotation or from counterclockwise rotation to clockwise rotation, thereby improving the transmission accuracy.

[0287] It should be understood that, in the present application, when two gears are coaxially arranged / fixed / connected, or two gears are sleeved / arranged / fixed / connected on a certain shaft, it specifically means that both gears can be arranged on the same physical shaft or two physical shafts with a common axis. As an equivalent replacement, a gear can also be provided with a raised shaft, the axis of the raised shaft is coaxial with the two gears, and the other gear is arranged on the raised shaft.

[0288] As shown in Figures 29 to 32, an embodiment of the present application also proposes a transmission device 100. The proposed transmission device 100 includes an input mechanism 10, a transmission mechanism 20, an output mechanism 30 and a one-way bearing 40. The input mechanism 10 and the output mechanism 30 are connected to the transmission mechanism 20. The rotation input by the input mechanism 10 is transmitted by the transmission mechanism 20 and then output from the output mechanism 30.

[0289] The transmission mechanism 20 includes a first transmission system 21 and a second transmission system 22. The first transmission system 21 includes a first gear 211 meshing with the input mechanism 10. The teeth of the first gear 211 include a first tooth surface 2121 for abutting the input mechanism 10. The second transmission system 22 includes a second gear 212 meshing with the input mechanism 10. The teeth of the second gear 212 include a second tooth surface 2122 for abutting the input mechanism 10. The first transmission system 21 and the second transmission system 22 form two links for transmitting rotation. The rotation input by the input mechanism 10 is transmitted through the first transmission system 21 and / or the second transmission system 22 and then output from the output mechanism 30.

[0290] The first tooth surface 2121 faces one of the clockwise and counterclockwise directions, and the second tooth surface 2122 faces the other of the clockwise and counterclockwise directions. The one-way bearing 40 is provided on the input mechanism 10 and is used to keep the first tooth surface 2121 and the second tooth surface 2122 in contact with the input mechanism 10.

[0291] In an optional embodiment, the first transmission system 21 and the second transmission system 22 are the same system or symmetrical systems.

[0292] The transmission device 100 proposed in the embodiment of the present application firstly comprises a transmission mechanism 20 including two rotation-transmitting links, a first transmission system 21 and a second transmission system 22. The rotation input by the input mechanism 10 is transmitted through the first transmission system 21 and the second transmission system 22 and then output from the output mechanism 30. Secondly, a one-way bearing 40 is provided on the input mechanism 10, and the one-way bearing 40 is used to maintain the first tooth surface 2121 and the second tooth surface 2122 in contact with the input mechanism 10, with the first tooth surface 2121 and the second tooth surface 2122 facing opposite directions. Furthermore, by providing the one-way bearing 40 on the input mechanism 10, the first tooth surface 2121 and the second tooth surface 2122 maintain contact with the input mechanism 10. In this way, when the input mechanism 10 changes from clockwise rotation to counterclockwise rotation or from counterclockwise rotation to clockwise rotation, at least part of the gears of the first transmission system 21 and at least part of the gears of the second transmission system 22 are not affected by the gear backlash, that is, at least the total backlash of the first transmission system 21 and the total backlash of the second transmission system 22 can be reduced, thereby improving the transmission accuracy.

[0293] Alternatively, the principle of how the one-way bearing 40 maintains contact between the first tooth surface 2121 and the second tooth surface 2122 and the input mechanism 10, thereby eliminating or reducing backlash between the two meshing gears, has been previously described and will not be further elaborated upon here. Taking the analogy of embodiment D6 as an example, the input mechanism 10 can be analogous to the first gear 211 and the third gear 221 described above, the first tooth surface 2121 can be analogous to the first tooth surface 2121, and the second tooth surface 2122 can be analogous to the fourth tooth surface 2222.

[0294] As shown in Figures 30 and 31 , in an alternative embodiment, the input mechanism 10 includes a third gear 221 and a fourth gear 222. The third gear 221 meshes with the first gear 211, and the gear teeth of the third gear 221 include a third tooth surface 2221 for abutting the first gear 211. The fourth gear 222 meshes with the second gear 212, and the gear teeth of the fourth gear 222 include a fourth tooth surface 2222 for abutting the second gear 212. A one-way bearing 40 is used to maintain abutment between the first tooth surface 2121 and the third tooth surface 2221, and between the second tooth surface 2122 and the fourth tooth surface 2222.

[0295] It should be noted that "the teeth of the third gear 221 include a third tooth surface 2221 for abutting against the first gear 211" may specifically mean that each tooth of the third gear 221 includes a third tooth surface 2221, or it may mean that when the third gear 221 is meshed with the first gear 211 for transmission, the teeth of the third gear 221 that can mesh / abut with the first gear 211 include a third tooth surface 2221.

[0296] Similarly, "the teeth of the fourth gear 222 include a fourth tooth surface 2222 for abutting against the second gear 212" may specifically mean that each tooth of the fourth gear 222 includes a fourth tooth surface 2222, or it may mean that when the fourth gear 222 is meshed with the second gear 212 for transmission, the teeth of the fourth gear 222 that can mesh / abut with the second gear 212 include a fourth tooth surface 2222.

[0297] As shown in Figure 32, in an optional embodiment, the input mechanism 10 includes an input shaft 1001, the third gear 221 and the fourth gear 222 are sleeved on the input shaft 1001, and the one-way bearing 40 is arranged between the third gear 221 and the input shaft 1001 or between the fourth gear 222 and the input shaft 1001.

[0298] As shown in FIG32 , in an alternative embodiment, the input mechanism 10 includes an input shaft 1001, a third gear 221 and a fourth gear 222 sleeved on the input shaft 1001, and a one-way bearing 40 disposed between the third gear 221 and the input shaft 1001 and between the fourth gear 222 and the input shaft 1001. The one-way bearing 40 disposed between the third gear 221 and the input shaft 1001 and the one-way bearing 40 disposed between the fourth gear 222 and the input shaft 1001 transmit rotation in opposite directions.

[0299] As shown in FIG33 , in an optional embodiment, the input mechanism 10 includes an input shaft 1001, a fifth gear 14 sleeved on the input shaft 1001, and a sixth gear 15 and a seventh gear 16 connected to the fifth gear 14. The input mechanism 10 also includes a first shaft 1002 and a second shaft 1003 spaced apart. The third gear 221 and the sixth gear 15 are disposed on the same first shaft 1002, and the fourth gear 222 and the seventh gear 16 are disposed on the same second shaft 1003. The sixth gear 15 and the seventh gear 16 are connected to the fifth gear 14, and the connection can be direct, for example, the sixth gear 15 and the seventh gear 16 are directly meshed with the fifth gear 14, or indirect, for example, there are other gears between the sixth gear 15 and the seventh gear 16 and the fifth gear 14, and the sixth gear 15 and the seventh gear 16 are indirectly meshed with the fifth gear 14.

[0300] Optionally, the first axis 1002 and the second axis 1003 may be arranged in parallel and spaced apart.

[0301] The first axis 1002 in "the third gear 221 and the sixth gear 15 are arranged along the same first axis 1002" can be a real axis or an imaginary axis. When the first axis 1002 is a real axis, "the third gear 221 and the sixth gear 15 are arranged along the same first axis 1002" means that both the third gear 221 and the sixth gear 15 are sleeved on the first axis 1002. When the first axis 1002 is an imaginary axis, "the third gear 221 and the sixth gear 15 are arranged along the same first axis 1002" means that the centerline of the third gear 221 coincides with the centerline of the sixth gear 15. For example, the third gear 221 and the sixth gear 15 are stacked, and the sixth gear 15 has a protrusion on the end facing the third gear 221, and the third gear 221 sleeves on the protrusion.

[0302] Similarly, the fourth gear 222 and the seventh gear 16 are arranged on the second shaft 1003, and the implementation method is similar to the above, which will not be described here.

[0303] In an optional embodiment, the one-way bearing 40 is disposed between the third gear 221 and the sixth gear 15 ; and / or, the one-way bearing 40 is disposed between the fourth gear 222 and the seventh gear 16 .

[0304] It should be noted that "a one-way bearing 40 is arranged between the third gear 221 and the sixth gear 15; and / or, a one-way bearing 40 is arranged between the fourth gear 222 and the seventh gear 16" includes the following three embodiments, one of which is that a one-way bearing 40 is provided between the third gear 221 and the sixth gear 15; another embodiment is that a one-way bearing 40 is provided between the fourth gear 222 and the seventh gear 16; and another embodiment is that a one-way bearing 40 is provided between the third gear 221 and the sixth gear 15 and between the fourth gear 222 and the seventh gear 16.

[0305] The phrase "a one-way bearing 40 is provided between the third gear 221 and the sixth gear 15" may mean that both the third gear 221 and the sixth gear 15 are sleeved on the first shaft 1002, and a one-way bearing 40 is provided between the third gear 221 and the first shaft 1002 and / or a one-way bearing 40 is provided between the sixth gear 15 and the first shaft 1002. Alternatively, the sixth gear 15 is sleeved on the first shaft 1002, and the third gear 221 is connected to the sixth gear 15 via the one-way bearing 40. For example, the sixth gear 15 may have a protrusion on the end facing the third gear 221, the one-way bearing 40 is sleeved on the protrusion, and the third gear 221 is sleeved on the one-way bearing 40. This is not a limitation here.

[0306] Similarly, the implementation of “a one-way bearing 40 is provided between the fourth gear 222 and the seventh gear 16 ” is similar to the above, and will not be elaborated here.

[0307] Similarly, one-way bearings 40 are provided between the third gear 221 and the sixth gear 15, and between the fourth gear 222 and the seventh gear 16. The one-way bearings 40 are arranged in a similar manner to the above, but the one-way bearings 40 between the third gear 221 and the sixth gear 15 transmit rotation in opposite directions to the one-way bearings 40 between the fourth gear 222 and the seventh gear 16. That is, if the one-way bearing 40 between the third gear 221 and the sixth gear 15 transmits rotation counterclockwise, the one-way bearing 40 between the fourth gear 222 and the seventh gear 16 transmits rotation clockwise.

[0308] As shown in FIG33 and FIG40 , in an optional embodiment, the transmission device 10 further includes an elastic torsion structure 70. The elastic torsion structure 70 may be disposed between the third gear 221 and the sixth gear 15 to provide an elastic force to the third gear 221 to enable the third gear 221 to rotate in a free direction and / or to provide an elastic force to the sixth gear 15 to enable the sixth gear 15 to rotate in a free direction.

[0309] In an optional embodiment, the elastic torsion structure 70 can also be arranged between the fourth gear 222 and the seventh gear 16 to provide an elastic force to the fourth gear 222 so that the fourth gear 222 can rotate in a free direction, and / or to provide an elastic force to the seventh gear 16 so that the seventh gear 16 can rotate in a free direction.

[0310] Optionally, the elastic torsion structure 70 can be specifically adapted to be arranged in conjunction with the one-way bearing 40, that is, if a one-way bearing 40 is arranged between the two gears, then an elastic torsion structure 70 can be further arranged between the two gears to cooperate with the one-way bearing 40 to achieve a better effect of reducing or eliminating the gap.

[0311] Optionally, a one-way bearing 40 is provided between the fourth gear 222 and the seventh gear 16 , and then an elastic torsion structure 70 may be provided between the fourth gear 222 and the seventh gear 16 .

[0312] It should be noted that, as explained in the above embodiment, although the one-way bearing 40 will block the rotation from the input mechanism 10 in a certain direction, such as the rotation of the seventh gear 16 cannot be directly transmitted to the fourth gear 222, the rotation of the input mechanism 10 will be transmitted to the output mechanism 30 in the link between the sixth gear 15 and the third gear 221, and under the action of the output mechanism 30, the fourth gear 222 will be driven to rotate, that is, it can rotate mostly or completely synchronously with the seventh gear 16, so that the elastic torsion structure 70 located between the fourth gear 222 and the seventh gear 16 will not undergo excessive relative rotational displacement, thereby reducing damage to the elastic torsion structure 70.

[0313] Optionally, a one-way bearing 40 is provided between the third gear 221 and the sixth gear 15 , and then an elastic torsion structure 70 may be provided between the third gear 221 and the sixth gear 15 .

[0314] Optionally, if a one-way bearing 40 is provided between the fourth gear 222 and the seventh gear 16, and a one-way bearing 40 is provided between the third gear 221 and the sixth gear 15, then an elastic torsion structure 70 can be provided between the third gear 221 and the sixth gear 15 and / or an elastic torsion structure 70 can be provided between the fourth gear 222 and the seventh gear 16.

[0315] Optionally, when the elastic torsion structure 70 provides an elastic force to the third gear 221 that allows the third gear 221 to rotate in the free direction, it is also used to provide an elastic force to the sixth gear 15 to rotate in the tensioning direction. Due to the presence of the one-way bearing 40 (whether one or two), the third gear 221 and the sixth gear 15 can move relative to each other, so the elastic force will act on both ends, thereby further providing the sixth gear 15 with a tensioning direction force opposite to the free direction of the third gear 221. For example, if the free direction of the third gear 221 is clockwise, then the corresponding tensioning direction of the sixth gear 15 is counterclockwise.

[0316] Optionally, the elastic force may act directly on the sixth gear 15 , or may act on the first shaft 1002 and indirectly act on the sixth gear 15 , which is not limited here.

[0317] Optionally, when the elastic torsion structure 70 provides an elastic force to the sixth gear 15 to enable the sixth gear 15 to rotate in the free direction, it is also used to provide an elastic force to the third gear 221 to rotate in the tensioning direction. Similarly, if the free direction of the sixth gear 15 is counterclockwise, then the tensioning direction of the third gear 221 is clockwise.

[0318] It should be noted that the elastic torsion structure 70 provides a free-direction elastic force on a particular gear, overcoming the gear's rotational inertia, allowing the gear to mesh with other adjacent gears even when there is a gap between the gear and the adjacent gear. Optionally, the structure can also further overcome the rotational inertia of one or more other gears connected to the gear, which is not limited here.

[0319] It should be noted that the elastic torsion structure 70 provides an elastic force in the tensioning direction for a certain gear, which can overcome the rotational inertia of the gear so that the gear can rotate, and can also overcome the rotational inertia of the gear and subsequent gears so that multiple gears can rotate. It is set based on specific circumstances and is not limited here.

[0320] Optionally, if two one-way bearings are provided between the third gear 221 and the sixth gear 15, the elastic force provided by the elastic torsion structure 70 to the sixth gear 15 to rotate in the tensioning direction is the elastic force provided by the elastic torsion structure 70 to the sixth gear 15 to enable the sixth gear 15 to rotate in the free direction, that is, for the same gear, the elastic force for rotation in the free direction and the elastic force for rotation in the tensioning direction are the same force.

[0321] Optionally, when the elastic torsion structure 70 provides an elastic force to the fourth gear 222 to enable the fourth gear 222 to rotate in the free direction, it is also used to provide an elastic force to the seventh gear 16 to rotate in the tensioning direction.

[0322] Optionally, the elastic torsion structure 70 provides an elastic force to the seventh gear 16 to rotate in the free direction, and is also used to provide an elastic force to the fourth gear 222 to rotate in the tensioning direction.

[0323] Optionally, taking the third gear 221 as an example, an elastic force is provided to the third gear 221 to enable the third gear 221 to rotate in a free direction, that is, the third gear 221 and the first shaft 1002 are provided with a one-way bearing 40, and the free direction is the direction in which the third gear 221 can rotate relative to the first shaft 1002.

[0324] It should be noted that the free direction rotation force or tension direction rotation force provided by the elastic torsion structure 70 to the gear mentioned in this application can be provided by one elastic torsion structure 70 or the superimposed force provided by multiple elastic torsion structures 70, which is not limited here.

[0325] As optionally, a one-way bearing 40 is provided between the sixth gear 15 and the first shaft 1002, and the one-way bearing 40 is used for clockwise rotation transmission. The fifth gear 14 rotates counterclockwise, driving the sixth gear 15 to rotate clockwise. At this time, the fifth gear 14 will abut against the tooth surface 151 of the sixth gear 15. Since the one-way bearing 40 is for clockwise rotation transmission, at this time, the sixth gear 15 will further drive the first shaft 1002 and the third gear 221 to rotate. When the fifth gear 14 rotates clockwise, it drives the sixth gear 15 to rotate counterclockwise. At this time, the fifth gear 14 will abut against the tooth surface 151 of the sixth gear 15. 15, but the sixth gear 15 will not further drive the first shaft 1002 and the third gear 221 (but since the rotation is still transmitted from one end of the seventh gear 16 to the output mechanism and will be fed back to the first shaft 1002 and the third gear 221 through the output mechanism 30, thereby partially rotating synchronously with the sixth gear 15). When the fifth gear 14 rotates counterclockwise again, the gear teeth of the fifth gear 14 need to cross the gap between the tooth surface 152 of one tooth in the sixth gear 15 and the tooth surface 151 of the adjacent tooth, and re-abut the tooth surface 151 before it can drive the sixth gear 15 to rotate, which will affect the accuracy.

[0326] Therefore, by providing the elastic torsion structure 70, an elastic force is provided to the sixth gear 15 to enable the sixth gear 15 to rotate in a free direction. The elastic force for rotation in the free direction is the direction in which the one-way bearing 40 does not transmit rotation, or it is considered that the sixth gear 15 can freely rotate relative to the first shaft 1002. Therefore, on the basis of the one-way bearing 40 located between the first shaft 1002 and the sixth gear 15 transmitting clockwise rotation, its elastic torsion structure 70 can drive the third gear 221 to rotate counterclockwise, so that the tooth surface 151 can abut against the fifth gear 14. When the fifth gear 14 rotates clockwise, the sixth gear 15 will rotate under the rotation of the output mechanism 20, and will not be subjected to force or very little force between the fifth gear 14. Therefore, when the fifth gear 14 rotates counterclockwise, it will directly abut against the tooth surface 151, thereby effectively reducing or eliminating the generation of gaps.

[0327] It should be noted that the free direction is based on the gear itself, that is, it is related to the rotation transmission direction of the gear and the one-way bearing, so the free direction of different gears is different.

[0328] Optionally, under ideal conditions, the outer and inner rings of the one-way bearing 40 have a 1:1 turns ratio in the rotation transmission direction, transmitting rotation, and no rotation in the opposite direction, i.e., a 1:0 turns ratio. Alternatively, research has found that the one-way bearing 40 may slip during repeated impacts, i.e., slip in the rotation transmission direction with no or incomplete rotation transmission. For example, the outer ring rotates 1 turn while the inner ring rotates 0 turns, or a ratio greater than 0 and less than 1 turn.

[0329] At the same time, the study found that in the opposite direction, if the outer circle rotates 1 circle, the inner circle can also rotate more than 0 circles, which can also be considered as a slip.

[0330] When slippage occurs, such as when the fifth gear 14 drives the sixth gear 15 to rotate repeatedly, the sixth gear 15 may rotate in the clockwise direction to a certain extent, but will not drive the first shaft 1002 and the third gear 221 to rotate, that is, the rotation will not be transmitted to the output mechanism 20, and therefore the output mechanism 20 will not be further fed back to the seventh gear 16, so that the counterclockwise tooth surface of the seventh gear 16 will be disengaged from the fifth gear 14, so that when the fifth gear 14 rotates clockwise, it cannot quickly fit with the seventh gear 16, thereby affecting the rotation accuracy.

[0331] Optionally, the force of the elastic torsion structure 70 can also act on the first shaft 1002 or the third gear 221 (that is, it will provide an elastic force along the tensioning direction to the third gear 221). Since the counterclockwise tooth surface in the seventh gear 16 will be disengaged from the fifth gear 14, that is, in some cases, the force of the elastic torsion structure 70 can drive the third gear 221 to rotate, thereby causing the output mechanism 30 to rotate and feedback to the seventh gear 16, so that the counterclockwise tooth surface in the seventh gear 16 will be aligned with the fifth gear 14, thereby reducing or eliminating the impact of backlash.

[0332] In other embodiments, if a one-way bearing 40 is also provided between the seventh gear 16 and the second shaft 1003, then the elastic torsion mechanism 70 is also provided between the seventh gear 16 and the fourth gear 222. Then, the one-way torsion mechanism 70 can provide an elastic force to rotate in a free direction to the seventh gear 16, so that the seventh gear 16 can rotate counterclockwise, so that the tooth surface of the seventh gear 16 facing counterclockwise can align with the fifth gear 14, thereby reducing or eliminating the influence of backlash.

[0333] In an optional embodiment, the elastic torsion structure 70 includes a torsion spring, which is sleeved on the first shaft 1002 and / or the second shaft 1003. In an optional embodiment, two ends of the torsion spring are connected to the third gear 221 and the sixth gear 15 respectively.

[0334] In an optional embodiment, two ends of the torsion spring are respectively connected to the third gear 221 and the first shaft 1002 .

[0335] In an optional embodiment, two ends of the torsion spring are respectively connected to the sixth gear 15 and the first shaft 1002 .

[0336] In an optional embodiment, two ends of the torsion spring are respectively connected to the fourth gear 222 and the seventh gear 16 .

[0337] In an optional embodiment, two ends of the torsion spring are respectively connected to the fourth gear 222 and the second shaft 1003 .

[0338] In an optional embodiment, two ends of the torsion spring are respectively connected to the seventh gear 16 and the second shaft 1003 .

[0339] In an optional embodiment, the elastic torsion structure 70 may further include an elastic extrusion member (not shown), which may be a spring, a restorable deformable body or other structures.

[0340] In an alternative embodiment, an elastic extrusion member may be located between the third gear 221 and the first shaft 1002 .

[0341] In an alternative embodiment, an elastic extrusion member may be located between the sixth gear 15 and the first shaft 1002 .

[0342] In an optional embodiment, the elastic extrusion member may be located between the third gear 221 and the sixth gear 15 .

[0343] In an alternative embodiment, an elastic extrusion member may be located between the second shaft 1003 and the fourth gear 222 .

[0344] In an alternative embodiment, an elastic extrusion member may be located between the second shaft 1003 and the seventh gear 16 .

[0345] In an alternative embodiment, a resilient extrusion member may be located between the fourth gear 222 and the seventh gear 16 .

[0346] Optionally, the elastic extrusion member has the ability to be deformable and recoverable, for example, it can be a deformable member disposed between the first shaft 1002 and the third gear 221 , which can provide torsional forces in opposite directions to the first shaft 1002 and the third gear 221 .

[0347] It should be noted that the elastic torsion structure 70 may also include other common structures that can generate torsional elastic deformation force, which is not limited here.

[0348] As shown in FIG34 , in an alternative embodiment, the input mechanism 10 includes an input shaft 1001, a fifth gear 14 sleeved on the input shaft 1001, and a sixth gear 15 connected to the fifth gear 14. The input mechanism 10 also includes a first shaft 1002. The third gear 221 and the sixth gear 15 sleeved on the first shaft 1002, and the fourth gear 222 is connected to the fifth gear 14. A one-way bearing 40 is disposed between the third gear 221 and the first shaft 1002, and / or between the sixth gear 15 and the first shaft 1002.

[0349] In an optional embodiment, the first transmission system 21 further includes a plurality of eighth gears (not shown) connected in sequence, and the first eighth gear among the plurality of eighth gears is connected to the first gear 211. The second transmission system 22 further includes a plurality of ninth gears (not shown) connected in sequence, and the first ninth gear among the plurality of ninth gears is connected to the second gear 212. The one-way bearing 40 is used to ensure that the fifth tooth surface of the gear teeth of the first eighth gear of any two adjacent meshing eighth gears among the plurality of eighth gears are in contact with the gear teeth of the next eighth gear, and the orientation of the fifth tooth surface is consistent with the rotation direction of the first eighth gear when the input mechanism 10 rotates in the first direction. The one-way bearing 40 is used to ensure that the sixth tooth surface of the gear teeth of the first ninth gear of any two adjacent meshing ninth gears among the plurality of ninth gears are in contact with the gear teeth of the next ninth gear, and the orientation of the sixth tooth surface is consistent with the rotation direction of the ninth gear when the previous input mechanism 10 rotates in the second direction.

[0350] Optionally, the input mechanism 10 may specifically include a motor component, and the direction of the input mechanism 10 is the rotation direction of the motor component. The first direction may specifically be clockwise or counterclockwise, and the corresponding second direction may be counterclockwise or clockwise. Optionally, the input mechanism 10 also includes an input member (such as a gear or shaft) for connecting to the motor component or other driving member. The direction of the input mechanism 10 is the rotation direction of the input member. The first direction may specifically be clockwise or counterclockwise, and the corresponding second direction may be counterclockwise or clockwise.

[0351] In an alternative embodiment, whether the first direction is clockwise or counterclockwise is related to the torque direction of the one-way bearing 40. The transmission device 100 as a whole comprises two chains. The first chain includes the first transmission system 21 and a portion that may include the input mechanism 10 and / or the output mechanism 30. The second chain includes the second transmission system 22 and a portion that may include the input mechanism 10 and / or the output mechanism 30. Assuming that the one-way bearing 40 is located in the first chain, the first direction is the direction that allows the rotation of the input mechanism 10 to be smoothly transmitted to the eighth gear. The second direction is opposite to the first direction.

[0352] In an alternative embodiment, E consecutive eighth gears from the plurality of eighth gears form a first reducer. F consecutive ninth gears from the plurality of ninth gears form a second reducer. In an alternative embodiment, the reduction ratios of the first reducer and the second reducer are the same or different.

[0353] As shown in Figure 11, in an optional embodiment, the output mechanism 30 includes a third shaft 1004, a tenth gear 2001, an eleventh gear 2002 and a twelfth gear 2003, the tenth gear 2001 is connected to the first transmission system 21, the eleventh gear 2002 is connected to the second transmission system 22, and the twelfth gear 2003 is connected to the third shaft 1004 and meshes with the tenth gear 2001 and the eleventh gear 2002.

[0354] As shown in Figure 12, in an optional embodiment, the output mechanism 30 includes a third shaft 1004, a tenth gear 2001, an eleventh gear 2002, a twelfth gear 2003 and a thirteenth gear 2004, the tenth gear 2001 is connected to the first transmission system 21, the eleventh gear 2002 is connected to the second transmission system 22, the twelfth gear 2003 and the thirteenth gear 2004 are connected to the third shaft 1004, the twelfth gear 2003 is engaged with the tenth gear 2001, and the thirteenth gear 2004 is engaged with the eleventh gear 2002.

[0355] As shown in Figure 13, in an optional embodiment, the output mechanism 30 includes a third shaft 1004, a first bevel gear 2005, a second bevel gear 2006, a third bevel gear 2007 and a fourth bevel gear 2008, the first bevel gear 2005 is connected to the first transmission system 21, the second bevel gear 2006 is connected to the second transmission system 22, the third bevel gear 2007 and the fourth bevel gear 2008 are connected to the third shaft 1004, the third bevel gear 2007 is meshed with the first bevel gear 2005, and the fourth bevel gear 2008 is meshed with the second bevel gear 2006.

[0356] As shown in Figure 14, in an optional embodiment, the output mechanism 30 includes an inner ring gear 35, a tenth gear 2001 and an eleventh gear 2002, the tenth gear 2001 is connected to the first transmission system 21, the eleventh gear 2002 is connected to the second transmission system 22, and the tenth gear 2001 and the eleventh gear 2002 are located on the inner side of the inner ring gear 35 and mesh with the inner ring gear 35.

[0357] In an optional embodiment, the output mechanism 30 includes a torque ring (not shown), which is connected to the output ends of the first transmission system 21 and the second transmission system 22 .

[0358] As shown in Figure 35, an embodiment of the present application also proposes a transmission device 100. The proposed transmission device 100 includes an input mechanism 10, a transmission mechanism 20, an output mechanism 30 and a one-way bearing 40. The input mechanism 10 and the output mechanism 30 are connected to the transmission mechanism 20. The rotation input by the input mechanism 10 is transmitted by the transmission mechanism 20 and then output from the output mechanism 30.

[0359] The transmission mechanism 20 includes a first transmission system 21 and a second transmission system 22. The first transmission system 21 includes a plurality of first gears 211 connected in sequence. The plurality of first gears 211 include at least one first gear set, and the first gear set includes two first gears 211 meshing with each other. The second transmission system 22 includes a plurality of second gears 212 connected in sequence. The plurality of second gears 212 include at least one second gear set, and the second gear set includes two second gears 212 meshing with each other. The first transmission system 21 and the second transmission system 22 form two links for transmitting rotation. The rotation input by the input mechanism 10 is transmitted through the first transmission system 21 and / or the second transmission system 22 and then output from the output mechanism 30.

[0360] The one-way bearing 40 is disposed in at least one of the input mechanism 10, the first transmission system 21, and the second transmission system 22. The one-way bearing 40 is configured to maintain contact between the first tooth surface 2121 of the teeth of the preceding first gear 211 of at least some of the two first gears 211 in at least one first gear set and the teeth of the succeeding first gear 211, with the first tooth surface 2121 oriented in the same direction as the rotation of the preceding first gear 211 when the input mechanism 10 rotates in the first direction; and / or, the one-way bearing 40 is configured to maintain contact between the second tooth surface 2122 of the teeth of the preceding second gear 212 of at least some of the two second gears 212 in at least one second gear set and the teeth of the succeeding second gear 212, with the second tooth surface 2122 oriented in the same direction as the rotation of the preceding second gear 212 when the input mechanism 10 rotates in the second direction.

[0361] Optionally, how the one-way bearing 40 enables the first tooth surface 2121 of the gear teeth of the first first gear 211 of the two first gears 211 to maintain abutment with the gear teeth of the rear first gear 211, and / or how the one-way bearing 40 is used to enable the second tooth surface 2122 of the gear teeth of the first second gear 212 of at least part of the two second gears 212 of at least one second gear group to maintain abutment with the gear teeth of the rear second gear 212, thereby realizing the principle of eliminating or reducing the backlash in the two meshing gears, has been explained above and will not be repeated here.

[0362] Optionally, the input mechanism 10 may specifically include a motor component, and the direction of the input mechanism 10 is the rotation direction of the motor component. The first direction may specifically be clockwise or counterclockwise, and the corresponding second direction may be counterclockwise or clockwise. Optionally, the input mechanism 10 also includes an input member (such as a gear or shaft) for connecting to the motor component or other driving member. The direction of the input mechanism 10 is the rotation direction of the input member. The first direction may specifically be clockwise or counterclockwise, and the corresponding second direction may be counterclockwise or clockwise.

[0363] In an alternative embodiment, whether the first direction is clockwise or counterclockwise is related to the torque direction of the one-way bearing 40. The transmission device 100 as a whole comprises two links: the first link comprises the first transmission system 21 and may include the input mechanism 10 and / or the output mechanism 30; the second link comprises the second transmission system 22 and may include the input mechanism 10 and / or the output mechanism 30. Assuming the one-way bearing 40 is located in the first link, the first direction is the direction that allows rotation to be smoothly transmitted from the input mechanism 10 to the output mechanism 30 via the first transmission system 21, and the second direction is opposite to the first direction.

[0364] Among them, the first transmission system 21 and the second transmission system 22 can be the same system or a symmetrical system. On this basis, the one-way bearing 40 can be considered to be independent of the first transmission system 21 and the second transmission system 22. Although the one-way bearing 40 may be set in the first transmission system 21 and / or the second transmission system 22, it is the same for the first transmission system 21 and the second transmission system 22, that is, each level of gear in the first transmission system 21 has a corresponding gear in the second transmission system 22.

[0365] In other embodiments, the first transmission system 21 and the second transmission system 22 may also be different systems, that is, excluding the one-way bearing 40, and the gear composition of the first transmission system 21 and the second transmission system 22 may also be different, such as the first transmission system 21 may have one more stage or multiple stages of gears.

[0366] As shown in FIG36 , in an alternative embodiment, the first transmission system 21 includes a first shaft 1002, and two adjacent first gears 211 are disposed along the first shaft 1002. A one-way bearing 40 is disposed between one of the two adjacent first gears 211 and the first shaft 1002, and the other of the two adjacent first gears 211 is fixedly connected to the first shaft 1002. Alternatively, two one-way bearings 40 are disposed between the two adjacent first gears 211 and the first shaft 1002, respectively.

[0367] Optionally, two adjacent first gears 211 may be sleeved on the first shaft 1002 .

[0368] Optionally, the transmission device 100 also includes an elastic torsion structure (not shown), which is located between two adjacent first gears 211 arranged on a common first axis, so as to provide an elastic force to rotate in a free direction to one of the two adjacent first gears 211, and to provide an elastic force to rotate in a tensioning direction to the other of the two adjacent first gears 211.

[0369] The tensioning direction is opposite to the free direction.

[0370] It should be noted that the specific structure and principle of the elastic torsion structure have been explained in the above embodiments and will not be repeated here. In terms of the principle of the elastic torsion structure for two adjacent first gears 211, the cooperation between the two adjacent first gears 211 and the elastic torsion structure is similar to the cooperation between the third gear 221 and the sixth gear 15 and the elastic torsion structure 70 in the above embodiments, wherein the former first gear 211 of the two adjacent first gears 211 is equivalent to the sixth gear 15, and the latter first gear 211 of the two adjacent first gears 211 is equivalent to the third gear 221.

[0371] Optionally, the elastic torsion structure may specifically include a torsion spring and an elastic extrusion piece. The torsion spring and the elastic extrusion piece have been described in the above embodiments and will not be repeated here.

[0372] As shown in FIG36 , in an alternative embodiment, the first transmission system 21 includes a first shaft 1002, with two adjacent first gears 211 disposed on the first shaft 1002. The second transmission system 22 includes a second shaft 1003, with two adjacent second gears 212 disposed on the second shaft 1003. A one-way bearing 40 is disposed between at least one of the two adjacent first gears 211 and the first shaft 1002, and between at least one of the two adjacent second gears 212 and the second shaft 1003. The one-way bearing between the first gear and the first shaft 1002 and the one-way bearing between the second gear and the second shaft 1003 transmit torque in opposite directions.

[0373] Optionally, two adjacent first gears 211 may be sleeved on the first shaft 1002 .

[0374] Optionally, two adjacent second gears 212 may be sleeved on the second shaft 1003 .

[0375] Optionally, the transmission device 100 further includes an elastic torsion structure (not shown).

[0376] The elastic torsion structure is located between the two adjacent first gears 211 arranged on the common first axis 1002, so as to provide an elastic force for rotating along a free direction to one of the two adjacent first gears 211, and to provide an elastic force for rotating along a tensioning direction to the other of the two adjacent first gears 211.

[0377] The elastic torsion structure is located between two adjacent second gears 212 arranged on the second axis 1003, so as to provide an elastic force for rotating along a free direction to one of the two adjacent second gears 212, and to provide an elastic force for rotating along a tensioning direction to the other of the two adjacent second gears 212.

[0378] It should be noted that the specific structure and principle of the elastic torsion structure have been explained in the above embodiments and will not be repeated here. In terms of the cooperation principle of the elastic torsion structure for two adjacent first gears 211, the cooperation between the two adjacent first gears 211 and the elastic torsion structure is similar to the cooperation between the third gear 221 and the sixth gear 15 and the elastic torsion structure in the above embodiments, wherein the former first gear 211 of the two adjacent first gears 211 is equivalent to the sixth gear 15, and the latter first gear 211 of the two adjacent first gears 211 is equivalent to the third gear 221.

[0379] Based on the principle of the elastic torsion structure for two adjacent second gears 212, the cooperation between the two adjacent second gears 212 and the elastic torsion structure is similar to the cooperation between the fourth gear 222 and the seventh gear 16 and the elastic torsion structure in the above embodiment, wherein the first second gear 212 of the two adjacent second gears 212 is equivalent to the seventh gear 16, and the second second gear 212 of the two adjacent second gears 212 is equivalent to the fourth gear 222.

[0380] Optionally, the elastic torsion structure may specifically include a torsion spring and an elastic extrusion piece. The torsion spring and the elastic extrusion piece have been described in the above embodiments and will not be repeated here.

[0381] In an optional embodiment, the one-way bearing 40 is used to ensure that the first tooth surface of the gear teeth of the first first gear 211 of the two first gears 211 in at least one first gear group remains in contact with the gear teeth of the rear first gear 211, and the orientation of the first tooth surface is consistent with the rotation direction of the first first gear 211 when the input mechanism 10 rotates along the first direction; and / or, the one-way bearing 40 is used to ensure that the second tooth surface of the gear teeth of the first second gear 212 in at least one second gear group remains in contact with the gear teeth of the rear second gear 212, and the orientation of the second tooth surface is consistent with the rotation direction of the first second gear 212 when the input mechanism 10 rotates along the second direction.

[0382] That is, the one-way bearing 40 can ensure that the first tooth surface of the gear teeth of the first first gear 211 in the two first gears 211 in all the first gear groups in at least one first gear group remains in contact with the gear teeth of the second first gear 211, and the direction of the first tooth surface is consistent with the rotation direction of the first first gear 211 when the input mechanism 10 rotates along the first direction.

[0383] Similarly, the one-way bearing 40 can also ensure that the second tooth surface of the gear teeth of the preceding second gear 212 of the two second gears 212 in all the second gear groups in at least one second gear group remains in contact with the gear teeth of the following second gear 212, and the orientation of the second tooth surface is consistent with the rotation direction of the preceding second gear 212 when the input mechanism 10 rotates in the second direction.

[0384] As shown in FIG37 , in an alternative embodiment, the input mechanism 10 includes a third gear 221 and a fourth gear 222. The input mechanism 10 also includes a third shaft 1004 and a fourth shaft 1005. A first first gear 211 of the plurality of first gears 211 and the third gear 221 are sleeved on the third shaft 1004, and a first second gear 212 of the plurality of second gears 212 and the fourth gear 222 are sleeved on the fourth shaft 1005.

[0385] As shown in FIG. 37 , in an optional embodiment, the one-way bearing 40 is disposed between the third gear 221 and the third shaft 1004 ; and / or, the one-way bearing 40 is disposed between the first first gear 211 of the plurality of first gears 211 and the third shaft 1004 .

[0386] In an optional embodiment, the first second gear 212 of the plurality of second gears 212 and the fourth gear 222 are fixed to the fourth shaft 1005 .

[0387] In an optional embodiment, the transmission device 100 further includes an elastic torsion structure (not shown).

[0388] The elastic torsion structure is located between the third gear 221 and the first first gear 211 of the multiple first gears. The elastic torsion structure is used to provide an elastic force to rotate along the free direction to the third gear 221 and one of the first first gear 211 of the multiple first gears 211, and to provide an elastic force to rotate along the tensioning direction to the third gear 221 and another of the first first gear 211 of the multiple first gears 211.

[0389] It should be noted that the specific structure and principle of the elastic torsion structure have been explained in the above embodiments and will not be repeated here. In terms of the matching structure of the elastic torsion structure for the third gear 221 and the first first gear 211 of the multiple first gears, it is equivalent to the matching structure of the elastic torsion structure 70 in the above embodiment located between the sixth gear 15 and the third gear 221. The third gear 221 is equivalent to the sixth gear 15, and the first first gear 211 of the multiple first gears is equivalent to the third gear 221.

[0390] Optionally, the elastic torsion structure may specifically include a torsion spring and an elastic extrusion piece. The torsion spring and the elastic extrusion piece have been described in the above embodiments and will not be repeated here.

[0391] As shown in FIG37 , in an alternative embodiment, a one-way bearing 40 is disposed between the fourth gear 222 and the fourth shaft 1005; and / or a one-way bearing 40 is disposed between the first second gear 212 of the plurality of second gears 212 and the fourth shaft 1005. The one-way bearing disposed on the fourth shaft 1005 and the one-way bearing disposed on the third shaft 1004 transmit rotation in opposite directions.

[0392] In an optional embodiment, the input mechanism 10 also includes a fifth shaft and a fifth gear and a sixth gear arranged on the common fifth shaft; the first transmission system 21 is connected to the fifth gear, that is, the first first gear 211 of the multiple first gears 211 connected in sequence in the first transmission system 21 is directly or indirectly connected to the fifth gear, and the multiple second gears 212 connected in sequence in the second transmission system 22 are connected to the sixth gear; the one-way bearing 40 is arranged between the fifth gear and the fifth shaft, and / or between the sixth gear and the fifth shaft.

[0393] In an alternative embodiment, G consecutive first gears 211 form a first reducer. H consecutive second gears 212 form a second reducer. In an alternative embodiment, the reduction ratios of the first reducer and the second reducer are the same or different.

[0394] As shown in Figure 11, in an optional embodiment, the output mechanism 30 includes a fifth shaft 1006, a ninth gear 14, a sixth gear 15 and a seventh gear 16, the ninth gear 14 is connected to the first transmission system 21, the sixth gear 15 is connected to the second transmission system 22, and the seventh gear 16 is connected to the fifth shaft 1006 and meshes with the ninth gear 14 and the sixth gear 15.

[0395] As shown in Figure 12, in an optional embodiment, the output mechanism 30 includes a fifth shaft 1006, a ninth gear 14, a sixth gear 15, a seventh gear 16 and an eighth gear 17, the ninth gear 14 is connected to the first transmission system 21, the sixth gear 15 is connected to the second transmission system 22, the seventh gear 16 and the eighth gear 17 are connected to the fifth shaft 1006, the seventh gear 16 is engaged with the ninth gear 14, and the eighth gear 17 is engaged with the sixth gear 15.

[0396] As shown in Figure 13, in an optional embodiment, the output mechanism 30 includes a fifth shaft 1006, a first bevel gear 2005, a second bevel gear 2006, a third bevel gear 2007 and a fourth bevel gear 2008, the first bevel gear 2005 is connected to the first transmission system 21, the second bevel gear 2006 is connected to the second transmission system 22, the third bevel gear 2007 and the fourth bevel gear 2008 are connected to the fifth shaft 1006, the third bevel gear 2007 is engaged with the first bevel gear 2005, and the fourth bevel gear 2008 is engaged with the second bevel gear 2006.

[0397] As shown in Figure 14, in an optional embodiment, the output mechanism 30 includes an inner ring gear 35, a ninth gear 14 and a sixth gear 15, the ninth gear 14 is connected to the first transmission system 21, the sixth gear 15 is connected to the second transmission system 22, and the ninth gear 14 and the sixth gear 15 are located on the inner side of the inner ring gear 35 and mesh with the inner ring gear 35.

[0398] In an optional embodiment, the output mechanism 30 includes a torque ring (not shown), which is connected to the output ends of the first transmission system 21 and the second transmission system 22 .

[0399] As shown in Figure 38, an embodiment of the present application also proposes a transmission device 100. The proposed transmission device 100 includes an input mechanism 10, a transmission mechanism 20, an output mechanism 30 and a one-way bearing 40. The input mechanism 10 and the output mechanism 30 are connected to the transmission mechanism 20. The rotation input by the input mechanism 10 is transmitted by the transmission mechanism 20 and then output from the output mechanism 30.

[0400] The transmission mechanism 20 includes a first transmission system 21 and a second transmission system 22. The first transmission system 21 includes a first gear 211, a first shaft 1002, a second gear 212, and at least one third gear 221. The first gear 211 is connected to the input mechanism 10. The first gear 211 and the second gear 212 are both disposed on the first shaft 1002. A first third gear 221 of the at least one third gear 221 meshes with the second gear 212, and a last third gear 221 of the at least one third gear 221 is connected to the output mechanism 30. The second transmission system 22 includes a fourth gear 222, a second shaft 1003, a fifth gear 14, and at least one sixth gear 15. The fourth gear 222 is connected to the input mechanism 10. The fourth gear 222 and the fifth gear 14 are both disposed on the second shaft 1003. A first sixth gear 15 of the at least one sixth gear 15 meshes with the fifth gear 14, and a last sixth gear 15 of the at least one sixth gear 15 is connected to the output mechanism 30.

[0401] Optionally, the first gear 211 and the second gear 212 are both sleeved on the first shaft 1002 .

[0402] Optionally, the fourth gear 222 and the fifth gear 14 are both sleeved on the second shaft 1003. The one-way bearing 40 can be provided between the first gear 211 and the second gear 212.

[0403] Optionally, a one-way bearing 40 is arranged between the first gear 211 and the first shaft 1002 and / or between the second gear 212 and the first shaft 1002, and at least one one-way bearing 40 is used to ensure that the second gear 212 and the first third gear 221 of at least one third gear 221 and any two adjacent meshing third gears 221 of at least one third gear 221 maintain abutment along the first chain direction, and the first chain direction is the rotation transmission direction of the first transmission system 21 from the input mechanism 10 to the output mechanism 30.

[0404] Optionally, when the first transmission system 21 has an "I"-shaped structure consisting of a first gear 211, a first shaft 1002 and a second gear 212, and the one-way bearing 40 is arranged in the "I"-shaped structure, then starting from the second gear 212, the one-way bearing 40 can keep any two meshing gears of the second gear 212 and at least one third gear 221 in contact along the first chain direction.

[0405] Optionally, the first chain direction is not a simple clockwise or counterclockwise direction, but an overall direction, that is, the first transmission system 21 can transmit the rotation of the input mechanism 10 to the rotation transmission direction of the output mechanism 30, which appears as different directions between the second gear 212 and the first third gear 221 in at least one third gear 221 and in at least one third gear 221.

[0406] Optionally, the second gear 212 and the first third gear 221 in at least one third gear 221 are maintained in contact with each other, that is, the second gear 212 is in contact with the first third gear 221 in at least one third gear 221 in the first chain direction, which is specifically manifested in that the tooth surface of the gear teeth of the second gear 212 facing the same direction as the rotation of the second gear 212 along the first chain direction is maintained in contact with the first third gear 221 in at least one third gear 221.

[0407] Optionally, any two adjacent meshed third gears 221 in at least one third gear 221 are kept in contact with each other along the first chain direction, and the previous third gear 221 in any two adjacent meshed third gears 221 is abutted against the next third gear 221 in the first chain direction, which is specifically manifested in that the tooth surface of the gear teeth of the previous third gear 221 facing the same direction as the rotation of the previous third gear 221 along the first chain direction is kept in contact with the next third gear 221.

[0408] Optionally, the principle that the one-way bearing 40 is used to keep the tooth surface of the gear teeth of the previous third gear 221 facing the same direction as the rotation of the previous third gear 221 along the first chain direction in contact with the next third gear 221, thereby eliminating or reducing the backlash in the two meshing gears, has been explained in the above embodiments and will not be repeated here.

[0409] Optionally, the first chain direction corresponds to the rotation of the input mechanism 10 along the first direction, that is, when the input mechanism 10 inputs the first direction, the first transmission system 21 rotates along the first chain direction, and the second chain direction corresponds to the rotation of the input mechanism 10 along the second direction, that is, when the input mechanism 10 inputs the second direction, the second transmission system 22 rotates along the second chain direction, wherein the first direction and the second direction have been explained in the previous embodiments and will not be repeated here.

[0410] Optionally, a one-way bearing 40 maintains contact between the second gear 212 and the first of the at least one third gear 221, as well as between any two adjacent meshing third gears 221, along the first chain direction. This reduces or eliminates backlash between the second gear 212 and the first of the at least one third gear 221, as well as between any two adjacent meshing third gears 221. This allows the first transmission system 21 of the input mechanism 10 to respond quickly when the input mechanism 10 rotates from the second direction to the first direction, thereby improving the accuracy of the entire transmission device 100. As shown in FIG. 38 , in an optional embodiment, the output mechanism 30 includes a seventh gear 16; the last of the at least one third gear 221 meshes with the seventh gear 16. The one-way bearing 40 also maintains contact between the last of the at least one third gear 221 and the seventh gear 16 along the first chain direction.

[0411] Optionally, the transmission device 100 further includes an elastic torsion structure;

[0412] The elastic torsion structure is located between the first gear 211 and the second gear 212. The elastic torsion structure is used to provide an elastic force to rotate in a free direction to one of the first gear 211 and the second gear 212, and to provide an elastic force to rotate in a tensioning direction to the other of the first gear 211 and the second gear 212.

[0413] It should be noted that the specific structure and principle of the elastic torsion structure have been explained in the above embodiments and will not be repeated here. In terms of the matching structure of the elastic torsion structure for the first gear 211 and the second gear 212, it is equivalent to the matching structure of the elastic torsion structure 70 located in the sixth gear 15 and the third gear 221 in the above embodiment. The first gear 211 is equivalent to the sixth gear 15, and the second gear 212 is equivalent to the third gear 221.

[0414] Optionally, the elastic torsion structure may specifically include a torsion spring and an elastic extrusion piece. The torsion spring and the elastic extrusion piece have been described in the above embodiments and will not be repeated here.

[0415] In an optional embodiment, the last third gear 221 of the at least one third gear 221 and the last sixth gear 15 of the at least one sixth gear 15 are the same gear.

[0416] As an alternative, the last third gear 221 of the at least one third gear 221 and the last sixth gear 15 of the at least one sixth gear 15 may both be internal gear rings, etc.

[0417] In an optional embodiment, the last third gear 221 of the at least one third gear 221 is an inner ring gear 35 .

[0418] In an optional embodiment, the one-way bearing 40 is used to maintain abutment between the fifth gear 14 and the first sixth gear 15 of at least one sixth gear 15 and any two adjacent meshing sixth gears 15 of at least one sixth gear 15 along the second chain direction, and the second chain direction is the rotation transmission direction of the second transmission system 22 from the input mechanism 10 to the output mechanism 30.

[0419] Optionally, when the first transmission system 21 has an "I"-shaped structure consisting of a first gear 211, a first shaft 1002 and a second gear 212, and the one-way bearing 40 is arranged in the "I"-shaped structure, then starting from the second gear 212, the one-way bearing 40 can keep the fifth gear 14 and the first sixth gear 15 in at least one sixth gear 15 and any two adjacent meshing sixth gears 15 in at least one sixth gear 15 in contact along the second chain direction.

[0420] Optionally, the second chain direction is not simply clockwise or counterclockwise, but a relative direction, that is, when the first direction and the corresponding first chain direction are determined, the second direction corresponding to the direction of the second transmission system 22 is the second chain direction.

[0421] In other embodiments, the one-way bearing 40 can be further arranged between the fourth gear 222 and the fifth gear 14, and then the second chain direction can be the rotation transmission direction in which the second transmission system 22 can transmit the rotation of the input mechanism 10 to the output mechanism 30.

[0422] Optionally, the one-way bearing 40 is used to ensure that the fifth gear 14 and the first sixth gear 15 of at least one sixth gear 15 and any two adjacent meshing sixth gears 15 of at least one sixth gear 15 maintain abutment along the second chain direction. The specific abutment situation is similar to the abutment between the second gear 212 and the first third gear 221 of at least one third gear 221 and any two adjacent meshing third gears 221 of at least one third gear 221 along the first chain direction, and will not be repeated here.

[0423] Optionally, by setting the one-way bearing 40, the second transmission system 22 can respond quickly when the input mechanism 10 rotates from the first direction to the second direction, or the first transmission system 21 can respond quickly when it rotates from the second direction to the first direction, thereby effectively reducing or eliminating the precision problems caused by backlash, thereby achieving the effect of enhancing the precision of the entire transmission device 100.

[0424] As shown in FIG38 , in an alternative embodiment, the output mechanism 30 includes an eighth gear 17. The last sixth gear 15 of the at least one sixth gear 15 meshes with the eighth gear 17. The one-way bearing 40 is further configured to maintain contact between the last sixth gear 15 of the at least one sixth gear 15 and the eighth gear 17 along the second chain direction.

[0425] In an optional embodiment, the one-way bearing 40 is further disposed between the fourth gear 222 and the second shaft 1003 and / or between the fifth gear 14 and the second shaft 1003 .

[0426] The transmission device 100 further includes an elastic torsion structure (not shown);

[0427] The elastic torsion structure is located between the fourth gear 222 and the fifth gear 14. The elastic torsion structure is used to provide an elastic force to rotate in a free direction to one of the fourth gear 222 and the fifth gear 14, and to provide an elastic force to rotate in a tensioning direction to the other of the fourth gear 222 and the fifth gear 14.

[0428] In terms of the matching structure of the elastic torsion structure for the fourth gear 222 and the fifth gear 14, the matching of the fourth gear 222, the fifth gear 14 and the elastic torsion structure is similar to the matching structure of the fourth gear 222, the seventh gear 16 and the elastic torsion structure in the above embodiment, wherein the fourth gear 222 is equivalent to the seventh gear 16, and the fifth gear 14 is equivalent to the fourth gear 222.

[0429] In an alternative embodiment, the first transmission system 21 includes a first reducer, and the second transmission system 22 includes a second reducer. In an alternative embodiment, the reduction ratios of the first reducer and the second reducer are the same.

[0430] In an alternative embodiment, the first reducer includes J of the second gear 212 and the at least one third gear 221 . The second reducer includes K of the fifth gear 14 and the at least one sixth gear 15 .

[0431] In an alternative embodiment, the first reducer includes M of the at least one third gear 221 , and the second reducer includes N of the at least one sixth gear 15 .

[0432] In an optional embodiment, the first gear 211 and the fourth gear 222 are the same gear, the first shaft 1002 and the second shaft 1003 are the same shaft, and the third gear 221 and the fifth gear 14 are the same gear.

[0433] Optionally, the first transmission system 21 and the second transmission system 22 may be identical or symmetrical systems.

[0434] As shown in Figure 39, an embodiment of the present application also proposes a transmission device 100. The proposed transmission device 100 includes an input mechanism 10, a transmission mechanism 20, an output mechanism 30 and a one-way bearing 40. The input mechanism 10 and the output mechanism 30 are connected to the transmission mechanism 20. The rotation input by the input mechanism 10 is transmitted by the transmission mechanism 20 and then output from the output mechanism 30.

[0435] The transmission mechanism 20 includes a first transmission system 21 and a second transmission system 22. The first transmission system 21 includes a first gear 211, a first shaft 1002, a second gear 212, and at least one third gear 221. The first gear 211 is connected to the input mechanism 10. The first gear 211 and the second gear 212 are both arranged on the first shaft 1002. The first third gear 221 of the at least one third gear 221 is meshed with the second gear 212, and the last third gear 221 of the at least one third gear 221 is connected to the output mechanism 30. The second transmission system 22 includes at least one fourth gear 222. The first fourth gear 222 of the at least one fourth gear 222 is connected to the input mechanism 10, and the last fourth gear 222 of the at least one fourth gear 222 is connected to the output mechanism 30.

[0436] The one-way bearing 40 is disposed between the first gear 211 and the second gear 212 .

[0437] Optionally, a one-way bearing 40 is arranged between the first gear 211 and the first shaft 1002 and / or between the second gear 212 and the first shaft 1002, and the one-way bearing 40 is used to keep the second gear 212 and the first third gear 221 in at least one third gear 221 and any two adjacent meshing third gears 221 in at least one third gear 221 in contact along the first chain direction.

[0438] Optionally, the one-way bearing 40 is used to ensure that the second gear 212 and the first third gear 221 in at least one third gear 221 and any two adjacent meshing third gears 221 in at least one third gear 221 maintain abutment along the first chain direction, which is similar to the above embodiment and will not be repeated here.

[0439] Optionally, the principle of maintaining abutment between the second gear 212 of the one-way bearing 40 and the first third gear 221 of at least one third gear 221 along the first chain direction, thereby eliminating or reducing the backlash between the two meshing gears, has been described in the above embodiments and will not be repeated here.

[0440] Optionally, the first chain direction corresponds to the rotation of the input mechanism 10 along the first direction, that is, when the input mechanism 10 inputs the first direction, the first transmission system 21 rotates along the first chain direction, and the second chain direction corresponds to the rotation of the input mechanism 10 along the second direction, that is, when the input mechanism 10 inputs the second direction, the second transmission system 22 rotates along the second chain direction, wherein the first direction and the second direction have been explained in the previous embodiments and will not be repeated here.

[0441] The transmission device 100 further includes an elastic torsion structure (not shown).

[0442] The elastic torsion structure is located between the first gear 211 and the second gear 212. The elastic torsion structure is used to provide an elastic force to rotate in a free direction to one of the first gear 211 and the second gear 212, and to provide an elastic force to rotate in a tensioning direction to the other of the first gear 211 and the second gear 212.

[0443] It should be noted that the specific structure and principle of the elastic torsion structure have been explained in the above embodiments and will not be repeated here. In terms of the matching structure of the elastic torsion structure for the first gear 211 and the second gear 212, it is equivalent to the matching structure of the elastic torsion structure 70 located in the sixth gear 15 and the third gear 221 in the above embodiment. The first gear 211 is equivalent to the sixth gear 15, and the second gear 212 is equivalent to the third gear 221.

[0444] Optionally, the elastic torsion structure may specifically include a torsion spring and an elastic extrusion piece. The torsion spring and the elastic extrusion piece have been described in the above embodiments and will not be repeated here.

[0445] In an alternative embodiment, the first transmission system 21 and the second transmission system 22 may be different systems. However, if a one-way bearing 40 is provided in the first transmission system 21, the one-way bearing 40 can still maintain the mutually meshing gears in the first transmission system 21 in contact along the first chain direction. Specifically, the one-way bearing 40 maintains contact between the second gear 212 and the first of the at least one third gear 221, as well as between any two adjacent meshing third gears 221 in the at least one third gear 221, along the first chain direction. This reduces or eliminates the backlash between the second gear 212 and the first of the at least one third gear 221, as well as between any two adjacent meshing third gears 221 in the at least one third gear 221. This allows the first transmission system 21 to respond quickly when the input mechanism 10 rotates from the second direction to the first direction, thereby increasing the accuracy of the entire transmission device 100. In an alternative embodiment, the at least one fourth gear 222 includes at least one gear set, each gear set including two meshing fourth gears 222.

[0446] In an optional embodiment, the one-way bearing 40 is used to keep the two fourth gears 222 in some gear groups in at least one gear group in contact along the second chain direction, and the second chain direction is the rotation transmission direction of the second transmission system 22 from the input mechanism 10 to the output mechanism 30.

[0447] In an alternative embodiment, even though the second system 22 and the first system 21 are different systems or asymmetric systems (i.e., the gear arrangement, number of teeth, combination, etc. of the second system 22 are different from those of the first system 21, or the second system 22 has gears corresponding to the first system 21 and gears that do not correspond, or the second system 22 has no gears corresponding to the first system 21), the one-way bearing 40 can still ensure that the two fourth gears 222 in some gear sets in the second transmission system 22 maintain contact along the second chain direction. The two fourth gears 222 maintain contact along the second chain direction similarly to the above embodiment, and will not be further described here.

[0448] In an alternative embodiment, the transmission ratios of the first transmission system 21 and the second transmission system 22 are the same.

[0449] Optionally, the first transmission system 21 and the second transmission system 22 have different transmission ratios.

[0450] As shown in FIG. 39 , in an optional embodiment, the first transmission system 21 further includes a second shaft 1003 , and the last two third gears 221 of the at least one third gear 221 are sleeved on the second shaft 1003 .

[0451] In an optional embodiment, the one-way bearing 40 is disposed between at least one of the last two third gears 221 among the at least one third gear 221 and the second shaft 1003 .

[0452] In an optional embodiment, the second transmission system 22 includes at least one one-way bearing 40, and the rotation transmission direction of the one-way bearing 40 is the same as the direction of the second chain, that is, the second transmission system 22 also has a one-way bearing 40 located between two adjacent fourth gears 222. The one-way bearing 40 can keep the gear group where the latter fourth gear 222 of the two adjacent fourth gears 222 is located and the two fourth gears 222 in all gear groups between the latter fourth gear 222 and the output mechanism 30 in contact along the second chain direction.

[0453] In an optional embodiment, the rotation transmission direction of all the one-way bearings 40 located in the first transmission system 21 is the same as the direction of the first chain.

[0454] In an alternative embodiment, the second transmission system 22 and the first transmission system 21 are the same system or symmetrical systems.

[0455] In an optional embodiment, the first transmission system 21 includes a first reducer, and the second transmission system 22 includes a second reducer.

[0456] In an alternative embodiment, the second speed reducer includes X of the at least one fourth gear 222 , and the first speed reducer includes Y of the at least one third gear 221 .

[0457] It should be noted that the one-way bearing 40 mentioned in this application enables the tooth surfaces of the meshing gears to fit together in a certain direction or the gears to abut against each other in a certain direction. This can be the joint effect of all the one-way bearings 40 in the entire transmission device, or it can be the effect of some of the one-way bearings 40.

[0458] It should be noted that, in this application, whether the gears are kept in contact with the tooth surfaces through the one-way bearing 40 in the first link and / or the second link, or the gears are kept in contact with the gears, the tooth surfaces are kept in contact with the tooth surfaces, the gear teeth are kept in contact with the tooth surfaces, the gear teeth are kept in contact with the tooth surfaces, the gear teeth are kept in contact with the gear teeth, the gears meshing with each other are kept in contact along the chain direction, etc., the core is to use a two-way system (such as the first transmission system 21 and the second transmission system 22, or considered to be the first link and the second link) to form a ring system, and use the blocking effect of the one-way bearing 40 to reduce or eliminate the backlash between at least one group of meshing gears, thereby achieving the effect of reducing the superimposed backlash, effectively improving the accuracy of the entire transmission device 100.

[0459] The reduction, elimination or other aspects mentioned in the present application do not mean that the gear tooth clearance will be physically eliminated, but rather that the first link and the second link are cleverly maintained with the one-way bearing 40 to maintain the gears in direct contact, so that when the input mechanism 10 transmits torque in a certain direction, the first link or the second link can be quickly utilized, thereby reducing the influence of backlash, because for gears that mesh with each other, backlash will only be formed when the gears rotate back and forth clockwise and counterclockwise, and for the first link and the second link, they mainly transmit rotation in one direction, so even if wear, work error, etc. cause the gap between the gear teeth to be large, the generation of backlash will be effectively reduced. It should be noted that in some scenarios, the abutment between gears and tooth surfaces, or the abutment between gears and gears, the abutment between tooth surfaces and tooth surfaces, the abutment between gear teeth and tooth surfaces, the abutment between gear teeth and gear teeth, and the abutment between meshing gears along the chain direction are achieved through the rotational cooperation of the one-way bearing 40 and the input mechanism 10, but in some scenarios, the one-way bearing 40 mainly maintains this fitting or abutment trend.

[0460] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A transmission device, characterized in that: It includes an input mechanism, a transmission mechanism, an output mechanism and a one-way bearing. The input mechanism and the output mechanism are connected to the transmission mechanism. The rotation input by the input mechanism is transmitted by the transmission mechanism and then output from the output mechanism. The transmission mechanism comprises: a first transmission system, the first transmission system comprising a first gear and a second gear, the first gear being connected to the input mechanism, the second gear being connected to the output mechanism, the second gear being meshed with the first gear, the gear teeth of the second gear comprising a first tooth surface and a second tooth surface disposed opposite to the first tooth surface, the first gear being in contact with the first tooth surface; a second transmission system, the second transmission system comprising a third gear and a fourth gear, the third gear being connected to the input mechanism, the fourth gear being connected to the output mechanism, the fourth gear being meshed with the third gear, the gear teeth of the fourth gear comprising a third tooth surface and a fourth tooth surface disposed opposite to the third tooth surface, the third gear being in contact with the fourth tooth surface; The first transmission system and the second transmission system are two links for transmitting rotation, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the first transmission system and / or the second transmission system; wherein the first tooth surface and the third tooth surface face one of a clockwise direction and a counterclockwise direction, and the second tooth surface and the fourth tooth surface face the other of a clockwise direction and a counterclockwise direction; Wherein, at least one of the input mechanism, the first transmission system and the second transmission system is provided with the one-way bearing, and the one-way bearing is used to keep the first gear in contact with the first tooth surface; and / or keep the third gear in contact with the fourth tooth surface.

2. The transmission device according to claim 1, characterized in that The first transmission system includes a first gearbox, and the second transmission system includes a second gearbox; The first gearbox includes the first gear and the second gear, and the second gearbox includes the third gear and the fourth gear; or, the second gear is connected to the input end of the first gearbox, and the fourth gear is connected to the input end of the second gearbox.

3. The transmission device according to claim 2, characterized in that The second gear is connected to the input end of the first gear box, and the fourth gear is connected to the input end of the second gear box; The input mechanism includes a first rotating shaft, the first gear and the third gear are connected to the first rotating shaft, the second gear is fixedly connected to the input end of the first gear box, and the fourth gear is fixedly connected to the input end of the second gear box; The first rotating shaft is fixedly connected to the third gear, and the one-way bearing is provided between the first rotating shaft and the first gear; or, the first rotating shaft is fixedly connected to the first gear, and the one-way bearing is provided between the first rotating shaft and the third gear; or, the one-way bearing is provided between the first rotating shaft and the first gear and between the first rotating shaft and the third gear, and the rotation transmission directions of the two one-way bearings are opposite.

4. The transmission device according to claim 2, characterized in that The first gearbox includes the first gear and the second gear, and the second gearbox includes the third gear and the fourth gear; The input mechanism includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a fifth gear, a sixth gear, and a seventh gear, wherein the first rotating shaft, the second rotating shaft, and the third rotating shaft are spaced apart, the fifth gear is disposed on the outside of the first gear box, the first gear and the fifth gear are mounted on the first rotating shaft, the sixth gear is disposed on the outside of the second gear box, the third gear and the sixth gear are mounted on the second rotating shaft, and the seventh gear is mounted on the third rotating shaft and meshes with the fifth gear and the sixth gear; The second rotating shaft is fixedly connected to the third gear, and the one-way bearing is provided between the first rotating shaft and the first gear; or, the first rotating shaft and the first gear are fixedly connected, and the one-way bearing is provided between the second rotating shaft and the third gear; or, one-way bearings are provided between the first rotating shaft and the first gear and between the second rotating shaft and the third gear, and the rotation transmission directions of the two one-way bearings are opposite.

5. The transmission device according to claim 2, characterized in that: The first gearbox includes the first gear and the second gear, and the second gearbox includes the third gear and the fourth gear; The input mechanism includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a fifth gear, a sixth gear, and a seventh gear, wherein the first rotating shaft, the second rotating shaft, and the third rotating shaft are spaced apart, the fifth gear is disposed on the outside of the first gear box, the first gear and the fifth gear are mounted on the first rotating shaft, the sixth gear is disposed on the outside of the second gear box, the third gear and the sixth gear are mounted on the second rotating shaft, and the seventh gear is mounted on the third rotating shaft and meshes with the fifth gear and the sixth gear; The sixth gear is fixedly connected to the second rotating shaft, and the one-way bearing is provided between the fifth gear and the first rotating shaft; or, the fifth gear is fixedly connected to the first rotating shaft, and the one-way bearing is provided between the sixth gear and the second rotating shaft; or, one-way bearings are provided between the fifth gear and the first rotating shaft and between the sixth gear and the second rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

6. The transmission device according to claim 2, characterized in that The first gearbox includes the first gear and the second gear, and the second gearbox includes the third gear and the fourth gear; The input mechanism includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a fifth gear, a sixth gear, a seventh gear, and an eighth gear, wherein the first rotating shaft, the second rotating shaft, and the third rotating shaft are spaced apart, the fifth gear is provided on the outside of the first gear box, the first gear and the fifth gear are mounted on the first rotating shaft, the sixth gear is provided on the outside of the second gear box, the third gear and the sixth gear are mounted on the second rotating shaft, the seventh gear and the eighth gear are mounted on the third rotating shaft, the seventh gear is meshed with the fifth gear, and the eighth gear is meshed with the sixth gear; The second rotating shaft is fixedly connected to the third gear, and the one-way bearing is provided between the first rotating shaft and the first gear; or the first rotating shaft is fixedly connected to the first gear. The second rotating shaft and the third gear are provided with the one-way bearing; or, one-way bearings are provided between the first rotating shaft and the first gear and between the second rotating shaft and the third gear, and the rotation transmission directions of the two one-way bearings are opposite.

7. The transmission device according to claim 2, characterized in that The first gearbox includes the first gear and the second gear, and the second gearbox includes the third gear and the fourth gear; The input mechanism includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a fifth gear, a sixth gear, a seventh gear and an eighth gear, wherein the first rotating shaft, the second rotating shaft and the third rotating shaft are spaced apart, the fifth gear is provided on the outside of the first gear box, the first gear and the fifth gear are mounted on the first rotating shaft, the sixth gear is provided on the outside of the second gear box, the third gear and the sixth gear are mounted on the second rotating shaft, the seventh gear and the eighth gear are mounted on the third rotating shaft, the seventh gear is meshed with the fifth gear, the eighth gear is meshed with the sixth gear, the fifth gear is fixedly connected to the first rotating shaft, and the sixth gear is fixedly connected to the second rotating shaft; The seventh gear is fixedly connected to the third rotating shaft, and the one-way bearing is provided between the eighth gear and the third rotating shaft; or, the eighth gear is fixedly connected to the third rotating shaft, and the one-way bearing is provided between the seventh gear and the third rotating shaft; or, the one-way bearings are provided between the seventh gear and the third rotating shaft and between the eighth gear and the third rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

8. The transmission device according to claim 2, wherein: The first gearbox includes the first gear and the second gear, and the second gearbox includes the third gear and the fourth gear; The input mechanism includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a fifth gear, a sixth gear, a seventh gear and an eighth gear, wherein the first rotating shaft, the second rotating shaft and the third rotating shaft are spaced apart, the fifth gear is provided on the outside of the first gear box, the first gear and the fifth gear are mounted on the first rotating shaft, the sixth gear is provided on the outside of the second gear box, the third gear and the sixth gear are mounted on the second rotating shaft, the seventh gear and the eighth gear are mounted on the third rotating shaft, the seventh gear is meshed with the fifth gear, the eighth gear is meshed with the sixth gear, and the seventh gear and the eighth gear are fixedly connected to the third rotating shaft; The fifth gear is fixedly connected to the first rotating shaft, and the one-way bearing is provided between the sixth gear and the second rotating shaft; or, the sixth gear is fixedly connected to the second rotating shaft, and the one-way bearing is provided between the fifth gear and the first rotating shaft; or, the one-way bearings are provided between the fifth gear and the first rotating shaft and between the sixth gear and the second rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

9. The transmission device according to claim 2, wherein: The output mechanism includes a second rotating shaft, a fifth gear, a sixth gear, and a seventh gear, wherein the fifth gear is connected to the output end of the first gear box, the sixth gear is connected to the output end of the second gear box, and the seventh gear is connected to the second rotating shaft and meshes with the fifth gear and the sixth gear; or The output mechanism includes a second rotating shaft, a fifth gear, a sixth gear, a seventh gear, and an eighth gear, wherein the fifth gear is connected to the output end of the first gear box, the sixth gear is connected to the output end of the second gear box, the seventh gear and the eighth gear are connected to the second rotating shaft, the seventh gear is meshed with the fifth gear, and the eighth gear is meshed with the sixth gear; or The output mechanism includes a second rotating shaft, a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, the first bevel gear is connected to the output end of the first gear box, the second bevel gear is connected to the output end of the second gear box, the third bevel gear and the fourth bevel gear are connected to the second rotating shaft, the third bevel gear is meshed with the first bevel gear, and the fourth bevel gear is meshed with the second bevel gear; or, The output mechanism includes an inner ring gear, a fifth gear, and a sixth gear, wherein the fifth gear is connected to the output end of the first gear box, the sixth gear is connected to the output end of the second gear box, and the fifth gear and the sixth gear are located inside the inner ring gear and mesh with the inner ring gear; or The output mechanism includes a torque ring connected to output ends of the first gear box and the second gear box.

10. The transmission device according to claim 2, wherein: The first gearbox and the second gearbox are reduction gearboxes or flat speed gearboxes.

11. The transmission device according to claim 2, characterized in that The first gearbox and the second gearbox are reduction gearboxes with the same or different reduction ratios.

12. The transmission device according to claim 2, characterized in that The first gearbox includes the first gear and the second gear, and the second gearbox includes the third gear and the fourth gear; The transmission device further includes a first rotating shaft and a second rotating shaft; The input mechanism includes a fifth gear and a sixth gear meshing with the fifth gear; The first transmission system further includes a seventh gear and an eighth gear, the seventh gear is connected to the sixth gear, the first gear and the seventh gear are coaxially arranged via the first rotating shaft, the seventh gear is fixedly connected to the first rotating shaft, and the eighth gear is connected to the output end of the first gearbox; The second transmission system further includes a ninth gear and a tenth gear, the ninth gear is connected to the sixth gear, the third gear and the ninth gear are coaxially arranged via the second rotating shaft, the ninth gear is fixedly connected to the second rotating shaft, and the tenth gear is connected to the output end of the second gearbox; The output mechanism includes an inner ring gear, and the eighth gear and the tenth gear are engaged with the inner ring gear; In which, the third gear is fixedly connected to the second rotating shaft, and the one-way bearing is provided between the first gear and the first rotating shaft; or, the first gear is fixedly connected to the first rotating shaft, and the one-way bearing is provided between the third gear and the second rotating shaft; or, the one-way bearings are provided between the first gear and the first rotating shaft and between the third gear and the second rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

13. The transmission device according to claim 2, wherein: The first gearbox includes the first gear and the second gear, and the second gearbox includes the third gear and the fourth gear; The transmission device further includes a first rotating shaft and a second rotating shaft; The input mechanism includes a fifth gear and a sixth gear meshing with the fifth gear; The first transmission system further includes a seventh gear and an eighth gear, the seventh gear is connected to the sixth gear, the first gear and the seventh gear are coaxially arranged via the first rotating shaft, the first gear is fixedly connected to the first rotating shaft, and the eighth gear is connected to the output end of the first gearbox; The second transmission system further includes a ninth gear and a tenth gear, the ninth gear is connected to the sixth gear, the third gear and the ninth gear are coaxially arranged via the second rotating shaft, the third gear is fixedly connected to the second rotating shaft, and the tenth gear is connected to the output end of the second gearbox; The output mechanism includes an inner ring gear, and the eighth gear and the tenth gear are engaged with the inner ring gear; Among them, the seventh gear is fixedly connected to the first rotating shaft, and the one-way bearing is provided between the ninth gear and the second rotating shaft; or, the ninth gear is fixedly connected to the second rotating shaft, and the one-way bearing is provided between the seventh gear and the first rotating shaft; or, the one-way bearing is provided between the seventh gear and the first rotating shaft, and the one-way bearing is provided between the ninth gear and the second rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

14. The transmission device according to claim 12 or 13, characterized in that: The sixth gear, the seventh gear, the eighth gear, the first gear box, the second gear box, the ninth gear and the tenth gear are combined to form a transmission gear set, the number of the transmission gear sets is at least two, and the at least two gear transmission sets are arranged around the axis of the fifth gear.

15. The transmission device according to claim 14, characterized in that The number of the transmission gear sets is three, and the three gear transmission sets are distributed around the axis of the fifth gear and are distributed at equal intervals in the circumferential direction.

16. The transmission device according to claim 14, wherein: The midpoint line of the sixth gear, the seventh gear and the ninth gear of each gear transmission group forms an isosceles triangle, and the midpoint line of the fifth gear and the sixth gear is perpendicular to the midpoint line of the seventh gear and the ninth gear.

17. The transmission device according to claim 12 or 13, characterized in that: The transmission device also includes a first plate and a second plate spaced apart from the first plate, the first gear box and the second gear box are clamped between the first plate and the second plate, the fifth gear, the sixth gear, the seventh gear and the ninth gear are arranged on the side of the first plate facing away from the second plate, and the eighth gear, the tenth gear and the inner ring gear are arranged on the side of the second plate facing away from the first plate.

18. The transmission device according to claim 17, characterized in that A side of the first plate facing away from the second plate is recessed toward the second plate to form a groove, and the fifth gear, the sixth gear, the seventh gear, and the ninth gear are disposed in the groove; The transmission device further includes a cover plate connected to the first plate member to cover the fifth gear, the sixth gear, the seventh gear, and the ninth gear.

19. The transmission device according to claim 17, wherein: The transmission device further includes a motor, which is at least partially disposed between the first plate and the second plate, and an output shaft of the motor is connected to the fifth gear.

20. The transmission device according to claim 12 or 13, characterized in that: The first gearbox and the second gearbox are reduction gearboxes.

21. The transmission device according to claim 1, wherein: The input mechanism includes a first rotating shaft, the output mechanism includes a planet carrier, the first transmission system further includes an inner ring gear, the first rotating shaft is arranged along the center line of the inner ring gear, the planet carrier is rotatable around the center line, and the planet carrier includes a planet shaft spaced apart from the first rotating shaft; The first gear and the third gear are both mounted on the first rotating shaft, and the second gear and the fourth gear are rotatably mounted on the planetary shaft and mesh with the inner gear ring.

22. The transmission device according to claim 21, characterized in that The first rotating shaft is fixedly connected to the third gear, and the one-way bearing is provided between the first rotating shaft and the first gear; or The first rotating shaft is fixedly connected to the first gear, and the one-way bearing is provided between the first rotating shaft and the third gear; or The one-way bearing is provided between the first rotating shaft and the first gear and between the first rotating shaft and the third gear, and the rotation transmission directions of the two one-way bearings are opposite.

23. The transmission device according to claim 21, characterized in that The planet carrier includes at least two planet shafts; the second gear and the fourth gear are combined to form a planetary gear set, the number of the planetary gear sets is at least two, and each planet shaft can rotatably mount one planetary gear set.

24. The transmission device according to claim 21, wherein: The at least two planetary gear sets are arranged around the first rotating shaft and are distributed at equal intervals in the circumferential direction.

25. The transmission device according to claim 1, wherein: The transmission device further includes a first rotating shaft and a second rotating shaft; The input mechanism includes a fifth gear; The first transmission system further includes a sixth gear, the sixth gear being connected to the fifth gear, the first gear and the sixth gear being coaxially arranged via the first rotating shaft, and the first gear being fixedly connected to the first rotating shaft; The second transmission system further includes a seventh gear, the seventh gear is connected to the fifth gear, the third gear and the seventh gear are coaxially arranged through the second rotating shaft, and the third gear is fixedly connected to the second rotating shaft; The output mechanism includes an inner gear ring, the first gear and the third gear are meshed with the inner gear ring, and the inner gear ring is the second gear and the fourth gear; Wherein, the seventh gear is fixedly connected to the second rotating shaft, and the one-way bearing is provided between the sixth gear and the first rotating shaft; or, the sixth gear is fixedly connected to the first rotating shaft, The one-way bearing is provided between the seventh gear and the second rotating shaft; or, the one-way bearing is provided between the sixth gear and the first rotating shaft and between the seventh gear and the second rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

26. The transmission device according to claim 1, wherein: The transmission device further includes a first rotating shaft and a second rotating shaft; The input mechanism includes a fifth gear; The first transmission system further includes a sixth gear, the sixth gear being connected to the fifth gear, the first gear and the sixth gear being coaxially arranged via the first rotating shaft, and the sixth gear being fixedly connected to the first rotating shaft; The second transmission system further includes a seventh gear, the seventh gear is connected to the fifth gear, the third gear and the seventh gear are coaxially arranged through the second rotating shaft, and the seventh gear is fixedly connected to the second rotating shaft; The output mechanism includes an inner gear ring, the first gear and the third gear are meshed with the inner gear ring, and the inner gear ring is the second gear and the fourth gear; In which, the third gear is fixedly connected to the second rotating shaft, and the one-way bearing is provided between the first gear and the first rotating shaft; or, the first gear is fixedly connected to the first rotating shaft, and the one-way bearing is provided between the third gear and the second rotating shaft; or, the one-way bearings are provided between the first gear and the first rotating shaft and between the third gear and the second rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

27. The transmission device according to claim 1, characterized in that The transmission device further includes a first rotating shaft, a second rotating shaft and a third rotating shaft; The input mechanism includes a fifth gear, a sixth gear, and a seventh gear, the sixth gear is connected to the fifth gear, and the seventh gear and the sixth gear are coaxially arranged through the first rotating shaft; The first transmission system further includes an eighth gear and an inner ring gear, the eighth gear and the first gear are coaxially arranged via the second rotating shaft, the eighth gear is fixedly connected to the second rotating shaft, and the eighth gear is connected to the seventh gear; The second transmission system further includes a ninth gear and the inner ring gear, the ninth gear and the third gear are coaxially arranged via the third rotating shaft, the ninth gear is fixedly connected to the third rotating shaft, and the ninth gear is connected to the seventh gear; The output mechanism is connected to the inner gear ring, the first gear and the third gear are both engaged with the inner gear ring, and the inner gear ring is the second gear and the fourth gear; In which, the third gear is fixedly connected to the third rotating shaft, and the one-way bearing is provided between the first gear and the second rotating shaft; or, the first gear is fixedly connected to the second rotating shaft, and the one-way bearing is provided between the third gear and the third rotating shaft; or, the one-way bearings are provided between the first gear and the second rotating shaft and between the third gear and the third rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

28. The transmission device according to claim 27, characterized in that The first gear, the third gear, the sixth gear, the seventh gear, the eighth gear and the ninth gear are combined to form a transmission gear set, and the number of the transmission gear sets is at least two, and the at least two transmission gear sets are spaced apart around the axis of the fifth gear.

29. The transmission device according to claim 28, characterized in that There are three transmission gear sets, and the three gear transmission sets are arranged around the axis of the fifth gear and are distributed at equal intervals in the circumferential direction.

30. The transmission device according to claim 27, wherein: A line connecting the midpoints of the fifth gear and the sixth gear is perpendicular to a line connecting the midpoints of the eighth gear and the ninth gear.

31. The transmission device according to claim 27, wherein: The transmission device further includes an assembly seat and a plate, the assembly seat including a first side and a second side opposite to the first side, the first side of the assembly seat is provided with a groove, and the plate is connected to the assembly seat and covers the groove; The fifth gear and the sixth gear are located on the side of the plate facing away from the assembly seat, the seventh gear, the eighth gear, and the ninth gear are embedded in the groove, and the first gear, the third gear, and the inner ring gear are arranged on the second side of the assembly seat.

32. The transmission device according to claim 31, characterized in that The transmission device further comprises a cover, which is arranged on a side of the plate facing away from the assembly seat, and is used to cover the fifth gear and the sixth gear.

33. The transmission device according to claim 31, characterized in that The transmission device further includes a motor, which is arranged between the plate and the assembly seat, and an output shaft of the motor is connected to the fifth gear.

34. The transmission device according to claim 31, wherein: The output mechanism includes an annular member connected to the assembly seat, and the first gear and the third gear are rotatably mounted on the annular member.

35. The transmission device according to claim 27, wherein: The first transmission system and the second transmission system are reduction systems with the same transmission ratio.

36. The transmission device according to claim 1, wherein: The transmission device further includes a first rotating shaft, a second rotating shaft and a third rotating shaft; The input mechanism includes a fifth gear, a sixth gear, and a seventh gear, the sixth gear is connected to the fifth gear, and the seventh gear and the sixth gear are coaxially arranged through the first rotating shaft; The first transmission system further includes an eighth gear and an inner ring gear, the eighth gear and the first gear are coaxially arranged via the second rotating shaft, and the first gear is fixedly connected to the second rotating shaft; The second transmission system further includes a ninth gear and the inner ring gear, the ninth gear and the third gear are coaxially arranged via the third rotating shaft, and the third gear is fixedly connected to the third rotating shaft; The output mechanism is connected to the inner gear ring, the first gear and the third gear are both engaged with the inner gear ring, and the inner gear ring is the second gear and the fourth gear; Among them, the ninth gear is fixedly connected to the third rotating shaft, and the one-way bearing is provided between the eighth gear and the second rotating shaft; or, the eighth gear is fixedly connected to the second rotating shaft, and the one-way bearing is provided between the ninth gear and the third rotating shaft; or, the one-way bearing is provided between the eighth gear and the second rotating shaft and between the ninth gear and the third rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

37. The transmission device according to claim 1, characterized in that The transmission device further includes a first rotating shaft, a second rotating shaft, a third rotating shaft and a fourth rotating shaft; The input mechanism includes a fifth gear; The first transmission system further includes a sixth gear and a seventh gear, the sixth gear is connected to the fifth gear, the first gear and the sixth gear are coaxially arranged via the first rotating shaft, and the seventh gear and the second gear are coaxially arranged via the third rotating shaft; The second transmission system further includes an eighth gear and a ninth gear, the eighth gear is connected to the fifth gear, the third gear and the eighth gear are coaxially arranged via the second rotating shaft, and the ninth gear and the fourth gear are coaxially arranged via the fourth rotating shaft; The output mechanism includes an inner ring gear, and the seventh gear and the ninth gear are meshed with the inner ring gear; Among them, the sixth gear is fixedly connected to the first rotating shaft, and a one-way bearing is provided between the eighth gear and the second rotating shaft; or, the eighth gear is fixedly connected to the second rotating shaft, and a one-way bearing is provided between the sixth gear and the first rotating shaft; or, one-way bearings are provided between the sixth gear and the first rotating shaft and between the eighth gear and the second rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

38. The transmission device according to claim 1, wherein: The transmission device further includes a first rotating shaft, a second rotating shaft, a third rotating shaft and a fourth rotating shaft; The input mechanism includes a fifth gear; The first transmission system further includes a sixth gear and a seventh gear, the sixth gear is connected to the fifth gear, the first gear and the sixth gear are coaxially arranged via the first rotating shaft, and the seventh gear and the second gear are coaxially arranged via the third rotating shaft; The second transmission system further includes an eighth gear and a ninth gear, the eighth gear is connected to the fifth gear, the third gear and the eighth gear are coaxially arranged via the second rotating shaft, and the ninth gear and the fourth gear are coaxially arranged via the fourth rotating shaft; The output mechanism includes an inner ring gear, and the seventh gear and the ninth gear are meshed with the inner ring gear; Among them, the first gear is fixedly connected to the first rotating shaft, and a one-way bearing is provided between the third gear and the second rotating shaft; or, the third gear is fixedly connected to the second rotating shaft, and a one-way bearing is provided between the first gear and the first rotating shaft; or, one-way bearings are provided between the first gear and the first rotating shaft and between the third gear and the second rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

39. The transmission device according to claim 1, wherein: The input mechanism includes a planet carrier; The first transmission system further includes a fifth gear, a first inner ring gear and a second inner ring gear; The second transmission system further includes a sixth gear, the first inner ring gear, and the second inner ring gear; The output mechanism is connected to the second inner gear ring; wherein the planet carrier is rotatable about the central axis of the first inner gear ring, the planet carrier includes at least two planet shafts spaced apart about the central axis, the fifth gear is rotatably mounted on one of the planet shafts, the sixth gear is rotatably mounted on the other planet shaft, the fifth gear and the sixth gear are meshed with the first inner gear ring, the second inner gear ring is coaxially arranged with the first inner gear ring, the second inner gear ring and the first inner gear ring have different pitch circle diameters and are rotatable relative to each other, the second gear and the fourth gear form the second inner gear ring, the first gear is coaxially arranged with the fifth gear and meshed with the second inner gear ring, and the third gear is coaxially arranged with the sixth gear and meshed with the second inner gear ring; Wherein, the first gear is fixedly connected to the fifth gear, and the one-way bearing is provided between the third gear and the sixth gear, or the third gear is fixedly connected to the sixth gear, and the one-way bearing is provided between the first gear and the fifth gear; or the one-way bearing is provided between the first gear and the fifth gear and between the third gear and the sixth gear, and the rotation transmission direction of the one-way bearing between the first gear and the fifth gear is opposite to that of the one-way bearing between the third gear and the sixth gear.

40. The transmission device according to claim 39, characterized in that The first gear and the fifth gear are combined to form a first gear set, the third gear and the sixth gear are combined to form a second gear set, and the first gear set and the second gear set are equally spaced around the central axis of the first inner gear ring; or, The first gear and the fifth gear are combined to form a first gear set, the third gear and the sixth gear are combined to form a second gear set, and the center line of the first gear set coincides with the center line of the second gear set after rotating 90 degrees around the center axis of the first inner gear ring.

41. The transmission device according to claim 40, characterized in that The planetary carrier includes four planetary shafts arranged at equal intervals around the central axis. The number of the first gear sets and the number of the second gear sets are both two. The first gear sets and the second gear sets are staggered and evenly spaced around the central axis of the first inner gear ring.

42. The transmission device according to claim 1, wherein: The input mechanism includes a first rotating shaft, the output mechanism includes a second rotating shaft, and the first rotating shaft and the second rotating shaft are spaced apart; The first gear and the third gear are mounted on the first rotating shaft, and the second gear and the fourth gear are fixedly mounted on the second rotating shaft; The third gear is fixedly connected to the first rotating shaft, and the one-way bearing is provided between the first gear and the first rotating shaft; or the first gear is fixedly connected to the first rotating shaft, and the third gear is fixedly connected to the first rotating shaft, and the one-way bearing is provided between the first gear and the first rotating shaft; The one-way bearing is provided between the three gears and the first rotating shaft; or the one-way bearing is provided between the first gear and the first rotating shaft and between the third gear and the first rotating shaft, and the rotation transmission directions of the two one-way bearings are opposite.

43. A transmission device, characterized in that: It includes an input mechanism, a transmission mechanism, an output mechanism and a one-way bearing. The input mechanism and the output mechanism are connected to the transmission mechanism. The rotation input by the input mechanism is transmitted by the transmission mechanism and then output from the output mechanism. The transmission mechanism comprises: a first transmission system, the first transmission system comprising a first gear meshing with an input mechanism, wherein the teeth of the first gear comprise a first tooth surface for abutting against the input mechanism; a second transmission system, the second transmission system comprising a second gear meshing with the input mechanism, the gear teeth of the second gear comprising a second tooth surface for abutting against the input mechanism; The first transmission system and the second transmission system are two links for transmitting rotation, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the first transmission system and / or the second transmission system; wherein the first tooth surface faces one of a clockwise direction and a counterclockwise direction, and the second tooth surface faces the other of a clockwise direction and a counterclockwise direction; The one-way bearing is provided on the input mechanism and is used to keep the first tooth surface and the second tooth surface in contact with the input mechanism.

44. The transmission device according to claim 43, characterized in that The input mechanism includes a third gear and a fourth gear; The third gear is meshed with the first gear, and the gear teeth of the third gear include a third tooth surface for abutting the first gear. The fourth gear is meshed with the second gear, and the gear teeth of the fourth gear include a fourth tooth surface for abutting the second gear. The one-way bearing is used to keep the first tooth surface and the third tooth surface in contact with each other, and the second tooth surface and the fourth tooth surface in contact with each other.

45. The transmission device according to claim 44, characterized in that The input mechanism includes an input shaft, the third gear and the fourth gear are sleeved on the input shaft, and the one-way bearing is arranged between the third gear and the input shaft or between the fourth gear and the input shaft.

46. The transmission device according to claim 44, characterized in that The input mechanism includes an input shaft, the third gear and the fourth gear are sleeved on the input shaft, and the one-way bearing is provided between the third gear and the input shaft and between the fourth gear and the input shaft; The one-way bearing provided between the third gear and the input shaft and the one-way bearing provided between the fourth gear and the input shaft have opposite rotation transmission directions.

47. The transmission device according to claim 44, characterized in that The input mechanism includes an input shaft, a fifth gear sleeved on the input shaft, and a sixth gear and a seventh gear connected to the fifth gear; The input mechanism further includes a first shaft and a second shaft that are spaced apart; The third gear and the sixth gear are arranged on the same first shaft, and the fourth gear and the seventh gear are arranged on the same second shaft.

48. The transmission device according to claim 47, characterized in that The one-way bearing is disposed between the third gear and the sixth gear; and / or, The one-way bearing is disposed between the fourth gear and the seventh gear.

49. The transmission device according to claim 48, characterized in that The transmission device also includes an elastic torsion structure; The elastic torsion structure is provided between the third gear and the sixth gear, and is used to provide an elastic force to the third gear to enable the third gear to rotate in a free direction, and / or to provide an elastic force to the sixth gear to enable the sixth gear to rotate in a free direction; and / or, The elastic torsion structure is arranged between the fourth gear and the seventh gear to provide an elastic force to the fourth gear so that the fourth gear can rotate in a free direction, and / or to provide an elastic force to the seventh gear so that the seventh gear can rotate in a free direction.

50. The transmission device according to claim 49, characterized in that When the elastic torsion structure provides an elastic force to the third gear to rotate in the free direction, it is also used to provide an elastic force to the sixth gear to rotate in the tensioning direction; and / or when the elastic torsion structure provides an elastic force to the sixth gear to rotate in the free direction, it is also used to provide an elastic force to the third gear to rotate in the tensioning direction; and / or, When the elastic torsion structure provides an elastic force to the fourth gear to rotate in the free direction, it is also used to provide an elastic force to the seventh gear to rotate in the tensioning direction; and / or when the elastic torsion structure provides an elastic force to the seventh gear to rotate in the free direction, it is also used to provide an elastic force to the fourth gear to rotate in the tensioning direction; Wherein, the tensioning direction is opposite to the free direction.

51. The transmission device according to claim 49, characterized in that The elastic torsion structure includes a torsion spring sleeved on the first shaft and / or the second shaft; The two ends of the torsion spring are respectively connected to the third gear and the sixth gear; and / or, The two ends of the torsion spring are respectively connected to the third gear and the first shaft; and / or, The two ends of the torsion spring are respectively connected to the sixth gear and the first shaft; and / or, The two ends of the torsion spring are respectively connected to the fourth gear and the seventh gear; and / or, The two ends of the torsion spring are respectively connected to the fourth gear and the second shaft; and / or, Two ends of the torsion spring are respectively connected to the seventh gear and the second shaft.

52. The transmission device according to claim 49, characterized in that The elastic torsion structure includes an elastic extrusion member; The elastic extrusion member is located between the first shaft and the third gear; and / or, The elastic extrusion member is located between the first shaft and the sixth gear; and / or, The elastic extrusion member is located between the third gear and the sixth gear; and / or, The elastic extrusion member is located between the second shaft and the fourth gear; and / or, The elastic extrusion member is located between the second shaft and the seventh gear; and / or, The elastic extrusion member is located between the fourth gear and the seventh gear.

53. The transmission device according to claim 44, characterized in that The input mechanism includes an input shaft, a fifth gear sleeved on the input shaft, and a sixth gear connected to the fifth gear; The input mechanism further includes a first shaft, the third gear and the sixth gear are sleeved on the first shaft, and the fourth gear is connected to the fifth gear; Wherein, the one-way bearing is provided between the third gear and the first shaft, and / or, The one-way bearing is disposed between the sixth gear and the first shaft.

54. The transmission device according to claim 43, characterized in that The first transmission system further includes a plurality of eighth gears connected in sequence, wherein a first eighth gear among the plurality of eighth gears is connected to the first gear; The second transmission system further includes a plurality of ninth gears connected in sequence, wherein a first ninth gear among the plurality of ninth gears is connected to the second gear; The one-way bearing is configured to ensure that the fifth tooth surface of the gear teeth of the preceding eighth gear of any two adjacent meshing eighth gears among the plurality of eighth gears maintains contact with the gear teeth of the succeeding eighth gear, and the orientation of the fifth tooth surface is consistent with the rotation direction of the preceding eighth gear when the input mechanism rotates in the first direction; In which, the one-way bearing is used to ensure that the sixth tooth surface of the gear teeth of the previous ninth gear of any two adjacent meshing ninth gears among the multiple ninth gears remain in contact with the gear teeth of the next ninth gear, and the direction of the sixth tooth surface is consistent with the rotation direction of the previous ninth gear when the input mechanism rotates along the second direction.

55. The transmission device according to claim 54, characterized in that E consecutive eighth gears among the plurality of eighth gears constitute a first reducer; F consecutive ninth gears among the plurality of ninth gears constitute a second reducer.

56. The transmission device according to claim 54, characterized in that The reduction ratios of the first speed reducer and the second speed reducer are the same or different.

57. The transmission device according to claim 43, characterized in that The output mechanism includes a third shaft, a tenth gear, an eleventh gear, and a twelfth gear, wherein the tenth gear is connected to the first transmission system, the eleventh gear is connected to the second transmission system, and the twelfth gear is connected to the third shaft and meshes with the tenth gear and the eleventh gear; or The output mechanism includes a third shaft, a tenth gear, an eleventh gear, a twelfth gear and a thirteenth gear. gears, the tenth gear is connected to the first transmission system, the eleventh gear is connected to the second transmission system, the twelfth gear and the thirteenth gear are connected to the third shaft, the twelfth gear is meshed with the tenth gear, and the thirteenth gear is meshed with the eleventh gear; or, The output mechanism includes a third shaft, a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, the first bevel gear is connected to the first transmission system, the second bevel gear is connected to the second transmission system, the third bevel gear and the fourth bevel gear are connected to the third shaft, the third bevel gear is meshed with the first bevel gear, and the fourth bevel gear is meshed with the second bevel gear; or, The output mechanism includes an inner ring gear, a tenth gear, and an eleventh gear, wherein the tenth gear is connected to the first transmission system, the eleventh gear is connected to the second transmission system, and the tenth gear and the eleventh gear are located inside the inner ring gear and mesh with the inner ring gear; or, The output mechanism includes a torque ring connected to output ends of the first transmission system and the second transmission system.

58. A transmission device, characterized in that: It includes an input mechanism, a transmission mechanism, an output mechanism and a one-way bearing. The input mechanism and the output mechanism are connected to the transmission mechanism. The rotation input by the input mechanism is transmitted by the transmission mechanism and then output from the output mechanism. The transmission mechanism comprises: A first transmission system includes a plurality of first gears connected in sequence, wherein the plurality of first gears include at least one first gear set, and the first gear set includes two first gears meshing with each other; a second transmission system comprising a plurality of second gears connected in sequence, wherein the plurality of second gears comprises at least one second gear set, and the second gear set comprises two second gears meshing with each other; The first transmission system and the second transmission system are two links for transmitting rotation, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the first transmission system and / or the second transmission system; Wherein, the one-way bearing is provided in at least one of the input mechanism, the first transmission system and the second transmission system; The one-way bearing is used to ensure that the first tooth surface of the gear teeth of the first first gear of at least part of the two first gears of the at least one first gear set is kept in contact with the gear teeth of the second first gear, and the orientation of the first tooth surface is consistent with the rotation direction of the first first gear when the input mechanism rotates in the first direction; and / or, The one-way bearing is used to ensure that the second tooth surface of the teeth of the first second gear in the two second gears of at least part of the second gear groups in the at least one second gear group remains in contact with the teeth of the second gear in the latter second gear, and the orientation of the second tooth surface is consistent with the rotation direction of the first second gear when the input mechanism rotates in the second direction.

59. The transmission device according to claim 58, characterized in that The first transmission system includes a first shaft, and two adjacent first gears are arranged on the same shaft; Wherein, the one-way bearing is provided between one of the two adjacent first gears and the first shaft, and the other of the two adjacent first gears is fixedly connected to the first shaft; or, Wherein, the two one-way bearings are respectively arranged between the two adjacent first gears and the first shaft.

60. The transmission device according to claim 59, characterized in that The transmission device further includes an elastic torsion structure, the elastic torsion structure being located between the two adjacent first gears arranged along the first shaft, and being used to provide an elastic force for rotating one of the two adjacent first gears in a free direction, and to provide an elastic force for rotating the other of the two adjacent first gears in a tensioning direction; The tensioning direction is opposite to the free direction.

61. The transmission device according to claim 58, characterized in that The first transmission system includes a first shaft, and two adjacent first gears are arranged on the same shaft; The second transmission system includes a second shaft, and two adjacent second gears are arranged on the same second shaft; Wherein, the one-way bearing is provided between at least one of the two adjacent first gears and the first shaft, and the one-way bearing is provided between at least one of the two adjacent second gears and the second shaft; The rotation transmission directions of the one-way bearing located between the first gear and the first shaft and the one-way bearing located between the second gear and the second shaft are opposite.

62. The transmission device according to claim 61, characterized in that The transmission device also includes an elastic torsion structure; The elastic torsion structure is located between the two adjacent first gears arranged along the first axis, so as to provide an elastic force for rotating one of the two adjacent first gears in a free direction, and provide an elastic force for rotating the other of the two adjacent first gears in a tensioning direction; The elastic torsion structure is located between the two adjacent second gears arranged along the second axis, so as to provide an elastic force for rotating in a free direction to one of the two adjacent second gears, and to provide an elastic force for rotating in a tensioning direction to the other of the two adjacent second gears.

63. The transmission device according to claim 58, characterized in that The one-way bearing is used to ensure that the first tooth surface of the gear teeth of the first first gear of the two first gears in the at least one first gear set is kept in contact with the gear teeth of the second first gear, and the orientation of the first tooth surface is consistent with the rotation direction of the first first gear when the input mechanism rotates in the first direction; and / or, The one-way bearing is used to ensure that the second tooth surface of the gear teeth of the previous second gear in the at least one second gear set remains in contact with the gear teeth of the next second gear, and the orientation of the second tooth surface is consistent with the rotation direction of the previous second gear when the input mechanism rotates in the second direction.

64. The transmission device according to claim 63, characterized in that The input mechanism includes a third gear and a fourth gear; The input mechanism further includes a third shaft and a fourth shaft; A first first gear of the plurality of first gears and the third gear are sleeved on the third shaft, and a first second gear of the plurality of second gears and the fourth gear are sleeved on the fourth shaft.

65. The transmission device according to claim 64, characterized in that in, The one-way bearing is provided between the third gear and the third shaft; and / or, The one-way bearing is disposed between a first first gear of the plurality of first gears and the third shaft.

66. The transmission device according to claim 65, characterized in that The transmission device also includes an elastic torsion structure; The elastic torsion structure is located between the third gear and the first first gear of the multiple first gears. The elastic torsion structure is used to provide an elastic force to rotate along a free direction to the third gear and one of the first first gears of the multiple first gears, and to provide an elastic force to rotate along a tensioning direction to the third gear and another of the first first gears of the multiple first gears.

67. The transmission device according to claim 65, characterized in that A first second gear of the plurality of second gears and the fourth gear are fixed to the fourth shaft.

68. The transmission device according to claim 65, characterized in that One of the one-way bearings is disposed between the fourth gear and the fourth shaft; and / or, One of the one-way bearings is disposed between a first second gear of the plurality of second gears and the fourth shaft; The one-way bearing arranged on the fourth shaft and the one-way bearing arranged on the third shaft have opposite rotation transmission directions.

69. The transmission device according to claim 58, characterized in that The input mechanism further includes a fifth shaft and a fifth gear and a sixth gear disposed on the fifth shaft; The first transmission system is connected to the fifth gear, and the second transmission system is connected to the sixth gear; Wherein, the one-way bearing is arranged between the fifth gear and the fifth shaft, and / or between the sixth gear and the fifth shaft.

70. The transmission device according to claim 58, characterized in that The continuous G of the plurality of first gears constitute a first speed reducer; The consecutive H gears among the plurality of second gears constitute a second speed reducer.

71. The transmission device according to claim 70, characterized in that The reduction ratios of the first reducer and the second reducer are the same or different.

72. The transmission device according to claim 58, characterized in that The output mechanism includes a fifth shaft, a fifth gear, a sixth gear, and a seventh gear, wherein the fifth gear is connected to the first transmission system, the sixth gear is connected to the second transmission system, and the seventh gear is connected to the fifth shaft and meshes with the fifth gear and the sixth gear; or The output mechanism includes a fifth shaft, a fifth gear, a sixth gear, a seventh gear, and an eighth gear, the fifth gear being connected to the first transmission system, the sixth gear being connected to the second transmission system, the seventh gear and the eighth gear being connected to the fifth shaft, the seventh gear being meshed with the fifth gear, and the eighth gear being meshed with the sixth gear; or, The output mechanism includes a fifth shaft, a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, the first bevel gear is connected to the first transmission system, the second bevel gear is connected to the second transmission system, the third bevel gear and the fourth bevel gear are connected to the fifth shaft, the third bevel gear is meshed with the first bevel gear, and the fourth bevel gear is meshed with the second bevel gear; or, The output mechanism includes an inner ring gear, a fifth gear, and a sixth gear, wherein the fifth gear is connected to the first transmission system, the sixth gear is connected to the second transmission system, and the fifth gear and the sixth gear are located inside the inner ring gear and mesh with the inner ring gear; or The output mechanism includes a torque ring connected to output ends of the first transmission system and the second transmission system.

73. A transmission device, characterized in that: It includes an input mechanism, a transmission mechanism, an output mechanism and a one-way bearing. The input mechanism and the output mechanism are connected to the transmission mechanism. The rotation input by the input mechanism is transmitted by the transmission mechanism and then output from the output mechanism. The transmission mechanism comprises: a first transmission system comprising a first gear, a first shaft, a second gear, and at least one third gear, wherein the first gear is connected to the input mechanism, the first gear and the second gear are disposed on the same first shaft, a first third gear of the at least one third gear is meshed with the second gear, and a last third gear of the at least one third gear is connected to the output mechanism; a second transmission system comprising a fourth gear, a second shaft, a fifth gear, and at least one sixth gear, wherein the fourth gear is connected to the input mechanism, the fourth gear and the fifth gear are both disposed on the second shaft, a first sixth gear of the at least one sixth gear is meshed with the fifth gear, and a last sixth gear of the at least one sixth gear is connected to the output mechanism; In which, the one-way bearing is arranged between the first gear and the second gear, and the one-way bearing is used to ensure that the second gear and the first third gear of the at least one third gear and any two adjacent meshing third gears of the at least one third gear maintain abutment along the first chain direction, and the first chain direction is the rotation transmission direction of the first transmission system from the input mechanism to the output mechanism.

74. The transmission device according to claim 73, characterized in that The transmission device also includes an elastic torsion structure; The elastic torsion structure is located between the first gear and the second gear, and is used to provide one of the first gear and the second gear with a rotational force in a free direction. The elastic force provides the other of the first gear and the second gear with an elastic force for rotating along a tensioning direction.

75. The transmission device according to claim 73, characterized in that The output mechanism includes a seventh gear; The last third gear of the at least one third gear is meshed with the seventh gear; The one-way bearing is further configured to maintain the last third gear of the at least one third gear in contact with the seventh gear along the first chain direction.

76. The transmission device according to claim 73, characterized in that The last third gear of the at least one third gear and the last sixth gear of the at least one sixth gear are the same gear.

77. The transmission device according to claim 73, characterized in that The last third gear of the at least one third gear is an inner ring gear.

78. The transmission device according to claim 73, characterized in that The one-way bearing is used to ensure that the fifth gear and the first sixth gear of the at least one sixth gear and any two adjacent meshing sixth gears of the at least one sixth gear maintain abutment along the second chain direction, and the second chain direction is the rotation transmission direction of the second transmission system from the input mechanism to the output mechanism.

79. The transmission device according to claim 78, characterized in that The output mechanism includes an eighth gear; The last sixth gear of the at least one sixth gear is meshed with the eighth gear; The one-way bearing is further configured to maintain the last sixth gear of the at least one sixth gear in contact with the eighth gear along the second chain direction.

80. The transmission device according to claim 73, characterized in that The one-way bearing is also arranged between the fourth gear and the fifth gear.

81. The transmission device according to claim 80, characterized in that The transmission device also includes an elastic torsion structure; The elastic torsion structure is located between the fourth gear and the fifth gear, and is used to provide an elastic force to rotate along a free direction to one of the fourth gear and the fifth gear, and to provide an elastic force to rotate along a tensioning direction to the other of the fourth gear and the fifth gear.

82. The transmission device according to claim 73, characterized in that The first transmission system includes a first reducer, and the second transmission system includes a second reducer.

83. The transmission device according to claim 82, characterized in that The first speed reducer and the second speed reducer have the same reduction ratio.

84. The transmission device according to claim 82, characterized in that The first speed reducer includes the second gear and J of the at least one third gear; The second speed reducer includes K of the fifth gear and the at least one sixth gear.

85. The transmission device according to claim 82, characterized in that The first speed reducer includes M of the at least one third gear; The second speed reducer includes N of the at least one sixth gears.

86. The transmission device according to claim 73, characterized in that The first gear and the fourth gear are the same gear, the first shaft and the second shaft are the same shaft, and the third gear and the fifth gear are the same gear.

87. A transmission device, characterized in that: It includes an input mechanism, a transmission mechanism, an output mechanism and a one-way bearing. The input mechanism and the output mechanism are connected to the transmission mechanism. The rotation input by the input mechanism is transmitted by the transmission mechanism and then output from the output mechanism. The transmission mechanism comprises: a first transmission system comprising a first gear, a first shaft, a second gear, and at least one third gear, wherein the first gear is connected to the input mechanism, the first gear and the second gear are disposed on the same first shaft, a first third gear of the at least one third gear is meshed with the second gear, and a last third gear of the at least one third gear is connected to the output mechanism; a second transmission system comprising at least one fourth gear, wherein a first fourth gear of the at least one fourth gear is connected to the input mechanism, and a last fourth gear of the at least one fourth gear is connected to the output mechanism; In which, the one-way bearing is arranged between the first gear and the second gear, and the one-way bearing is used to keep the second gear and the first third gear of the at least one third gear and any two adjacent meshing third gears of the at least one third gear in contact along the first chain direction.

88. The transmission device according to claim 87, characterized in that The at least one fourth gear includes at least one gear set, and the gear set includes two fourth gears meshing with each other.

89. The transmission device according to claim 88, characterized in that The one-way bearing is used to keep the two fourth gears in some gear sets in the at least one group of gear sets in abutment along the second chain direction, and the second chain direction is the rotation transmission direction of the second transmission system from the input mechanism to the output mechanism.

90. The transmission device according to claim 87, characterized in that The transmission ratios of the first transmission system and the second transmission system are the same.

91. The transmission device according to claim 90, characterized in that The first transmission system and the second transmission system have different transmission ratios.

92. The transmission device according to claim 90, characterized in that The first transmission system further includes a second shaft, and the last two third gears of the at least one third gear are sleeved on the second shaft.

93. The transmission device according to claim 89, characterized in that The second transmission system includes at least one one-way bearing, and the rotation transmission direction of the one-way bearing is the same as the direction of the second chain; The one-way bearing is provided between at least one of the last two third gears among the at least one third gear and the second shaft.

94. The transmission device according to claim 93, characterized in that The rotation transmission direction of all the one-way bearings located in the first transmission system is the same as that of the first chain.

95. The transmission device according to claim 92, characterized in that The second transmission system and the first transmission system are the same system or symmetrical systems.

96. The transmission device according to claim 87, characterized in that The first transmission system includes a first reducer, and the second transmission system includes a second reducer.

97. The transmission device according to claim 96, characterized in that The second speed reducer includes X of the at least one fourth gear; The first speed reducer includes Y of the at least one third gears.

98. The transmission device according to claim 87, characterized in that The transmission device also includes an elastic torsion structure; The elastic torsion structure is located between the first gear and the second gear, and is used to provide an elastic force to rotate in a free direction to one of the first gear and the second gear, and to provide an elastic force to rotate in a tensioning direction to the other of the first gear and the second gear.

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