Transmission device

Abstract

A transmission device, comprising an input mechanism, a transmission mechanism, an output mechanism, and a one-way transmission member. The input mechanism and the output mechanism are connected to the transmission mechanism, and 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 and a second transmission system. The first transmission system comprises a first gear and a second gear which are engaged with each other; each gear tooth of the second gear comprises a first tooth surface; and the first gear abuts against the first tooth surface. The second transmission system comprises a third gear and a fourth gear which are engaged with each other; each gear teeth of the fourth gear comprises a fourth tooth surface; and the third gear abuts against the fourth tooth surface. The first tooth surface faces one of a clockwise direction and an anticlockwise direction, and the fourth tooth surface faces the other of the clockwise direction and the anticlockwise direction. At least one of the input mechanism, the first transmission system and the second transmission system is provided with the one-way transmission member, and the one-way transmission member is used for keeping abutment between the first gear and the first tooth surface and / or between the third gear and the fourth tooth surface.

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. Summary of the Invention

[0003] In view of this, the present application proposes a transmission device.

[0004] 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 transmission member, 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;

[0005] The transmission mechanism comprises:

[0006] 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;

[0007] 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;

[0008] 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;

[0009] 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;

[0010] Wherein, at least one of the input mechanism, the first transmission system and the second transmission system is provided with the one-way transmission member, and the one-way transmission member 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.

[0011] 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 transmission member, 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;

[0012] The transmission mechanism comprises:

[0013] 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;

[0014] 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;

[0015] 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;

[0016] 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;

[0017] Wherein, the one-way transmission member 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.

[0018] 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 transmission member, 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;

[0019] The transmission mechanism comprises:

[0020] 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;

[0021] 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;

[0022] 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;

[0023] Wherein, the one-way transmission member is provided in at least one of the input mechanism, the first transmission system and the second transmission system;

[0024] The one-way transmission member 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 rear 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

[0025] The one-way transmission member is used to ensure that the second tooth surface of the gear teeth of the first second gear in at least part of the two second gears of the at least one second gear group remains in contact with the gear 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.

[0026] 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 transmission member, 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;

[0027] The transmission mechanism comprises:

[0028] 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;

[0029] 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;

[0030] In which, the one-way transmission member is arranged between the first gear and the second gear, and the one-way transmission member 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, and the first chain direction is the rotation transmission direction of the first transmission system from the input mechanism to the output mechanism.

[0031] 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 transmission member, 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;

[0032] The transmission mechanism comprises:

[0033] 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;

[0034] 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;

[0035] In which, the one-way transmission member is arranged between the first gear and the second gear, and the one-way transmission member 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.

[0036] 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 transmission element 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

[0037] 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.

[0038] FIG1 is a schematic structural diagram of a transmission device according to an embodiment of the present application;

[0039] 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;

[0040] FIG3 is a schematic diagram of a partial structure of a transmission device proposed in one embodiment of the present application;

[0041] FIG4 is a schematic diagram of a partial structure of a transmission device proposed in another embodiment of the present application;

[0042] FIG5 is a schematic structural diagram of an input mechanism proposed in one embodiment of the present application;

[0043] FIG6 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0044] FIG7 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0045] FIG8 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0046] FIG9 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0047] FIG10 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0048] FIG11 is a schematic structural diagram of an output mechanism proposed in one embodiment of the present application;

[0049] FIG12 is a schematic structural diagram of an output mechanism proposed in another embodiment of the present application;

[0050] FIG13 is a schematic structural diagram of an output mechanism proposed in another embodiment of the present application;

[0051] FIG14 is a schematic structural diagram of an output mechanism proposed in another embodiment of the present application;

[0052] FIG15 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0053] FIG16 is an exploded schematic diagram of a transmission device according to another embodiment of the present application;

[0054] FIG17 is an exploded schematic diagram of a partial structure of a transmission device proposed in another embodiment of the present application;

[0055] FIG18 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0056] FIG19 is a schematic structural diagram of a transmission device according to another embodiment of the present application from a first perspective;

[0057] FIG20 is a schematic structural diagram of a transmission device according to another embodiment of the present application from a second perspective;

[0058] FIG21 is an exploded schematic diagram of a transmission device according to another embodiment of the present application from a first perspective;

[0059] FIG22A is an exploded schematic diagram of a transmission device according to another embodiment of the present application from a second perspective;

[0060] 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;

[0061] FIG23 is an exploded schematic diagram of a transmission device according to another embodiment of the present application from a third perspective;

[0062] FIG24 is a schematic structural diagram of a transmission device according to another embodiment of the present application from a first perspective;

[0063] FIG25 is a schematic structural diagram of a transmission device according to another embodiment of the present application from a second perspective;

[0064] FIG26 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0065] FIG27 is an exploded schematic diagram of a transmission device according to another embodiment of the present application;

[0066] FIG28 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0067] FIG29 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0068] FIG30 is a schematic diagram of the coordination of the first gear and the third gear according to another embodiment of the present application;

[0069] FIG31 is a schematic diagram of the coordination of the second gear and the fourth gear proposed in another embodiment of the present application;

[0070] FIG32 is a schematic structural diagram of an input mechanism proposed in one embodiment of the present application;

[0071] FIG33 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0072] FIG34 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0073] FIG35 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0074] FIG36 is a partial structural diagram of a first transmission system and a second transmission system according to another embodiment of the present application;

[0075] FIG37 is a schematic structural diagram of an input mechanism proposed in another embodiment of the present application;

[0076] FIG38 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0077] FIG39 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0078] FIG40 is a schematic diagram of the coordination of the fifth gear and the sixth gear proposed in another embodiment of the present application;

[0079] FIG41 is a schematic diagram of a partial structure of a transmission device proposed in another embodiment of the present application;

[0080] FIG42 is a schematic cross-sectional view of a transmission device according to another embodiment of the present application;

[0081] FIG43 is a schematic diagram of the cross-sectional structure shown in FIG42 from another angle;

[0082] FIG44 is a partial structural diagram of a transmission device proposed in another embodiment of the present application;

[0083] FIG45 is a schematic diagram of a partial structure of a transmission device proposed in another embodiment of the present application;

[0084] FIG46 is a schematic diagram of the partial structural diagram shown in FIG45 from another angle;

[0085] FIG47 is a schematic structural diagram of a transmission device proposed in another embodiment of the present application;

[0086] Figure 48 is a cross-sectional schematic diagram of a transmission device proposed in another embodiment of the present application. DETAILED DESCRIPTION

[0087] 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.

[0088] 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 transmission member 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.

[0089] 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 .

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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 .

[0096] 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 .

[0097] 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.

[0098] 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 transmission member 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.

[0099] 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.

[0100] 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 transmission member 40, and the one-way transmission member 40 is used to maintain the first gear 211 in contact with the first tooth surface 2121, and / or maintain the third gear 221 in contact with the fourth tooth surface 2222” includes at least the following embodiments:

[0101] In one embodiment, the first transmission system 21 is provided with a one-way transmission member 40, and in another embodiment, the second transmission system 22 is provided with a one-way transmission member 40. In these two embodiments, the one-way transmission member 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.

[0102] In one embodiment, the first transmission system 21 and the second transmission system 22 are both provided with a one-way transmission member 40, and in another embodiment, the input mechanism 10 is provided with a one-way transmission member 40. In these two embodiments, the one-way transmission member 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.

[0103] In an optional embodiment, if the one-way transmission member 40 is arranged in the first transmission system 21, then the one-way transmission member 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.

[0104] In an optional embodiment, if the one-way transmission member 40 is arranged in the first transmission system 21 and the second transmission system 22, then the one-way transmission member 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 transmission member 40 located in the second transmission system 22 needs to be located between the third gear 221 and the input mechanism 10.

[0105] The one-way transmission member 40 is a bearing that can rotate freely in one direction and is locked in the other direction. For example, a one-way bearing can transmit rotation in the locked direction. Therefore, the direction in which it can transmit rotation is called the rotation transmission direction.

[0106] Optionally, the one-way transmission member 40 may also be other structures that can rotate freely in one direction and locked in another direction, such as a ratchet, etc. The one-way transmission member 40 can transmit rotation in the locked direction.

[0107] The one-way transmission member 40 includes a one-way bearing, which can be freely rotated in one direction and locked in the other direction. The one-way bearing can transmit rotation in the locked direction, so the direction in which it can transmit rotation is called the rotation transmission direction.

[0108] It should be noted that the one-way bearing includes an inner ring and an outer ring. For the same one-way bearing, since the rotation transmission direction of the inner ring relative to the outer ring is opposite to the rotation transmission direction of the outer ring relative to the inner ring, the rotation transmission directions of the different one-way bearings mentioned in this application are the same or opposite, and the comparison is based on the inner ring or the outer ring.

[0109] Optionally, the one-way bearing mentioned in this application transmits torque or rotation 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 transmission part, respectively.

[0110] Optionally, the one-way bearing may be a bearing structure, that is, comprising an inner ring, an outer ring, and rolling elements (such as rollers, needle rollers, or balls) disposed between the inner ring and the outer ring.

[0111] Alternatively, the one-way bearing can be a standalone structure, comprising an inner ring, an outer ring, and rolling elements (such as rollers, needle rollers, or balls) disposed between the inner and outer rings. The inner ring can be connected to one of the input and output members, while the outer ring can be connected to the other of the input and output members. Alternatively, a one-way bearing can be disposed between a gear and a shaft, with the gear connected to the outer ring of the one-way bearing and the shaft connected to the inner ring of the one-way bearing. Alternatively, a one-way bearing can be disposed between two gears, with one gear connected to the outer ring of the one-way bearing and the other connected to the inner ring of the one-way bearing.

[0112] Optionally, the one-way bearing can be a combined structure, i.e., one of the input and output members includes the inner ring of the one-way bearing, and the other includes the outer ring of the one-way bearing, with a rolling element disposed between the input and output members. Alternatively, a one-way bearing can be disposed between the gear and the shaft, with the inner portion of the gear forming the outer ring of the one-way bearing, and the outer portion of the shaft forming the inner ring of the one-way bearing. Alternatively, a one-way bearing can be disposed between the gears, with the inner portion of one of the gears forming the outer ring of the one-way bearing, and the outer portion of the other gear (not the gear surface, but the outer portion of a shaft structure fixed to or integrally formed with the gear) forming the inner ring of the one-way bearing.

[0113] Alternatively, the one-way bearing can be considered an integral structure, where one of the input and output members is integrally formed with or fixedly connected to the inner ring of the one-way bearing, and the other is integrally formed with or fixedly connected to the outer ring of the one-way bearing, with rolling elements disposed between the inner and outer rings. Alternatively, a one-way bearing can be disposed between a gear and a shaft, where the inner circumference of the gear can be integrally formed with or fixedly connected to the outer ring of the one-way bearing, and the outer circumference of the shaft can be integrally formed with or fixedly connected to the inner ring of the one-way bearing.

[0114] The one-way transmission member 40 can be an independent bearing structure, that is, including an independent inner ring, an outer ring, and a rolling element (such as a roller, a needle roller, or a ball) between the inner and outer rings. The inner ring can be connected to one of the input and output members, and the outer ring can be connected to the other of the input and output members. Optionally, a one-way bearing can be provided between the gear and the shaft, with the gear connected to the outer ring of the one-way bearing and the shaft connected to the inner ring of the one-way bearing.

[0115] The one-way transmission member 40 can be a combined bearing structure, i.e., one of the input and output members includes the inner ring of its bearing structure (one-way transmission member 40), and the other of the input and output members includes the outer ring of the bearing structure (one-way transmission member 40), with rolling elements disposed between the input and output members. Alternatively, a one-way transmission member 40 can be disposed between a gear and a shaft, with the inner portion of the gear forming the outer ring of its bearing structure (one-way transmission member 40) and the outer portion of the shaft forming the inner ring of its bearing structure (one-way transmission member 40). Alternatively, a one-way transmission member 40 can be disposed between a gear and a shaft, with the inner portion of one gear forming the outer ring of its bearing structure (one-way transmission member 40) and the outer portion of the other gear (not the gear surface, but rather the outer portion of a shaft structure fixed to or integrally formed with the gear) forming the inner ring of its bearing structure (one-way transmission member 40).

[0116] The one-way transmission member 40 can be a rolling member (such as a roller, a needle roller, a ball, a wedge block, etc.), and its input member and output member and the one-way transmission member 40 together form a one-way bearing structure that can realize one-way transmission, that is, one of the input member and the output member includes the inner ring of the one-way bearing structure, and the other of the input member and the output member includes the outer ring of the one-way bearing structure. The one-way transmission member 40 is arranged between the input member and the output member, so that the input member and the output member can realize torque transmission in one direction and can rotate relatively freely in the other direction.

[0117] Optionally, the one-way bearing, one-way bearing structure and one-way transmission principle of the ratchet mentioned in this application are existing technologies and will not be described in detail here.

[0118] Optionally, the one-way transmission member 40 may also be a structure that, when the input member and the output member are connected via the one-way transmission member 40, allows the input member and the output member to transmit torque or torque or rotation in one direction while being able to rotate freely relative to each other in the other direction, which is not limited here. That is, when the input member and the output member are connected via the one-way transmission member 40, when the input member rotates in one direction, it can drive the output member to rotate synchronously, and when the input member rotates in another direction opposite to the input member, it will rotate relative to the output member. Optionally, one of the input member and the output member is a gear (such as the first tooth, the second tooth, etc. mentioned in this application), and the other is a shaft (such as the first rotating shaft, the second rotating shaft, the first shaft, etc. mentioned in this application) or a gear.

[0119] Optionally, the two gears mentioned in the present application are arranged on the same shaft, and a one-way transmission part 40 is set between the two gears and the shaft. The two one-way transmission parts 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 transmission parts 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 transmission parts 40 need to ensure that the gear of the two gears close to the output mechanism 30 does not rotate.

[0120] 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.

[0121] 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.

[0122] 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 .

[0123] Taking the one-way transmission member 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:

[0124] 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.

[0125] 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 transmission member 40 provided in the first transmission system 21, the transmission of the first transmission system 21 is interrupted. Any two meshing gears (including the first gear 211 and the second gear 212) of the first transmission system 21 behind the one-way transmission member 40 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 transmits 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 transmission member 40 still maintain a close contact state, transmitting clockwise rotation.

[0126] 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 transmission member 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 transmission member 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 with clockwise rotation again, the gears behind the one-way transmission member 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).

[0127] In the fourth step, the input mechanism 10 is inputted to rotate counterclockwise again. 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.

[0128] Therefore, in subsequent rotations, the one-way transmission member 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.

[0129] 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.).

[0130] It should be noted that the one-way transmission member 40 mentioned in this application causes two tooth surfaces to maintain abutment or contact, mainly because they have already achieved abutment or contact, and then the one-way transmission member 40 continues to maintain this abutment or contact. In some cases, the one-way transmission member 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 transmission member 40 can maintain this state.

[0131] 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 transmission member 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.

[0132] 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 transmission member 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.

[0133] 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.

[0134] 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.

[0135] 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 .

[0136] 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.

[0137] 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.

[0138] In an optional embodiment, the first gearbox 213 and the second gearbox 223 may also be acceleration gearboxes, which is not limited here.

[0139] 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.

[0140] In an optional embodiment, the first gearbox 213 and the second gearbox 223 are reduction gearboxes with the same or different reduction ratios.

[0141] 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 transmission member 40 can be considered to be independent of the first transmission system 21 and the second transmission system 22. Although the one-way transmission member 40 may be set 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 level of gear in the first transmission system 21 has a corresponding gear in the second transmission system 22.

[0142] 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.

[0143] 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 transmission member 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.

[0144] 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.

[0145] 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:

[0146] Example A1

[0147] 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 transmission member 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 transmission member 40 disposed between the first rotating shaft 11 and the third gear 221. Alternatively, one-way transmission members 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 transmission members 40 transmitting rotation in opposite directions.

[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] 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:

[0150] Example B1

[0151] 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 transmission member 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 transmission member 40 is provided between the second rotating shaft 12 and the third gear 221; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0152] 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.

[0153] 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.

[0154] Example B2

[0155] 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 transmission member 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 transmission member 40 is provided between the sixth gear 15 and the second rotating shaft 12; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0156] 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.

[0157] 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.

[0158] In other embodiments, a one-way transmission member 40 may be provided between the fifth gear 14 and the first rotating shaft 11 and then coordinated with at least one of the following connection methods: a one-way transmission member 40 is provided between the first gear 211 and the first rotating shaft 11 and then fixed; a one-way transmission member 40 is provided between the first gear 211 and the first rotating shaft 11; the third gear 221 is fixedly connected to the second rotating shaft 12; a one-way transmission member 40 is provided between the third gear 221 and the second rotating shaft 12; the sixth gear 15 is fixedly connected to the second rotating shaft 12; and a one-way transmission member 40 is provided between the sixth gear 15 and the second rotating shaft 12.

[0159] Example B3

[0160] 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 transmission member 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 transmission member 40 is provided between the second rotating shaft 12 and the third gear 221; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0161] 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.

[0162] 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.

[0163] Example B4

[0164] 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 transmission member 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 transmission member 40 is provided between the seventh gear 16 and the third rotating shaft 13; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0165] 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.

[0166] 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.

[0167] Example B5

[0168] 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 transmission member 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 transmission member 40 is provided between the fifth gear 14 and the first rotating shaft 11; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0169] 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.

[0170] 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.

[0171] 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:

[0172] Example C1

[0173] 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.

[0174] Example C2

[0175] 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.

[0176] Example C3

[0177] 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.

[0178] Example C4

[0179] 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.

[0180] Example C5

[0181] 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.

[0182] The following are several specific implementation methods:

[0183] Example D1

[0184] 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.

[0185] 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.

[0186] The first rotating shaft 11 is fixedly connected to the third gear 221, and a one-way transmission member 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 transmission member 40 is provided between the first rotating shaft 11 and the third gear 221; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0187] 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.

[0188] Taking the example of a one-way transmission member 40 provided between the first rotating shaft 11 and the first gear 211, and the one-way transmission member 40 being used to transmit clockwise rotation, the working process of the transmission device 100 proposed in this embodiment is as follows:

[0189] 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.

[0190] In the second step, the first rotating shaft 11 is input with counterclockwise rotation. Due to the one-way transmission member 40 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 as when the first gear 211 rotates clockwise, that is, the teeth of the first gear 211 engage the first tooth surface 2121 of the second gear 212. The third gear 221 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 time, as shown in Figure 2, the teeth of the third gear 221 engage the fourth tooth surface 2222 of the fourth gear 222. Because 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.

[0191] 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.

[0192] 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.

[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 transmission member 40 mentioned in this application causes the two tooth surfaces to maintain abutment or fit, mainly because they have already achieved abutment or fit, and then the one-way transmission member 40 has maintained this abutment or fit trend. In some cases, the one-way transmission member 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 transmission member 40 can maintain this state.

[0194] 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 the influence of gear backlash, thereby achieving high-precision transmission. Furthermore, as can be seen from the above description, during subsequent rotation, the one-way transmission member 40 can continuously 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 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.

[0195] 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.

[0196] 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.

[0197] 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.

[0198] 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.

[0199] 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.

[0200] Example D2

[0201] 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.

[0202] The third gear 221 is fixedly connected to the second rotating shaft 12, and a one-way transmission member 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 transmission member 40 is provided between the third gear 221 and the second rotating shaft 12; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0203] 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.

[0204] 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.

[0205] Taking the first gearbox 213 and the second gearbox 223 as the transmission device described in Example D1, the one-way transmission member 40 is disposed between the first rotating shaft 11 and the first gear 211, and the one-way transmission member 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:

[0206] 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.

[0207] 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 transmission member 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 ring gear 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.

[0208] 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.

[0209] 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.

[0210] 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 transmission member 40 mentioned in this application causes the two tooth surfaces to maintain abutment or fit, mainly because they have already achieved abutment or fit, and then the one-way transmission member 40 has maintained this abutment or fit trend. In some cases, the one-way transmission member 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 transmission member 40 can maintain this state.

[0211] 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 transmission member 40 can continuously 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 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.

[0212] 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:

[0213] In the first case, taking the one-way transmission member 40 set in the first link as an example, the first link has a first "I" structure with a one-way transmission member 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 transmission member 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 realize 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.

[0214] At the same time, although the one-way transmission member 40 is provided on 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 of 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, the backlash can be reduced or eliminated. 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 the backlash from the third gear 211 to the output mechanism 30 can be reduced or eliminated.

[0215] 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 transmission member 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.

[0216] 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.

[0217] 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.

[0218] 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.

[0219] 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.

[0220] 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.

[0221] 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.

[0222] 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 .

[0223] Example D3

[0224] 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.

[0225] The seventh gear 16 is fixedly connected to the first rotating shaft 11, and a one-way transmission member 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 transmission member 40 is provided between the seventh gear 16 and the first rotating shaft 11; or, a one-way transmission member 40 is provided between the seventh gear 16 and the first rotating shaft 11, and a one-way transmission member 40 is provided between the ninth gear 224 and the second rotating shaft 12, and the rotation transmission directions of the two one-way transmission members 40 are opposite.

[0226] 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 transmission member 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.

[0227] 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.

[0228] 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.

[0229] Example D4

[0230] 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.

[0231] The seventh gear 16 is fixedly connected to the second rotating shaft 12, and a one-way transmission member 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 transmission member 40 is provided between the seventh gear 16 and the second rotating shaft 12; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0232] 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.

[0233] 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.

[0234] Example D5

[0235] 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.

[0236] The third gear 221 is fixedly connected to the second rotating shaft 12, and a one-way transmission member 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 transmission member 40 is provided between the third gear 221 and the second rotating shaft 12; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0237] 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 transmission member 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.

[0238] Example D6

[0239] 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 .

[0240] The third gear 221 is fixedly connected to the third rotating shaft 13, and a one-way transmission member 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 transmission member 40 is provided between the third gear 221 and the third rotating shaft 13; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0241] 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.

[0242] 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.

[0243] Taking the example of a one-way transmission member 40 provided between the first gear 211 and the second rotating shaft 12, and the one-way transmission member 40 being used to transmit clockwise rotation, the working process of the transmission device 100 proposed in this embodiment is as follows:

[0244] 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.

[0245] 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 transmission member 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, and the first gear 211 and the second gear 212 maintain the engagement state when the first gear 211 rotates clockwise. 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 with 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 transmission member 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.

[0246] 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.

[0247] 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.

[0248] 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 transmission member 40 mentioned in this application causes the two tooth surfaces to maintain abutment or fit, mainly because they have already achieved abutment or fit, and then the one-way transmission member 40 has maintained this abutment or fit trend. In some cases, the one-way transmission member 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 transmission member 40 can maintain this state.

[0249] As described above, during the subsequent rotation process, 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 little or no backlash, thereby achieving highly precise transmission. Furthermore, as can be seen from the above description, during the subsequent rotation, the one-way transmission member 40 can continuously 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 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.

[0250] 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 transmission member 40 blocks it, so the above principle can also be applied.

[0251] In an alternative embodiment, if both the first transmission system 21 and the second transmission system 22 include a one-way transmission member 40, and the one-way transmission member 40 transmits rotation clockwise, for example, a one-way transmission member 40 is provided between the first gear 211 and the second rotating shaft 12, and a one-way transmission member 40 is also provided between the third gear 221 and the third rotating shaft 13, and the one-way transmission member 40 transmits rotation counterclockwise, then the principle is similar to the above, and the details are as follows:

[0252] 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 FIG22B , 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 transmission member 40 is provided between the third gear 221 and the third rotating shaft 13, rotation is blocked, but the inner ring gear 35 (the fourth gear 222) still rotates clockwise, driving the fourth tooth surface 2222 to mate with the third gear 221.

[0253] 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 transmission member 40 for clockwise rotation is provided 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 transmission member 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 time, 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.

[0254] As described above, during the subsequent rotation process, 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 little or no backlash, thereby achieving highly precise transmission. Furthermore, as can be seen from the above description, during the subsequent rotation, the one-way transmission member 40 can continuously 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 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.

[0255] 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.

[0256] 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.

[0257] 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 .

[0258] 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.

[0259] 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 .

[0260] 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 .

[0261] 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 .

[0262] Example D7

[0263] As shown in Figures 1, 21 and 22, 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 .

[0264] The ninth gear 224 is fixedly connected to the third rotating shaft 13, and a one-way transmission member 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 transmission member 40 is provided between the ninth gear 224 and the third rotating shaft 13; or, a one-way transmission member 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 transmission members 40 are opposite.

[0265] 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 transmission member 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.

[0266] 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.

[0267] Example D8

[0268] 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.

[0269] The sixth gear 15 is fixedly connected to the first rotating shaft 11, and a one-way transmission member 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 transmission member 40 is provided between the sixth gear 15 and the first rotating shaft 11; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0270] 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.

[0271] 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.

[0272] Example D9

[0273] 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.

[0274] The first gear 211 is fixedly connected to the first rotating shaft 11, and a one-way transmission member 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 transmission member 40 is provided between the first gear 211 and the first rotating shaft 11; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0275] This embodiment differs from the above-mentioned embodiment D8 in that the one-way transmission member 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.

[0276] Example D10

[0277] 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.

[0278] The first gear 211 is fixedly connected to the fifth gear 14, and a one-way transmission member 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 transmission member 40 is provided between the first gear 211 and the fifth gear 14; or, a one-way transmission member 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 transmission member 40 located between the first gear 11 and the fifth gear 14 and the one-way transmission member 40 located between the third gear 221 and the sixth gear 15 have opposite rotation transmission directions.

[0279] 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.

[0280] The phrase "a one-way transmission member 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 transmission member 40 is provided between the third gear 221 and the planetary shaft 361 and / or a one-way transmission member 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 a one-way transmission member 40, the rotation transmission directions of the two one-way transmission members 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 transmission member 40. For example, the sixth gear 15 may be provided with a protrusion on the end facing the third gear 221, the one-way transmission member 40 is mounted on the protrusion, and the third gear 221 is mounted on the one-way transmission member 40. This is not limited here. Alternatively, the third gear 221 may be sleeved on the planetary shaft 361, and the sixth gear 15 may be connected to the third gear 221 through a one-way transmission member 40. For example, a protrusion is provided at one end of the third gear 221 facing the sixth gear 15, the one-way transmission member 40 is sleeved on the protrusion, and the sixth gear 15 is sleeved on the one-way transmission member 40. This is not limited here.

[0281] Similarly, the third gear 221 is fixedly connected to the sixth gear 15 , and a one-way transmission member 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.

[0282] Similarly, one-way transmission members 40 are provided between the first gear 211 and the fifth gear 14, and between the third gear 221 and the sixth gear 15. The one-way transmission members 40 are arranged in a similar manner to the above, but the one-way transmission member 40 between the first gear 11 and the fifth gear 14 and the one-way transmission member 40 between the third gear 221 and the sixth gear 15 transmit rotation in opposite directions. That is, if the rotation direction of one or both of the one-way transmission members 40 between the first gear 211 and the fifth gear 14 is counterclockwise, the rotation direction of one or both of the one-way transmission members 40 between the third gear 221 and the sixth gear 15 is clockwise.

[0283] 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.

[0284] Taking the example of a one-way transmission member 40 provided between the third gear 221 and the sixth gear 15, and the one-way transmission member 40 being used to transmit counterclockwise rotation, the working process of the transmission device 100 proposed in this embodiment is as follows:

[0285] 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.

[0286] 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 transmission member 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 during the clockwise rotation of the third gear 221 and the second inner ring gear 352.

[0287] 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.

[0288] 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.

[0289] 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 transmission member 40 mentioned in this application causes the two tooth surfaces to maintain abutment or fit, mainly because they have already achieved abutment or fit, and then the one-way transmission member 40 has maintained this abutment or fit trend. In some cases, the one-way transmission member 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 transmission member 40 can maintain this state.

[0290] 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.

[0291] 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.

[0292] 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.

[0293] 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.

[0294] Example D11

[0295] 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.

[0296] Optionally, the first rotating shaft 11 and the second rotating shaft 12 may be arranged in parallel and spaced apart.

[0297] The third gear 221 is fixedly connected to the first rotating shaft 11, and a one-way transmission member 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 transmission member 40 is provided between the third gear 221 and the first rotating shaft 11; or, a one-way transmission member 40 is 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 transmission members 40 are opposite.

[0298] 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.

[0299] 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.

[0300] 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.

[0301] 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.

[0302] Example D12

[0303] 1 and 41 to 44 , the transmission device 100 includes an input mechanism 10 , a transmission mechanism 20 , an output mechanism 30 , and a one-way transmission member 40 , wherein the input mechanism 10 and the output mechanism 30 are connected to the transmission mechanism 20 , and the rotation input by the input mechanism 10 is transmitted by the transmission mechanism 20 and then output from the output mechanism 30 .

[0304] As shown in FIG41 , the transmission mechanism 20 includes a first transmission system 21 and a second transmission system 22. The first transmission system 21 includes a first rotating shaft 11 and a first gear 211 and a second gear 212 disposed on the first rotating shaft 11. 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 transmission system 22 includes a second rotating shaft 12 and a third gear 221 and a fourth gear 222 disposed on the second rotating shaft 12. The third gear 221 is connected to the input mechanism 10, and the fourth gear 222 is connected to the output mechanism 30.

[0305] In an optional embodiment, a one-way transmission member 40 is provided between the first gear 211 and the second gear 212 .

[0306] Optionally, a one-way transmission member 40 is provided between the first gear 211 and the second gear 212. The first gear 211 can be fixedly connected to the first rotating shaft 11, and the second gear 212 is connected to the first rotating shaft 11 via the one-way transmission member 40, so that when the first gear 211 rotates along the rotation transmission direction of the one-way transmission member, it can drive the first rotating shaft 11 and the second gear 212 to rotate in turn. When the first gear 211 rotates in the opposite direction of the rotation transmission direction of the one-way transmission member, the torque of the first rotating shaft 11 cannot be transmitted to the second gear 212, and therefore cannot drive the second gear 212 to rotate.

[0307] Optionally, a one-way transmission member 40 is provided between the first gear 211 and the second gear 212, or a one-way transmission member 40 is provided between the first gear 211 and the first rotating shaft 11, and the second gear 212 is fixedly connected to the first rotating shaft 11, so that when the first gear 211 rotates along the rotation transmission direction of the one-way transmission member, it can drive the first rotating shaft 11 and the second gear 212 to rotate in turn, and when the first gear 211 rotates in the opposite direction of the rotation transmission direction of the one-way transmission member, since the torque of the first rotating shaft 11 cannot be transmitted to the first rotating shaft 11, it cannot drive the first rotating shaft 11 and the second gear 212 to rotate.

[0308] In an optional embodiment, a one-way transmission member 40 is disposed between the first gear 211 and the second gear 212, and a one-way transmission member 40 may also be disposed between the third gear 221 and the fourth gear 222. Furthermore, the one-way transmission member 40 disposed between the first gear 211 and the second gear 212 and the one-way transmission member 40 disposed between the third gear 221 and the fourth gear 222 transmit rotation in opposite directions. In other words, there are two one-way transmission members 40, one disposed between the first gear 211 and the second gear 212, and one disposed between the third gear 221 and the fourth gear 222, and the two one-way transmission members 40 transmit rotation in opposite directions.

[0309] Optionally, the one-way transmission member 40 provided between the third gear 221 and the fourth gear 222 is similar to the one-way transmission member 40 provided between the first gear 211 and the second gear 212 , and is not described in detail here.

[0310] As shown in FIG. 42 and FIG. 43 , the output mechanism 30 includes a fifth gear 14 , a sixth gear 15 and an inner ring gear 35 , wherein the inner ring gear 35 is engaged with the fifth gear 14 and the sixth gear 15 .

[0311] Optionally, the fifth gear 14 is connected to the second gear 212 , and the sixth gear 15 is connected to the fourth gear 222 .

[0312] As shown in Figure 41, the fifth gear 14 and the second gear 212 can be directly connected, that is, the fifth gear 14 can engage with the second gear 212, and the sixth gear 15 and the fourth gear 222 can also be directly connected, that is, the sixth gear 15 can engage with the fourth gear 222.

[0313] As shown in FIG. 42 and FIG. 43 , the transmission device 100 includes a first base plate 311 and a first support frame 312 disposed on the first base plate 311 . The first support frame 312 includes a first support portion 313 spaced apart from the first base plate 311 .

[0314] Optionally, the fifth gear 14 and the sixth gear 15 are both rotatably disposed on the first base plate 311 .

[0315] Optionally, both the fifth gear 14 and the sixth gear 15 can be rotatably disposed on the first base plate 311 via a rotating shaft.

[0316] Optionally, the first rotating shaft 11 and the second rotating shaft 12 are also rotatably disposed on the first bottom plate 311 .

[0317] Optionally, the input mechanism 10 includes an input shaft 1001 disposed on the first support portion 313 and an input gear 1010 disposed on the input shaft 1001 . The input gear 1010 can be engaged with the first gear 211 and the third gear 221 .

[0318] Optionally, the input mechanism 10 can be connected to a driving device such as a motor, which is not limited here.

[0319] Optionally, the transmission mechanism 20 may specifically include two first transmission systems 21 and two second transmission systems 22, with the two first gears 211 of the two first transmission systems 21 and the two third gears 221 of the two second transmission systems 22 being arranged around the input gear 1010. Similarly, there are two fifth gears 14 and two sixth gears 15, with the two fifth gears 14 respectively connected to the two second gears 212 of the two first transmission systems 21, and the two sixth gears 15 respectively connected to the two fourth gears 222 of the two second transmission systems 22.

[0320] As shown in FIG. 42 , the first support frame 312 includes an annular support plate 314 disposed on the first base plate 311 , and the first support portion 313 is disposed on the annular support plate 314 .

[0321] Optionally, the annular support plate 314 and the first support portion 313 form a first accommodating space 315, and the two second gears 212 of the two groups of first transmission systems 21, the two fourth gears 222 of the two groups of second transmission systems 22, at least part of the two fifth gears 14 and at least part of the two sixth gears 15 are located in the first accommodating space 315.

[0322] Optionally, the first bottom plate 311 , the annular support plate 314 and the first support portion 313 together form a first accommodating space 315 .

[0323] Optionally, a second accommodating space 316 is formed on the side of the first support portion 313 facing away from the first base plate 311, and at least a portion of the two first gears 211 of the two groups of the first transmission systems 21, at least a portion of the two third gears 221 of the two groups of the second transmission systems 22, and at least a portion of the input gear 1010 are located in the second accommodating space 316.

[0324] As shown in Figures 42 and 43 , the first support portion 313 includes a spaced-apart intermediate plate 317, a top plate 318, and a first annular plate 319 connected to the intermediate plate 317 and the top plate (not shown). The top plate is disposed on a side of the intermediate plate 317 facing away from the first bottom plate 311. An end of the input shaft 1001 facing away from the first bottom plate 311 protrudes from the top plate 318.

[0325] The middle plate 317 , the top plate and the first annular plate 319 together form a second accommodation space 316 .

[0326] As shown in FIG. 43 , the transmission device 100 further includes a first rotating bearing 321 and a second rotating bearing 322 . The inner ring of the first rotating bearing 321 is sleeved on the first support portion 313 , and the inner ring of the second rotating bearing 322 is sleeved on the first base plate 311 .

[0327] The output mechanism 30 further includes an annular output plate 326 connected to the side of the inner gear ring 35 away from the annular support plate 314 . The annular output plate 326 is connected to the outer rings of the first and second rotating bearings 321 and 322 .

[0328] As shown in Figure 44, the first rotating bearing 321, the annular support plate 314 and the second rotating bearing 322 form a second annular groove 323. The annular support plate 314 also includes a first connecting hole 324 and a second connecting hole 325 connected to the second annular groove 323 and the first accommodating space 315. The fifth gear 14 is connected to the inner ring gear 35 through the first connecting hole 324, and the sixth gear 15 is connected to the inner ring gear 35 through the second connecting hole 325.

[0329] Among them, the inner ring gear 35 is located in the second annular groove 323, and the annular output plate 326 includes an embedded portion 327 embedded in the second annular groove 323 and connected to the inner ring gear 35. The embedded portion 327 is fixed to the outer ring of the first rotating bearing 321 and / or the outer ring of the second rotating bearing 322, thereby improving the stability of the fixation of the annular output plate 326 to the first rotating bearing 321 and the second rotating bearing 322.

[0330] Optionally, the transmission device 100 further includes an elastic torsion structure 70 .

[0331] As shown in Figure 42, an elastic torsion structure 70 is arranged between the first gear 211 and the second gear 212. Specifically, the two ends of the elastic torsion structure 70 are respectively connected to the first gear 211 and the second gear 212, or one end of the elastic torsion structure 70 is connected to the first rotating shaft 11, and the other end is connected to the first gear 211 or the second gear 212, which is specifically related to the setting method of the one-way transmission member 40.

[0332] As an alternative, if the first gear 211 is fixedly connected to the first rotating shaft 11, and the second gear 212 is connected to the first rotating shaft 11 via a one-way transmission member 40, then the two ends of the elastic torsion structure 70 may be connected to the first gear 211 and the second gear 212, respectively, or the two ends of the elastic torsion structure 70 may be connected to the first rotating shaft 11 and the second gear 212, respectively. As an alternative, if the first gear 211 is connected to the first rotating shaft 11 via a one-way transmission member 40, and the second gear 212 is fixedly connected to the first rotating shaft 11, then the two ends of the elastic torsion structure 70 may be connected to the first gear 211 and the second gear 212, respectively, or the two ends of the elastic torsion structure 70 may be connected to the first rotating shaft 11 and the first gear 211, respectively. That is, the two ends of the elastic torsion structure 70 need to be connected to two teeth or shafts that can rotate relative to each other.

[0333] In an optional embodiment, an elastic torsion structure 70 is provided between the first gear 211 and the second gear 212, and when a one-way transmission member 40 is provided between the third gear 221 and the fourth gear 222, an elastic torsion structure 70 may also be provided between the third gear 221 and the fourth gear 222. The arrangement thereof is similar to that of the elastic torsion structure 70 provided between the first gear 211 and the second gear 212, and is not repeated here.

[0334] It should be noted that the working principle of the one-way transmission member 40 has been explained in other embodiments of the present application and will not be repeated here.

[0335] It should be noted that the working principle of the elastic torsion structure 70 in cooperation with the one-way transmission member 40 has been explained in other embodiments of the present application and will not be repeated here.

[0336] D13

[0337] Referring to Figures 1 and 45-48, the transmission device 100 includes an input mechanism 10, a transmission mechanism 20, an output mechanism 30 and a one-way transmission member 40, wherein the input mechanism 10 and the output mechanism 30 are connected to the transmission mechanism 20, and the rotation input by the input mechanism 10 is output from the output mechanism 30 after being transmitted by the transmission mechanism 20.

[0338] As shown in FIG46 , the transmission mechanism 20 includes a first transmission system 21 and a second transmission system 22. The first transmission system 21 includes a first rotating shaft 11 and a first gear 211 and a second gear 212 disposed on the first rotating shaft 11. 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 transmission system 22 includes a second rotating shaft 12 and a third gear 221 and a fourth gear 222 disposed on the second rotating shaft 12. The third gear 221 is connected to the input mechanism 10, and the fourth gear 222 is connected to the output mechanism 30.

[0339] In an optional embodiment, a one-way transmission member 40 is provided between the first gear 211 and the second gear 212 .

[0340] Optionally, a one-way transmission member 40 is provided between the first gear 211 and the second gear 212. The first gear 211 can be fixedly connected to the first rotating shaft 11, and the second gear 212 is connected to the first rotating shaft 11 via the one-way transmission member 40, so that when the first gear 211 rotates along the rotation transmission direction of the one-way transmission member, it can drive the first rotating shaft 11 and the second gear 212 to rotate in turn. When the first gear 211 rotates in the opposite direction of the rotation transmission direction of the one-way transmission member, the torque of the first rotating shaft 11 cannot be transmitted to the second gear 212, and therefore cannot drive the second gear 212 to rotate.

[0341] Optionally, a one-way transmission member 40 is provided between the first gear 211 and the second gear 212, or a one-way transmission member 40 is provided between the first gear 211 and the first rotating shaft 11, and the second gear 212 is fixedly connected to the first rotating shaft 11, so that when the first gear 211 rotates along the rotation transmission direction of the one-way transmission member, it can drive the first rotating shaft 11 and the second gear 212 to rotate in turn, and when the first gear 211 rotates in the opposite direction of the rotation transmission direction of the one-way transmission member, since the torque of the first rotating shaft 11 cannot be transmitted to the first rotating shaft 11, it cannot drive the first rotating shaft 11 and the second gear 212 to rotate.

[0342] In an optional embodiment, a one-way transmission member 40 is disposed between the first gear 211 and the second gear 212, and a one-way transmission member 40 may also be disposed between the third gear 221 and the fourth gear 222. Furthermore, the one-way transmission member 40 disposed between the first gear 211 and the second gear 212 and the one-way transmission member 40 disposed between the third gear 221 and the fourth gear 222 transmit rotation in opposite directions. In other words, there are two one-way transmission members 40, one disposed between the first gear 211 and the second gear 212, and one disposed between the third gear 221 and the fourth gear 222, and the two one-way transmission members 40 transmit rotation in opposite directions.

[0343] Optionally, the one-way transmission member 40 provided between the third gear 221 and the fourth gear 222 is similar to the one-way transmission member 40 provided between the first gear 211 and the second gear 212 , and is not described in detail here.

[0344] As shown in FIG. 46 and FIG. 47 , the output mechanism 30 includes a fifth gear 14 , a sixth gear 15 and an inner ring gear 35 , wherein the inner ring gear 35 is engaged with the fifth gear 14 and the sixth gear 15 .

[0345] Optionally, the fifth gear 14 is connected to the second gear 212 , and the sixth gear 15 is connected to the fourth gear 222 .

[0346] Optionally, the fifth gear 14 and the second gear 212 may also be indirectly connected, and the sixth gear 15 and the fourth gear 222 may also be indirectly connected.

[0347] As shown in FIG. 46 and FIG. 47 , the output mechanism 30 further includes a seventh gear 16 and an eighth gear 17 . The seventh gear 16 is connected to the fifth gear 14 and the second gear 212 , respectively. The eighth gear 17 is connected to the sixth gear 15 and the fourth gear 222 , respectively.

[0348] Optionally, the output mechanism 30 further includes a third rotating shaft 13 and a fourth rotating shaft 18, the seventh gear 16 and the fifth gear 14 are both disposed on the third rotating shaft 13, and the eighth gear 17 and the sixth gear 15 are both disposed on the fourth rotating shaft 18. That is, the seventh gear 16 and the fifth gear 14 are fixedly connected via the third rotating shaft 13, and the eighth gear 17 and the sixth gear 15 are fixedly connected via the fourth rotating shaft 18.

[0349] Optionally, the seventh gear 16 is engaged with the second gear 212 , and the eighth gear 17 is engaged with the fourth gear 222 .

[0350] As shown in Figure 46, the output mechanism 30 also includes a third rotating shaft 13 and a fourth rotating shaft 18. The seventh gear 16 and the fifth gear 14 are both arranged on the third rotating shaft 13, and the eighth gear 17 and the sixth gear 15 are both arranged on the fourth rotating shaft 18.

[0351] Optionally, the seventh gear 16 and the fifth gear 14 are both fixedly connected to the third rotating shaft 13 , and the eighth gear 17 and the sixth gear 15 are both fixedly connected to the fourth rotating shaft 18 .

[0352] 48 , the transmission device 100 further includes a second base plate 331 and a second support frame 332 disposed on the second base plate 331. The second support frame 332 includes a second support portion 333 spaced apart from the second base plate 331. The first rotating shaft 11 and the second rotating shaft 12 are disposed on the second support portion 333.

[0353] Optionally, the third rotating shaft 13 and the fourth rotating shaft 18 are rotatably disposed on the second bottom plate 331 and / or the second supporting portion 333 .

[0354] Optionally, the input mechanism 10 further includes an input shaft 1001 rotatably disposed on the second support portion 333 and an input gear 1010 disposed on the input shaft 1001 , wherein the input gear 1010 is engaged with the first gear 211 and the third gear 221 .

[0355] As shown in FIG48 , the second support frame 332 further includes a second annular plate 334 disposed on the second bottom plate 331. The second support portion 333 includes a first baffle 335 disposed on the second annular plate 334 and spaced apart from the second bottom plate 331, and a second baffle 336 disposed on the second annular plate 334 and spaced apart from the first baffle 335 and located on a side of the first baffle 335 away from the second bottom plate 331.

[0356] The second bottom plate 331 , the second annular plate 334 and the first partition plate 335 together form a third accommodation space 337 ; the second partition plate 336 , the second annular plate 334 and the first partition plate 335 together form a fourth accommodation space 338 .

[0357] Among them, the second gear 212, the seventh gear 16, the fourth gear 222 and the eighth gear 17 are at least partially arranged in the third accommodating space 337, that is, the second gear 212, the seventh gear 16, the fourth gear 222 and the eighth gear 17 are all or partially arranged in the third accommodating space 337; the input gear 1010, the first gear 211, and the third gear 221 are at least partially arranged in the fourth accommodating space 338, that is, the input gear 1010, the first gear 211, and the third gear 221 are all or at least partially arranged in the fourth accommodating space 338.

[0358] By spatially arranging the gears, the compactness of the entire transmission device 100 can be effectively improved.

[0359] As shown in Figure 48, the second annular plate 334 includes an inner annular plate 338 and an outer annular plate 339 that are spaced apart, and a first spacing space 341 is formed between the inner annular plate 338 and the outer annular plate 339; wherein, the inner gear ring 35 is located in the first spacing space 341; wherein, the output mechanism 30 also includes an output plate 342 and a connecting plate 343, wherein the output plate 342 is located on the side of the second partition plate 336 away from the second bottom plate 331 and is connected to the inner gear ring 35 through the connecting plate 343.

[0360] As shown in Figure 48, a second spacing space (not shown) connected to the first spacing space 341 is formed between the inner annular plate 338 and the outer annular plate 339, and the second spacing space 344 is located between the output plate 342 and the inner ring gear 35. The transmission device 100 also includes a third bearing 345 and a fourth bearing 346 located in the second spacing space; the inner ring of the third bearing 345 is connected to the inner annular plate 338, and the outer ring of the fourth bearing 346 is connected to the outer annular plate 339; the output plate 342 and / or the connecting plate 343 are connected to the outer ring of the third bearing 345 and the inner ring of the fourth bearing 346, so that the output plate 342 can rotate smoothly relative to the inner annular plate 338 and the outer annular plate 339.

[0361] Optionally, the output plate 342 is a plate-shaped structure, which can be parallel to the first partition plate 335 or the second bottom plate 331 .

[0362] Optionally, the connecting plate 343 is an annular structure, one end of which is connected to the inner gear ring 35 , and the other end of which passes through the second spacing space to connect to the output plate 342 .

[0363] Optionally, the transmission device 100 further includes an elastic torsion structure 70 .

[0364] As shown in Figure 48, an elastic torsion structure 70 is arranged between the first gear 211 and the second gear 212. Specifically, the two ends of the elastic torsion structure 70 are respectively connected to the first gear 211 and the second gear 212, or one end of the elastic torsion structure 70 is connected to the first rotating shaft 11, and the other end is connected to the first gear 211 or the second gear 212, which is specifically related to the setting method of the one-way transmission member 40.

[0365] As an alternative, if the first gear 211 is fixedly connected to the first rotating shaft 11, and the second gear 212 is connected to the first rotating shaft 11 via a one-way transmission member 40, then the two ends of the elastic torsion structure 70 may be connected to the first gear 211 and the second gear 212, respectively, or the two ends of the elastic torsion structure 70 may be connected to the first rotating shaft 11 and the second gear 212, respectively. As an alternative, if the first gear 211 is connected to the first rotating shaft 11 via a one-way transmission member 40, and the second gear 212 is fixedly connected to the first rotating shaft 11, then the two ends of the elastic torsion structure 70 may be connected to the first gear 211 and the second gear 212, respectively, or the two ends of the elastic torsion structure 70 may be connected to the first rotating shaft 11 and the first gear 211, respectively. That is, the two ends of the elastic torsion structure 70 need to be connected to two teeth or shafts that can rotate relative to each other.

[0366] In an optional embodiment, an elastic torsion structure 70 is provided between the first gear 211 and the second gear 212, and when a one-way transmission member 40 is provided between the third gear 221 and the fourth gear 222, an elastic torsion structure 70 may also be provided between the third gear 221 and the fourth gear 222. The arrangement method is similar to that of providing an elastic torsion structure 70 between a gear and the second gear 212, and will not be repeated here.

[0367] It should be noted that the working principle of the one-way transmission member 40 has been explained in other embodiments of the present application and will not be repeated here.

[0368] It should be noted that the working principle of the elastic torsion structure 70 in cooperation with the one-way transmission member 40 has been explained in other embodiments of the present application and will not be repeated here.

[0369] 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 transmission member 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.

[0370] 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.

[0371] 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 transmission member 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.

[0372] In an optional embodiment, the first transmission system 21 and the second transmission system 22 are the same system or symmetrical systems.

[0373] 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 transmission member 40 is provided on the input mechanism 10, and the one-way transmission member 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 transmission member 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.

[0374] Alternatively, the principle of how the one-way transmission member 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.

[0375] 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. The one-way transmission member 40 is configured 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.

[0376] 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.

[0377] 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.

[0378] 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 transmission member 40 is arranged between the third gear 221 and the input shaft 1001 or between the fourth gear 222 and the input shaft 1001.

[0379] 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 transmission member 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 transmission member 40 disposed between the third gear 221 and the input shaft 1001 and the one-way transmission member 40 disposed between the fourth gear 222 and the input shaft 1001 transmit rotation in opposite directions.

[0380] 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.

[0381] Optionally, the first axis 1002 and the second axis 1003 may be arranged in parallel and spaced apart.

[0382] 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.

[0383] 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.

[0384] In an optional embodiment, the one-way transmission member 40 is disposed between the third gear 221 and the sixth gear 15 ; and / or, the one-way transmission member 40 is disposed between the fourth gear 222 and the seventh gear 16 .

[0385] It should be noted that "the one-way transmission member 40 is arranged between the third gear 221 and the sixth gear 15; and / or, the one-way transmission member 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 transmission member 40 is provided between the third gear 221 and the sixth gear 15; another embodiment is that a one-way transmission member 40 is provided between the fourth gear 222 and the seventh gear 16; and another embodiment is that a one-way transmission member 40 is provided between the third gear 221 and the sixth gear 15 and between the fourth gear 222 and the seventh gear 16.

[0386] The phrase "a one-way transmission member 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 transmission member 40 is provided between the third gear 221 and the first shaft 1002, and / or a one-way transmission member 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 transmission member 40. For example, the sixth gear 15 may have a protrusion on the end facing the third gear 221, the one-way transmission member 40 is sleeved on the protrusion, and the third gear 221 is sleeved on the one-way transmission member 40. This is not limited here.

[0387] Similarly, the implementation of “a one-way transmission member 40 is provided between the fourth gear 222 and the seventh gear 16 ” is similar to the above, and will not be elaborated here.

[0388] Similarly, a one-way transmission member 40 is 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 transmission member 40 is arranged in a similar manner to the above, but the rotation transmission direction of the one-way transmission member 40 between the third gear 221 and the sixth gear 15 is opposite to that of the one-way transmission member 40 between the fourth gear 222 and the seventh gear 16. That is, if the rotation transmission direction of the one-way transmission member 40 between the third gear 221 and the sixth gear 15 is counterclockwise, the rotation transmission direction of the one-way transmission member 40 between the fourth gear 222 and the seventh gear 16 is clockwise.

[0389] 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.

[0390] 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.

[0391] Optionally, the elastic torsion structure 70 can be specifically adapted to be arranged in conjunction with the one-way transmission member 40, that is, if a one-way transmission member 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 transmission member 40 to achieve a better effect of reducing or eliminating the gap.

[0392] Optionally, a one-way transmission member 40 is provided between the fourth gear 222 and the seventh gear 16 , and an elastic torsion structure 70 may be provided between the fourth gear 222 and the seventh gear 16 .

[0393] It should be noted that, as explained in the above embodiment, although the one-way transmission member 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.

[0394] Optionally, a one-way transmission member 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 .

[0395] Optionally, if a one-way transmission member 40 is provided between the fourth gear 222 and the seventh gear 16, and a one-way transmission member 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.

[0396] Optionally, when the elastic torsion structure 70 provides an elastic force to the third gear 221 to enable 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 transmission member 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.

[0397] 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.

[0398] Optionally, when the elastic torsion structure 70 provides an elastic force to 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.

[0399] 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.

[0400] 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.

[0401] Optionally, if two one-way transmission parts are provided between the third gear 221 and the sixth gear 15, then 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.

[0402] 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.

[0403] 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.

[0404] 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 transmission member 40, and its free direction is the direction in which the third gear 221 can rotate relative to the first shaft 1002.

[0405] 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.

[0406] As optionally, a one-way transmission member 40 is provided between the sixth gear 15 and the first shaft 1002, and the one-way transmission member 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 transmission member 40 is 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. The tooth surface 152 of the wheel 15 is in abutment, 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.

[0407] 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 transmission member 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 transmission member 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, so that 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.

[0408] 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 transmission member, so the free directions of different gears are different.

[0409] Optionally, under ideal conditions, the outer and inner rings of the one-way transmission member 40 have a 1:1 rotation ratio in the rotation transmission direction, transmitting rotation, and no rotation transmission in the opposite direction, i.e., a 1:0 rotation ratio. Alternatively, research has found that the one-way transmission member 40 may slip during repeated impacts, i.e., it may slip in the rotation transmission direction, with no or incomplete rotation transmission, e.g., the outer ring rotates 1 rotation while the inner ring rotates 0 rotations, or a ratio greater than 0 and less than 1 rotation.

[0410] 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.

[0411] 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.

[0412] 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.

[0413] In other embodiments, if a one-way transmission member 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.

[0414] 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.

[0415] In an optional embodiment, two ends of the torsion spring are respectively connected to the third gear 221 and the first shaft 1002 .

[0416] In an optional embodiment, two ends of the torsion spring are respectively connected to the sixth gear 15 and the first shaft 1002 .

[0417] In an optional embodiment, two ends of the torsion spring are respectively connected to the fourth gear 222 and the seventh gear 16 .

[0418] In an optional embodiment, two ends of the torsion spring are respectively connected to the fourth gear 222 and the second shaft 1003 .

[0419] In an optional embodiment, two ends of the torsion spring are respectively connected to the seventh gear 16 and the second shaft 1003 .

[0420] 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.

[0421] In an alternative embodiment, an elastic extrusion member may be located between the third gear 221 and the first shaft 1002 .

[0422] In an alternative embodiment, the elastic extrusion member may be located between the sixth gear 15 and the first shaft 1002.

[0423] In an optional embodiment, the elastic extrusion member may be located between the third gear 221 and the sixth gear 15

[0424] In an alternative embodiment, an elastic extrusion member may be located between the second shaft 1003 and the fourth gear 222 .

[0425] In an alternative embodiment, an elastic extrusion member may be located between the second shaft 1003 and the seventh gear 16 .

[0426] In an alternative embodiment, a resilient extrusion member may be located between the fourth gear 222 and the seventh gear 16 .

[0427] 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 .

[0428] 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.

[0429] 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 transmission member 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.

[0430] In an optional embodiment, the first transmission system 21 further includes a plurality of eighth gears (not shown) connected in sequence, wherein 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, wherein the first ninth gear among the plurality of ninth gears is connected to the second gear 212. The one-way transmission member 40 is configured to ensure that the fifth tooth surface of the gear teeth of the preceding eighth gear among any two adjacent meshing eighth gears among the plurality of eighth gears are in 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 10 rotates in the first direction. The one-way transmission member 40 is configured to ensure that the sixth tooth surface of the gear teeth of the preceding ninth gear among any two adjacent meshing ninth gears among the plurality of ninth gears are in contact with the gear teeth of the succeeding ninth gear, and the orientation of the sixth tooth surface is consistent with the rotation direction of the preceding ninth gear when the input mechanism 10 rotates in the second direction.

[0431] 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.

[0432] In an alternative embodiment, whether the first direction is clockwise or counterclockwise is related to the torque direction of the one-way transmission member 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 transmission member 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, and the second direction is opposite to the first direction.

[0433] 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.

[0434] 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.

[0435] 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.

[0436] 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.

[0437] 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.

[0438] 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 .

[0439] 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 transmission member 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.

[0440] 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.

[0441] The one-way transmission member 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 transmission member 40 is configured to maintain contact between the first tooth surface 2121 of the teeth of the 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 second gear 211, with the first tooth surface 2121 oriented in the same direction as the rotation of the first gear 211 when the input mechanism 10 rotates in the first direction; and / or, the one-way transmission member 40 is configured to maintain contact between the second tooth surface 2122 of the teeth of the first gear 212 of at least some of the two second gears 212 in at least one second gear set and the teeth of the second gear 212, with the second tooth surface 2122 oriented in the same direction as the rotation of the first gear 212 when the input mechanism 10 rotates in the second direction.

[0442] Optionally, how the one-way transmission member 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 transmission member 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.

[0443] 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.

[0444] In an alternative embodiment, whether the first direction is clockwise or counterclockwise is related to the torque direction of the one-way transmission member 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 transmission member 40 is located in the first chain, 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. The second direction is opposite to the first direction.

[0445] 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 transmission member 40 can be considered to be independent of the first transmission system 21 and the second transmission system 22. Although the one-way transmission member 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.

[0446] 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 transmission member 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.

[0447] 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 transmission member 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 transmission members 40 are disposed between two adjacent first gears 211 and the first shaft 1002, respectively.

[0448] Optionally, two adjacent first gears 211 may be sleeved on the first shaft 1002 .

[0449] 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.

[0450] The tensioning direction is opposite to the free direction.

[0451] 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.

[0452] 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.

[0453] 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 transmission member 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 transmission member between the first gear and the first shaft 1002 and the one-way transmission member between the second gear and the second shaft 1003 transmit torque in opposite directions.

[0454] Optionally, two adjacent first gears 211 may be sleeved on the first shaft 1002 .

[0455] Optionally, two adjacent second gears 212 may be sleeved on the second shaft 1003 .

[0456] Optionally, the transmission device 100 further includes an elastic torsion structure (not shown).

[0457] 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.

[0458] 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.

[0459] 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.

[0460] 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.

[0461] 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.

[0462] In an optional embodiment, the one-way transmission member 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 transmission member 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.

[0463] That is, the one-way transmission member 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.

[0464] Similarly, the one-way transmission member 40 can also enable 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 to remain 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 along the second direction.

[0465] 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.

[0466] As shown in Figure 37, in an optional embodiment, the one-way transmission member 40 is arranged between the third gear 221 and the third shaft 1004; and / or, the one-way transmission member 40 is arranged between the first first gear 211 of the plurality of first gears 211 and the third shaft 1004.

[0467] 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 .

[0468] In an optional embodiment, the transmission device 100 further includes an elastic torsion structure (not shown).

[0469] 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.

[0470] 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.

[0471] 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.

[0472] As shown in FIG37 , in an alternative embodiment, a one-way transmission member 40 is disposed between the fourth gear 222 and the fourth shaft 1005; and / or a one-way transmission member 40 is disposed between the first second gear 212 of the plurality of second gears 212 and the fourth shaft 1005. The one-way transmission member disposed on the fourth shaft 1005 and the one-way transmission member disposed on the third shaft 1004 transmit rotation in opposite directions.

[0473] 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 transmission member 40 is arranged between the fifth gear and the fifth shaft, and / or between the sixth gear and the fifth shaft.

[0474] 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.

[0475] 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.

[0476] 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.

[0477] 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.

[0478] 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.

[0479] 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 .

[0480] 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 transmission member 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.

[0481] 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.

[0482] Optionally, the first gear 211 and the second gear 212 are both sleeved on the first shaft 1002 .

[0483] Optionally, the fourth gear 222 and the fifth gear 14 are both sleeved on the second shaft 1003. The one-way transmission member 40 can be disposed between the first gear 211 and the second gear 212.

[0484] Optionally, a one-way transmission member 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 transmission member 40 is used to maintain contact 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 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.

[0485] 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 transmission member 40 is arranged in the "I"-shaped structure, then starting from the second gear 212, the one-way transmission member 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.

[0486] 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.

[0487] 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.

[0488] 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.

[0489] Optionally, regarding the principle that the one-way transmission member 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 rear third gear 221, thereby achieving the principle of eliminating or reducing the backlash in the two meshing gears, the above embodiments have been described and will not be repeated here.

[0490] 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.

[0491] Optionally, a one-way transmission member 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 quickly respond 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 FIG38 , 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 transmission member 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.

[0492] Optionally, the transmission device 100 further includes an elastic torsion structure;

[0493] 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.

[0494] 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.

[0495] 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.

[0496] 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.

[0497] 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.

[0498] In an optional embodiment, the last third gear 221 of the at least one third gear 221 is an inner ring gear 35 .

[0499] In an optional embodiment, the one-way transmission member 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.

[0500] 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 transmission member 40 is arranged in the "I"-shaped structure, then starting from the second gear 212, the one-way transmission member 40 can keep 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 in contact along the second chain direction.

[0501] 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.

[0502] In other embodiments, the one-way transmission member 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.

[0503] Optionally, the one-way transmission member 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. The specific abutment conditions are 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.

[0504] Optionally, by setting up the one-way transmission member 40, the second transmission system 22 can respond quickly when the input mechanism 10 is rotated from the first direction to the second direction, or the first transmission system 21 can respond quickly when it is rotated from the second direction to the first direction, thereby effectively reducing or eliminating the accuracy problems caused by backlash, thereby achieving the effect of enhancing the accuracy of the entire transmission device 100.

[0505] 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 transmission member 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.

[0506] In an optional embodiment, the one-way transmission member 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 .

[0507] The transmission device 100 further includes an elastic torsion structure (not shown);

[0508] 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.

[0509] 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.

[0510] 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.

[0511] 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 .

[0512] 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 .

[0513] 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.

[0514] Optionally, the first transmission system 21 and the second transmission system 22 may be identical or symmetrical systems.

[0515] 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 transmission member 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.

[0516] 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.

[0517] The one-way transmission member 40 is disposed between the first gear 211 and the second gear 212 .

[0518] Optionally, the one-way transmission member 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 transmission member 40 is used to keep 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 in contact along the first chain direction.

[0519] Optionally, the one-way transmission member 40 is used to maintain contact between 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 along the first chain direction, which is similar to the above embodiment and will not be repeated here.

[0520] Optionally, the principle of maintaining abutment between the second gear 212 of the one-way transmission member 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.

[0521] 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.

[0522] The transmission device 100 further includes an elastic torsion structure (not shown).

[0523] 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.

[0524] 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.

[0525] 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.

[0526] In an alternative embodiment, the first transmission system 21 and the second transmission system 22 may be different systems. However, if a one-way transmission member 40 is provided in the first transmission system 21, the one-way transmission member 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 transmission member 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 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 improving 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.

[0527] In an optional embodiment, the one-way transmission member 40 is used to keep the two fourth gears 222 in some gear groups in at least one group of gear groups in abutment 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.

[0528] 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 transmission member 40 can still cause the two fourth gears 222 in some gear sets in the second transmission system 22 to maintain contact along the second chain direction. The two fourth gears 222 maintaining contact along the second chain direction is similar to the above embodiment and will not be described in detail here.

[0529] In an alternative embodiment, the transmission ratios of the first transmission system 21 and the second transmission system 22 are the same.

[0530] Optionally, the first transmission system 21 and the second transmission system 22 have different transmission ratios.

[0531] 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 .

[0532] In an optional embodiment, the one-way transmission member 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 .

[0533] In an optional embodiment, the second transmission system 22 includes at least one one-way transmission member 40, and the rotation transmission direction of the one-way transmission member 40 is the same as the direction of the second chain, that is, the second transmission system 22 also has a one-way transmission member 40 located between two adjacent fourth gears 222. The one-way transmission member 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.

[0534] In an optional embodiment, the rotation transmission direction of all the one-way transmission members 40 located in the first transmission system 21 is the same as the direction of the first chain.

[0535] In an alternative embodiment, the second transmission system 22 and the first transmission system 21 are the same system or symmetrical systems.

[0536] In an optional embodiment, the first transmission system 21 includes a first reducer, and the second transmission system 22 includes a second reducer.

[0537] 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 .

[0538] It should be noted that the one-way transmission member 40 mentioned in this application makes the tooth surfaces of the meshing gears fit together in a certain direction or the gears abut against each other in a certain direction. This can be the joint action of all the one-way transmission members 40 in the entire transmission device, or it can be the action of some of the one-way transmission members 40.

[0539] It should be noted that in this application, no matter whether the one-way transmission member 40 is used in the first link and / or the second link to keep the gears in contact with the tooth surfaces, or the gears in contact with the gears, the tooth surfaces in contact with the tooth surfaces, the gear teeth in contact with the tooth surfaces, the gear teeth in contact with the gear teeth, the gear teeth in contact with the gear teeth, the mutually meshing gears 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 to use the blocking effect of the one-way transmission member 40 to reduce or eliminate the backlash between at least one group of mutually meshing gears, thereby achieving the effect of reducing the superimposed backlash, effectively improving the accuracy of the entire transmission device 100.

[0540] 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 one-way transmission member 40 is used to maintain directly abutting gears on the first link and the second link, 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. 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 mutually meshing gears along the chain direction are achieved through the rotational cooperation of the one-way transmission member 40 and the input mechanism 10, but in some scenarios, the one-way transmission member 40 mainly maintains this fitting or abutment trend.

[0541] It should be noted that, as described in the present application, the one-way transmission member 40 may maintain the abutment / fitting between gears and tooth surfaces, or the abutment / fitting between gears and gears, the abutment / fitting between tooth surfaces and tooth surfaces, the abutment / fitting between gear teeth and tooth surfaces, the abutment / fitting between gear teeth and gear teeth, the abutment / fitting between meshing gears along the chain direction, etc. The specific explanation of "maintaining" is as follows:

[0542] The transmission device 100 as a whole includes two links. The first link includes the first transmission system 21 and may include a part of the input mechanism 10 and / or the output mechanism 30. The second link includes the second transmission system 22 and may include a part of the input mechanism 10 and / or the output mechanism 30.

[0543] That is, two links are separated at a certain part of the input mechanism 10, and then merged at a certain part of the output mechanism 30 (of course, it is possible that they may also be merged at a certain part of the first transmission system 21 and the second transmission system 22, such as when the last gears of the first transmission system 21 and the second transmission system 22 are the same gear). Then, the position of the one-way transmission member 40 has three situations:

[0544] 1. The one-way transmission member 40 is only provided on the first link. Assuming that when the input mechanism 10 rotates in the first direction, this link can transmit the rotation to the output mechanism 30. At this time, the adjacent meshing gears of the first link all complete the abutment in the direction corresponding to the first direction. The function of the one-way transmission member 40 is to block the rotation from the input mechanism 10 when the input mechanism 10 rotates in the second direction, so that all the meshing gears located in the rear part of the one-way transmission member 40 in the first link still "maintain" the abutment in the direction corresponding to the first direction. Therefore, for all the meshing gears located in the rear part of the one-way transmission member 40 in the first chain, the one-way transmission member 40 can, on the one hand, cooperate with the rotation of the input mechanism 10 in the first direction so that all the meshing gears located in the rear part of the one-way transmission member 40 can achieve the abutment in the direction corresponding to the first direction, and on the other hand, it can also directly "maintain" the abutment in the direction corresponding to the first direction. Therefore, this "maintenance" will not be affected by the wear between the gears. Specifically, when the gears are worn in the fitting direction due to long-term rotation, they will still maintain abutment / fitting. That is, the existence of the one-way transmission member 40 can achieve adaptive effects to a certain extent. On the one hand, it can achieve fitting when it is not fitting at the beginning, and on the other hand, it can be adjusted to fit as the tooth gap becomes larger.

[0545] As for the intermeshing gears on the second chain corresponding to all the intermeshing gears in the first chain located at the rear part of the one-way transmission member 40, it is because all the intermeshing gears in the first chain located at the rear part of the one-way transmission member 40 can achieve abutment in one direction, so that they can rotate faster when the input mechanism 10 rotates along the first direction, and drive the output mechanism 30 to transmit torque in the second chain in the opposite direction, so that the corresponding intermeshing gears in the second chain can maintain abutment along the second direction. In the above embodiment, if the one-way transmission member 40 is considered to be able to make the corresponding intermeshing gears in the second chain "maintain" abutment, then it can actually be considered to indirectly achieve the corresponding intermeshing gears in the second chain "maintaining" abutment along the second direction.

[0546] 2. The one-way transmission member 40 is only provided on the second link, and the description of its maintaining contact is similar to the above description and will not be repeated here.

[0547] 3. The one-way transmission member 40 is provided on the first link and the second link.

[0548] For the first link, when the input mechanism 10 rotates along the first direction, this link can transmit the rotation to the output mechanism 30. At this time, the adjacent meshing gears of the first link all complete the abutment in the direction corresponding to the first direction, and the function of the one-way transmission member 40 is to block the rotation from the input mechanism 10 when the input mechanism 10 rotates along the second direction, so that all the meshing gears located in the rear part of the one-way transmission member 40 in the first link can still "maintain" the abutment in the direction corresponding to the first direction. Therefore, for all the meshing gears located in the rear part of the one-way transmission member 40 in the first chain, the one-way transmission member 40 can, on the one hand, cooperate with the rotation of the input mechanism 10 along the first direction so that all the meshing gears located in the rear part of the one-way transmission member 40 can achieve abutment in the direction corresponding to the first direction, and on the other hand, it can also directly "maintain" the abutment in the direction corresponding to the first direction. Therefore, this "maintenance" will not be affected by the wear between the gears. Specifically, when the gears are worn in the fitting direction due to long-term rotation, they will still maintain abutment / fitting. That is, the existence of the one-way transmission member 40 can achieve adaptive effects to a certain extent. On the one hand, it can achieve fitting when it is not fitting at the beginning, and on the other hand, it can be adjusted to fit as the tooth gap becomes larger.

[0549] For the second link, when the input mechanism 10 rotates along the second direction, this link can transmit the rotation to the output mechanism 30. At this time, the adjacent meshing gears of the second link all complete the abutment in the direction corresponding to the second direction. The function of the one-way transmission member 40 is to block the rotation from the input mechanism 10 when the input mechanism 10 rotates along the first direction, so that all the meshing gears located in the rear part of the one-way transmission member 40 in the second link can still "maintain" the abutment in the direction corresponding to the second direction. Therefore, for all the meshing gears located in the rear part of the one-way transmission member 40 in the second chain, the one-way transmission member 40 can, on the one hand, cooperate with the rotation of the input mechanism 10 along the second direction so that all the meshing gears located in the rear part of the one-way transmission member 40 can achieve abutment in the direction corresponding to the second direction, and on the other hand, it can also directly "maintain" the abutment in the direction corresponding to the second direction. Therefore, this "maintenance" will not be affected by the wear between the gears. Specifically, when the gears are worn in the fitting direction due to long-term rotation, they will still maintain abutment / fitting. That is, the existence of the one-way transmission member 40 can achieve adaptive effects to a certain extent. On the one hand, it can achieve fitting when it is not fitting at the beginning, and on the other hand, it can be adjusted to fit as the tooth gap becomes larger.

[0550] Of course, whether the one-way transmission member 40 is only provided in the first link, or only provided in the second link, or provided in both links, the structure of the two links cooperates with the output mechanism 30 so that the output mechanism 30 can transmit rotation in the reverse direction. It is also very important that it can effectively strengthen / maintain / realize the abutment / fitting between gears and tooth surfaces, or the abutment / fitting between gears and gears, the abutment / fitting between tooth surfaces and tooth surfaces, the abutment / fitting between gear teeth and tooth surfaces, the abutment / fitting between gear teeth and gear teeth, and the abutment / fitting between meshing gears along the chain direction.

[0551] Therefore, the essential root of the backlash problem is, on the one hand, due to tooth clearance, and on the other hand, due to bidirectional rotation. The reduction of tooth clearance can only be achieved through processing accuracy, material hardness or appropriate transmission ratio to reduce work error and wear. The present application discovers the problem from bidirectional rotation. The transmission device 100 in the present application, by setting an input mechanism 10, a first transmission system 21, a second transmission system 22 and an output mechanism 30, innovatively forms a double-chain structure, and innovatively adds a one-way transmission member 40 to the double-chain structure. By utilizing its blocking effect and the reverse transmission effect of the output mechanism 30, it can transmit rotation in one direction through the double chains. As long as the mutually meshing gears on each chain can maintain contact along the direction of the corresponding transmission rotation, by reducing the backlash between at least some of the gears, the total backlash on this link can be effectively reduced, thereby improving the transmission accuracy of the entire transmission device 100 and reducing the impact of the backlash.

[0552] Furthermore, the transmission device 100 provided in the present application can reduce the requirements on work tolerance and gear material, thereby achieving better precision and greatly saving costs.

[0553] 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 transmission member. The input mechanism and the output mechanism are connected to the transmission mechanism, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the transmission mechanism; The transmission mechanism includes: A first transmission system, which includes a first gear and a second gear. The first gear is connected to the input mechanism, the second gear is connected to the output mechanism, the second gear meshes with the first gear, the teeth of the second gear include a first tooth surface and a second tooth surface arranged opposite to the first tooth surface, and the first gear abuts against the first tooth surface; A second transmission system, which includes a third gear and a fourth gear. The third gear is connected to the input mechanism, the fourth gear is connected to the output mechanism, the fourth gear meshes with the third gear, the teeth of the fourth gear include a third tooth surface and a fourth tooth surface arranged opposite to the third tooth surface, and the third gear abuts against the fourth tooth surface; Wherein, 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 the clockwise direction and the counterclockwise direction, and the second tooth surface and the fourth tooth surface face the other of the clockwise direction and the 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 transmission member, and the one-way transmission member is used to keep the first gear in abutment with the first tooth surface; and / or, to keep the third gear in abutment with the fourth tooth surface.

2. The transmission device according to claim 1, wherein 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; and / or The one-way transmission member includes a one-way bearing.

3. The transmission device according to claim 2, characterized in that, 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; 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 gearbox, and the fourth gear is fixedly connected to the input end of the second gearbox; The first rotating shaft is fixedly connected to the third gear, and the one-way transmission member 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 transmission member is provided between the first rotating shaft and the third gear; or, the one-way transmission members are provided between the first rotating shaft and the first gear and between the first rotating shaft and the third gear, and the rotational transmission directions of the two one-way transmission members 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. The first rotating shaft, the second rotating shaft, and the third rotating shaft are arranged at intervals. The fifth gear is provided outside the first gearbox. The first gear and the fifth gear are mounted on the first rotating shaft. The sixth gear is provided outside the second gearbox. The third gear and the sixth gear are mounted on the second rotating shaft. 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 transmission member 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 transmission member is provided between the second rotating shaft and the third gear; or, the one-way transmission members are provided between the first rotating shaft and the first gear and between the second rotating shaft and the third gear, and the rotational transmission directions of the two one-way transmission members are opposite.

5. 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, and a seventh gear. The first rotating shaft, the second rotating shaft, and the third rotating shaft are arranged at intervals. The fifth gear is provided outside the first gearbox. The first gear and the fifth gear are mounted on the first rotating shaft. The sixth gear is provided outside the second gearbox. The third gear and the sixth gear are mounted on the second rotating shaft. 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 transmission member is provided between the fifth gear and the first rotating shaft; or, the fifth gear and the first rotating shaft are fixedly connected, and the one-way transmission member is provided between the sixth gear and the second rotating shaft; or, the one-way transmission members are provided between the fifth gear and the first rotating shaft and between the sixth gear and the second rotating shaft, and the rotational transmission directions of the two one-way transmission members 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. The first rotating shaft, the second rotating shaft, and the third rotating shaft are arranged at intervals. The fifth gear is provided outside the first gear box. The first gear and the fifth gear are mounted on the first rotating shaft. The sixth gear is provided outside 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 meshes with the fifth gear, and the eighth gear meshes with the sixth gear; The second rotating shaft is fixedly connected to the third gear, and the one-way transmission member 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 transmission member is provided between the second rotating shaft and the third gear; or, one-way transmission members are provided between the first rotating shaft and the first gear and between the second rotating shaft and the third gear, and the rotational transmission directions of the two one-way transmission members are opposite.

7. The transmission device according to claim 2, wherein The first gear box includes the first gear and the second gear, and the second gear box 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. The first rotating shaft, the second rotating shaft, and the third rotating shaft are arranged at intervals. The fifth gear is provided outside the first gear box. The first gear and the fifth gear are mounted on the first rotating shaft. The sixth gear is provided outside 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 meshes with the fifth gear, and the eighth gear meshes 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 transmission member 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 transmission member is provided between the seventh gear and the third rotating shaft; or, one-way transmission members are provided between the seventh gear and the third rotating shaft and between the eighth gear and the third rotating shaft, and the rotational transmission directions of the two one-way transmission members are opposite.

8. The transmission device according to claim 2, wherein, The first gear box includes the first gear and the second gear, and the second gear box 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. The first rotating shaft, the second rotating shaft, and the third rotating shaft are arranged at intervals. The fifth gear is provided outside the first gearbox. The first gear and the fifth gear are mounted on the first rotating shaft. The sixth gear is provided outside the second gearbox. 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 meshes with the fifth gear. The eighth gear meshes with the sixth gear. 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 transmission member 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 transmission member is provided between the fifth gear and the first rotating shaft; or, the one-way transmission members are provided between the fifth gear and the first rotating shaft and between the sixth gear and the second rotating shaft, and the rotational transmission directions of the two one-way transmission members 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. The fifth gear is connected to the output end of the first gearbox. The sixth gear is connected to the output end of the second gearbox. 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. The fifth gear is connected to the output end of the first gearbox. The sixth gear is connected to the output end of the second gearbox. The seventh gear and the eighth gear are connected to the second rotating shaft. The seventh gear meshes with the fifth gear. The eighth gear meshes 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 gearbox. The second bevel gear is connected to the output end of the second gearbox. The third bevel gear and the fourth bevel gear are connected to the second rotating shaft. The third bevel gear meshes with the first bevel gear. The fourth bevel gear meshes with the second bevel gear; or, The output mechanism includes an internal gear ring, a fifth gear, and a sixth gear. The fifth gear is connected to the output end of the first gearbox. The sixth gear is connected to the output end of the second gearbox. The fifth gear and the sixth gear are located inside the internal gear ring and mesh with the internal gear ring; or, The output mechanism includes a torque ring, and the torque ring is connected to the output ends of the first gearbox and the second gearbox.

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

11. The transmission device according to claim 2, wherein, 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, 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 through 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 through 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 internal gear ring, and the eighth gear and the tenth gear mesh with the internal gear ring; Wherein, the third gear is fixedly connected to the second rotating shaft, and a one-way transmission member is provided between the first gear and the first rotating shaft; or, the first gear is fixedly connected to the first rotating shaft, and a one-way transmission member is provided between the third gear and the second rotating shaft; or, one-way transmission members are provided between the first gear and the first rotating shaft and between the third gear and the second rotating shaft, and the rotational transmission directions of the two one-way transmission members are opposite.

13. 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 through 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 through 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 internal gear ring, and the eighth gear and the tenth gear mesh with the internal gear ring; Wherein, the seventh gear is fixedly connected to the first rotating shaft, and a one-way transmission member is provided between the ninth gear and the second rotating shaft; or, the ninth gear is fixedly connected to the second rotating shaft, and a one-way transmission member is provided between the seventh gear and the first rotating shaft; or, a one-way transmission member is provided between the seventh gear and the first rotating shaft, and a one-way transmission member is provided between the ninth gear and the second rotating shaft, and the rotational transmission directions of the two one-way transmission members 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 gearbox, the second gearbox, 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 equally spaced in the circumferential direction.

16. The transmission device according to claim 14, characterized in that, For each gear transmission set, the midpoint connection line of the sixth gear, the seventh gear and the ninth gear forms an isosceles triangle, and the midpoint connection line between the fifth gear and the sixth gear is perpendicular to the midpoint connection line between the seventh gear and the ninth gear.

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

18. The transmission device according to claim 17, wherein A groove is formed by the side of the first plate member facing away from the second plate member being recessed towards the second plate member. The fifth gear, the sixth gear, the seventh gear and the ninth gear are arranged in the groove. The transmission device further includes a cover plate, and the cover plate is 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, characterized in that, The transmission device further includes a motor, at least a part of the motor is arranged between the first plate member and the second plate member, and the 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, characterized in that, The input mechanism includes a first rotating shaft, the output mechanism includes a planet carrier, the first transmission system further includes an internal gear ring, the first rotating shaft is arranged along the center line of the internal gear ring, the planet carrier can rotate around the center line, and the planet carrier includes planet shafts spaced from the first rotating shaft. Wherein, the first gear and the third gear are both installed on the first rotating shaft, and the second gear and the fourth gear are rotatably installed on the planet shafts and mesh with the internal gear ring.

22. The transmission device according to claim 21, wherein the first rotating shaft is fixedly connected to the third gear, and a one-way transmission member is provided between the first rotating shaft and the first gear; or the first rotating shaft is fixedly connected to the first gear, and a one-way transmission member is provided between the first rotating shaft and the third gear; or one-way transmission members are provided both between the first rotating shaft and the first gear and between the first rotating shaft and the third gear, and the rotational transmission directions of the two one-way transmission members are opposite.

23. The transmission device according to claim 21, wherein, 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 install 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 equally spaced 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 is connected to the fifth gear, the first gear and the sixth gear are coaxially arranged through the first rotating shaft, and the first gear is 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 internal gear ring, the first gear and the third gear are meshed with the internal gear ring, and the internal gear ring is the second gear and the fourth gear; wherein, the seventh gear is fixedly connected to the second rotating shaft, and a one-way transmission member is provided between the sixth gear and the first rotating shaft; or, the sixth gear is fixedly connected to the first rotating shaft, and a one-way transmission member is provided between the seventh gear and the second rotating shaft; or, one-way transmission members are provided between the sixth gear and the first rotating shaft and between the seventh gear and the second rotating shaft, and the rotational transmission directions of the two one-way transmission members 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 is connected to the fifth gear, the first gear and the sixth gear are coaxially arranged through the first rotating shaft, and the sixth gear is 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 internal gear ring, the first gear and the third gear are meshed with the internal gear ring, and the internal gear ring is the second gear and the fourth gear; wherein, the third gear is fixedly connected to the second rotating shaft, and a one-way transmission member is provided between the first gear and the first rotating shaft; or, the first gear is fixedly connected to the first rotating shaft, and a one-way transmission member is provided between the third gear and the second rotating shaft; or, one-way transmission members are provided between the first gear and the first rotating shaft and between the third gear and the second rotating shaft, and the rotational transmission directions of the two one-way transmission members are opposite.

27. 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 internal gear ring. The eighth gear and the first gear are coaxially arranged through 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 internal gear ring. The ninth gear and the third gear are coaxially arranged through 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 internal gear ring. The first gear and the third gear are both meshed with the internal gear ring. The internal gear ring is the second gear and the fourth gear; Wherein, the third gear is fixedly connected to the third rotating shaft, and a one-way transmission member is provided between the first gear and the second rotating shaft; or, the first gear is fixedly connected to the second rotating shaft, and a one-way transmission member is provided between the third gear and the third rotating shaft; or, one-way transmission members are provided between the first gear and the second rotating shaft and between the third gear and the third rotating shaft, and the rotational transmission directions of the two one-way transmission members 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. The number of the transmission gear sets is at least two, and the at least two transmission gear sets are arranged at intervals around the axis of the fifth gear.

29. The transmission device according to claim 28, wherein, The number of the transmission gear sets is three, and the three gear transmission sets are arranged around the axis of the fifth gear and are equally spaced in the circumferential direction.

30. The transmission device according to claim 27, wherein, The midpoint connection line between the fifth gear and the sixth gear is perpendicular to the midpoint connection line between the eighth gear and the ninth gear.

31. The transmission device according to claim 27, wherein, The transmission device further includes a mounting seat and a plate member. The mounting seat includes a first side and a second side opposite to the first side. A groove is provided on the first side of the mounting seat, and the plate member is connected to the mounting seat and covers the groove; The fifth gear and the sixth gear are located on the side of the plate member facing away from the mounting 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 internal gear ring are arranged on the second side of the mounting seat.

32. The transmission device according to claim 31, characterized in that, The transmission device further includes a cover. The cover is provided on the side of the plate member facing away from the mounting seat, and the cover 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. The motor is provided between the plate member and the mounting seat, and the 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. The annular member is connected to the mounting 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 internal gear ring. The eighth gear and the first gear are coaxially arranged through 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 internal gear ring. The ninth gear and the third gear are coaxially arranged through the third rotating shaft, and the third gear is fixedly connected to the third rotating shaft. The output mechanism is connected to the internal gear ring. The first gear and the third gear are both meshed with the internal gear ring, and the internal gear ring is the second gear and the fourth gear. Wherein, the ninth gear is fixedly connected to the third rotating shaft, and a one-way transmission member 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 transmission member is provided between the ninth gear and the third rotating shaft; or, one-way transmission members are provided between both the eighth gear and the second rotating shaft and between the ninth gear and the third rotating shaft, and the rotational transmission directions of the two one-way transmission members are opposite.

37. 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 through the first rotating shaft, and the seventh gear and the second gear are coaxially arranged through 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 through the second rotating shaft, and the ninth gear and the fourth gear are coaxially arranged through the fourth rotating shaft; the output mechanism includes an internal gear ring, and the seventh gear and the ninth gear are meshed with the internal gear ring; wherein, the sixth gear is fixedly connected to the first rotating shaft, and a one-way transmission member 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 transmission member is provided between the sixth gear and the first rotating shaft; or, one-way transmission members are provided between both the sixth gear and the first rotating shaft and between the eighth gear and the second rotating shaft, and the rotational transmission directions of the two one-way transmission members 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 through the first rotating shaft, and the seventh gear and the second gear are coaxially arranged through 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 through the second rotating shaft. The ninth gear and the fourth gear are coaxially arranged through the fourth rotating shaft. The output mechanism includes an internal gear ring. The seventh gear and the ninth gear are meshed with the internal gear ring. Wherein, the first gear is fixedly connected to the first rotating shaft, and a one-way transmission member 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 transmission member is provided between the first gear and the first rotating shaft; or, one-way transmission members 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 transmission members 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 internal gear ring and a second internal gear ring. The second transmission system further includes a sixth gear, the first internal gear ring and the second internal gear ring. The output mechanism is connected to the second internal gear ring. Wherein, the planet carrier can rotate around the central axis of the first internal gear ring. The planet carrier includes at least two planet shafts spaced apart around the central axis. The fifth gear is rotatably mounted on one of the planet shafts. The sixth gear is rotatably mounted on another planet shaft. The fifth gear and the sixth gear are meshed with the first internal gear ring. The second internal gear ring is coaxially arranged with the first internal gear ring. The pitch circle diameters of the second internal gear ring and the first internal gear ring are different and can rotate relative to each other. The second gear and the fourth gear are the second internal gear ring. The first gear is coaxially arranged with the fifth gear and is meshed with the second internal gear ring. The third gear is coaxially arranged with the sixth gear and is meshed with the second internal gear ring. Wherein, the first gear is fixedly connected to the fifth gear, and a one-way transmission member is provided between the third gear and the sixth gear; or, the third gear is fixedly connected to the sixth gear, and a one-way transmission member is provided between the first gear and the fifth gear; or, one-way transmission members are 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 transmission member between the first gear and the fifth gear and the rotation transmission direction of the one-way transmission member between the third gear and the sixth gear are opposite.

40. The transmission device according to claim 39, wherein The first gear and the fifth gear form a first gear set, the third gear and the sixth gear 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 internal 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 central axis of the first internal gear ring.

41. The transmission device according to claim 40, characterized in that, The planet carrier includes four planet 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 arranged alternately and equidistantly around the central axis of the first internal 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 arranged at intervals; 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 transmission member 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 transmission member is provided between the third gear and the first rotating shaft; or, the one-way transmission members are 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 transmission members are opposite.

43. A transmission device, characterized in that, It includes an input mechanism, a transmission mechanism, an output mechanism and a one-way transmission member. The input mechanism and the output mechanism are connected to the transmission mechanism, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the transmission mechanism; The transmission mechanism includes: A first transmission system, the first transmission system includes a first gear meshing with the input mechanism, and the teeth of the first gear include a first tooth surface for abutting against the input mechanism; A second transmission system, the second transmission system includes a second gear meshing with the input mechanism, and the teeth of the second gear include a second tooth surface for abutting against the input mechanism; Wherein, 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 the clockwise direction and the counterclockwise direction, and the second tooth surface faces the other of the clockwise direction and the counterclockwise direction; Wherein, the one-way transmission member is arranged on the input mechanism and the one-way transmission member is used to keep the first tooth surface and the second tooth surface in abutment with the input mechanism.

44. The transmission device according to claim 43, wherein The input mechanism includes a third gear and a fourth gear. The third gear meshes with the first gear, and the teeth of the third gear include a third tooth surface for abutting against the first gear. The fourth gear meshes with the second gear, and the teeth of the fourth gear include a fourth tooth surface for abutting against the second gear. The one-way transmission member is used to keep the first tooth surface and the third tooth surface in abutment and the second tooth surface and the fourth tooth surface in abutment; and / or The one-way transmission member includes a one-way bearing.

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 transmission member 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 transmission member is arranged between the third gear and the input shaft and between the fourth gear and the input shaft; wherein, the rotational transmission directions of the one-way transmission member arranged between the third gear and the input shaft and the one-way transmission member arranged between the fourth gear and the input shaft are opposite.

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 arranged at intervals; The third gear and the sixth gear are arranged on the first shaft, and the fourth gear and the seventh gear are arranged on the second shaft.

48. The transmission device according to claim 47, wherein the one-way transmission member is arranged between the third gear and the sixth gear; and / or, the one-way transmission member is arranged between the fourth gear and the seventh gear.

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

50. The transmission device according to claim 49, wherein when the elastic torsion structure provides an elastic force for the third gear to rotate in the free direction, it is further used to provide an elastic force for the sixth gear to rotate in the tension direction; and / or when the elastic torsion structure provides an elastic force for the sixth gear to rotate in the free direction, it is further used to provide an elastic force for the third gear to rotate in the tension direction; and / or When the elastic torsion structure provides an elastic force for the fourth gear to rotate the fourth gear in the free direction, it is also used to provide an elastic force for the seventh gear to rotate in the tension direction; and / or when the elastic torsion structure provides an elastic force for the seventh gear to rotate the seventh gear in the free direction, it is also used to provide an elastic force for the fourth gear to rotate in the tension direction; Wherein, the tension 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; Two ends of the torsion spring are respectively connected to the third gear and the sixth gear; and / or Two ends of the torsion spring are respectively connected to the third gear and the first shaft; and / or Two ends of the torsion spring are respectively connected to the sixth gear and the first shaft; and / or Two ends of the torsion spring are respectively connected to the fourth gear and the seventh gear; and / or 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, wherein 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 transmission member is disposed between the third gear and the first shaft, and / or, The one-way transmission member is disposed between the sixth gear and the first shaft.

54. The transmission device according to claim 43, wherein The first transmission system further includes a plurality of eighth gears connected in sequence, and the first of 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, and the first of the plurality of ninth gears is connected to the second gear; Wherein, the one-way transmission member is used to make the fifth tooth surface of the teeth of the previous eighth gear in any two adjacent meshing eighth gears of the plurality of eighth gears abut against the teeth of the subsequent eighth gear, and the orientation of the fifth tooth surface is consistent with the rotation direction of the previous eighth gear when the input mechanism rotates in the first direction; Wherein, the one-way transmission member is configured to keep the sixth tooth surface of the teeth of the previous ninth gear in any two adjacent meshing ninth gears among the multiple ninth gears in contact with the teeth of the subsequent ninth gear, and the orientation of the sixth tooth surface is consistent with the rotation direction of the previous ninth gear when the input mechanism rotates in the second direction.

55. The transmission device according to claim 54, wherein E consecutive eighth gears among the multiple eighth gears form a first speed reducer; F consecutive ninth gears among the multiple ninth gears form a second speed 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. 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. 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 meshes with the tenth gear, and the thirteenth gear meshes 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 meshes with the first bevel gear, and the fourth bevel gear meshes with the second bevel gear; or The output mechanism includes an internal gear ring, a tenth gear, and an eleventh gear. 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 internal gear ring and mesh with the internal gear ring; or The output mechanism includes a torque ring, and the torque ring is connected to the output ends of the first transmission system and the second transmission system.

58. A transmission device, characterized in that, Comprising an input mechanism, a transmission mechanism, an output mechanism, and a one-way transmission member. The input mechanism and the output mechanism are connected to the transmission mechanism, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the transmission mechanism; The transmission mechanism includes: A first transmission system, including a plurality of first gears connected in sequence. The plurality of first gears includes at least one first gear group, and the first gear group includes two meshing first gears; A second transmission system, including a plurality of second gears connected in sequence. The plurality of second gears includes at least one second gear group, and the second gear group includes two meshing second gears; Wherein, 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 transmission member is disposed on at least one of the input mechanism, the first transmission system, and the second transmission system; The one-way transmission member is configured to keep the first tooth surface of the teeth of the previous first gear in at least some of the at least one first gear set in contact with the teeth of the subsequent first gear, and the orientation of the first tooth surface is consistent with the rotation direction of the previous first gear when the input mechanism rotates in the first direction; and / or The one-way transmission member is configured to keep the second tooth surface of the teeth of the previous second gear in at least some of the at least one second gear set in contact with the teeth of the subsequent 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.

59. The transmission device according to claim 58, wherein The first transmission system includes a first shaft, and two adjacent first gears are provided on the same first shaft; Wherein, the one-way transmission member is disposed 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, two one-way transmission members are respectively disposed 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, and the elastic torsion structure is located between the two adjacent first gears provided on the same first shaft, so as to provide an elastic force for one of the two adjacent first gears to rotate in the free direction, and provide an elastic force for the other of the two adjacent first gears to rotate in the tension direction; The tension direction is opposite to the free direction.

61. The transmission device according to claim 58, wherein The first transmission system includes a first shaft, two adjacent first gears are provided on the same first shaft, the second transmission system includes a second shaft, two adjacent second gears are provided on the same second shaft, the one-way transmission member is disposed between at least one of the two adjacent first gears and the first shaft, the one-way transmission member is disposed between at least one of the two adjacent second gears and the second shaft, and the rotation transmission directions of the one-way transmission member between the first gear and the first shaft and the one-way transmission member between the second gear and the second shaft are opposite; and / or The one-way transmission member includes a one-way bearing.

62. The transmission device according to claim 61, wherein, The transmission device further includes an elastic torsion structure; The elastic torsion structure is located between the two adjacent first gears provided on the same first shaft, so as to provide an elastic force for one of the two adjacent first gears to rotate in the free direction, and provide an elastic force for the other of the two adjacent first gears to rotate in the tension direction; The elastic torsion structure is located between the two adjacent second gears provided on the second axis, for providing an elastic force for one of the two adjacent second gears to rotate in the free direction, and providing an elastic force for the other of the two adjacent second gears to rotate in the tension direction.

63. The transmission device according to claim 58, wherein, The one-way transmission member is configured to keep the first tooth surface of the teeth of the previous first gear in contact with the teeth of the next first gear among the two first gears in the at least one first gear set, and the orientation of the first tooth surface is consistent with the rotation direction of the previous first gear when the input mechanism rotates in the first direction; and / or The one-way transmission member is configured to keep the second tooth surface of the teeth of the previous second gear in contact with the teeth of the next second gear among the two second gears in the at least one second gear set, 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; The first first gear among the plurality of first gears and the third gear are sleeved on the third shaft, and the first second gear among the plurality of second gears and the fourth gear are sleeved on the fourth shaft.

65. The transmission device according to claim 64, wherein, Wherein, The one-way transmission member is disposed between the third gear and the third shaft; and / or, The one-way transmission member is disposed between the first first gear among the plurality of first gears and the third shaft.

66. The transmission device according to claim 65, characterized in that, The transmission device further includes an elastic torsion structure; The elastic torsion structure is located between the third gear and the first first gear among the plurality of first gears, and the elastic torsion structure is configured to provide an elastic force for one of the third gear and the first first gear among the plurality of first gears to rotate in the free direction, and provide an elastic force for the other of the third gear and the first first gear among the plurality of first gears to rotate in the tension direction.

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

68. The transmission device according to claim 65, wherein, One one-way transmission member is disposed between the fourth gear and the fourth shaft; and / or, One one-way transmission member is disposed between the first second gear among the plurality of second gears and the fourth shaft; Wherein, the rotational transmission directions of the one-way transmission members disposed on the fourth shaft and the third shaft are opposite.

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 provided 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 transmission member is disposed 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, Continuous G of the plurality of first gears form a first speed reducer; Continuous H of the plurality of second gears form a second speed reducer.

71. The transmission device according to claim 70, characterized in that, The reduction ratios of the first speed reducer and the second speed 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. 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 is connected to the first transmission system, the sixth gear is connected to the second transmission system, the seventh gear and the eighth gear are connected to the fifth shaft, the seventh gear meshes with the fifth gear, and the eighth gear meshes 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 meshes with the first bevel gear, and the fourth bevel gear meshes with the second bevel gear; or, The output mechanism includes an internal gear ring, a fifth gear, and a sixth gear. 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 internal gear ring and mesh with the internal gear ring; or, The output mechanism includes a torque ring, and the torque ring is connected to the 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 transmission member. The input mechanism and the output mechanism are connected to the transmission mechanism, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the transmission mechanism; The transmission mechanism includes: A first transmission system, including a first gear, a first shaft, a second gear, and at least one third gear. The first gear is connected to the input mechanism, the first gear and the second gear are both arranged on the first shaft, the first of the at least one third gears meshes with the second gear, and the last of the at least one third gears is connected to the output mechanism; A second transmission system, including a fourth gear, a second shaft, a fifth gear, and at least one sixth gear. The fourth gear is connected to the input mechanism, the fourth gear and the fifth gear are both arranged on the second shaft, the first of the at least one sixth gears meshes with the fifth gear, and the last of the at least one sixth gears is connected to the output mechanism; Wherein, the one-way transmission member is arranged between the first gear and the second gear, and the one-way transmission member is used to keep the second gear in contact with the first of the at least one third gears and any two adjacent meshing third gears in the at least one third gears 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, wherein the transmission device further includes an elastic torsion structure located between the first gear and the second gear, and the elastic torsion structure is configured to provide an elastic force for one of the first gear and the second gear to rotate in the free direction, and provide an elastic force for the other of the first gear and the second gear to rotate in the tension direction; and / or the one-way transmission member includes a one-way bearing.

75. The transmission device according to claim 73, wherein the output mechanism includes a seventh gear; the last third gear among the at least one third gear meshes with the seventh gear; the one-way transmission member is further configured to keep the last third gear among 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 internal gear ring.

78. The transmission device according to claim 73, wherein the one-way transmission member is configured to keep the fifth gear and the first sixth gear among the at least one sixth gear and any two adjacent meshing sixth gears among the at least one sixth gear in contact 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, wherein the output mechanism includes an eighth gear; the last sixth gear among the at least one sixth gear meshes with the eighth gear; the one-way transmission member is further configured to keep the last sixth gear among 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 transmission member is further disposed between the fourth gear and the fifth gear.

81. The transmission device according to claim 80, characterized in that, The transmission device further includes an elastic torsion structure; the elastic torsion structure is located between the fourth gear and the fifth gear, and the elastic torsion structure is configured to provide an elastic force for one of the fourth gear and the fifth gear to rotate in the free direction, and provide an elastic force for the other of the fourth gear and the fifth gear to rotate in the tension direction.

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

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

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

85. The transmission device according to claim 82, wherein 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 gear.

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 transmission member. The input mechanism and the output mechanism are connected to the transmission mechanism, and the rotation input by the input mechanism is output from the output mechanism after being transmitted by the transmission mechanism. The transmission mechanism includes: A first transmission system, including a first gear, a first shaft, a second gear, and at least one third gear. The first gear is connected to the input mechanism. The first gear and the second gear are both arranged on the first shaft. The first of the at least one third gears meshes with the second gear, and the last of the at least one third gears is connected to the output mechanism. A second transmission system, including at least one fourth gear. The first of the at least one fourth gears is connected to the input mechanism, and the last of the at least one fourth gears is connected to the output mechanism. Wherein, the one-way transmission member is arranged between the first gear and the second gear, and the one-way transmission member is used to make the second gear and the first of the at least one third gears and any two adjacent meshing third gears in the at least one third gears keep abutting along the first chain direction.

88. The transmission device according to claim 87, characterized in that, At least one of the at least one fourth gears includes at least one set of gear groups, and the gear group includes two meshing fourth gears; and / or The one-way transmission member includes a one-way bearing.

89. The transmission device according to claim 88, characterized in that, The one-way transmission member is used to make two fourth gears in a part of the at least one set of gear groups keep abutting 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 87, characterized in that, The transmission ratios of the first transmission system and the second transmission system are different.

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

93. The transmission device according to claim 92, wherein The second transmission system includes at least one one-way transmission member, and the rotation transmission direction of the one-way transmission member is the same as the second chain direction; The one-way transmission member is arranged between at least one of the last two of the at least one third gears and the second shaft.

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

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 a symmetric system.

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 reducer includes X of the at least one fourth gears; The first reducer includes Y of the at least one third gears.

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

99. A transmission device, characterized in that, It includes an input mechanism, a transmission mechanism, an output mechanism and a one-way transmission member. The input mechanism and the output mechanism are connected to the transmission mechanism. The rotation input by the input mechanism is output from the output mechanism after being transmitted by the transmission mechanism. The transmission mechanism includes: A first transmission system, including a first rotating shaft, a first gear and a second gear arranged on the first rotating shaft. The first gear is connected to the input mechanism, and the second gear is connected to the output mechanism. A second transmission system, including a second rotating shaft, a third gear and a fourth gear arranged on the second rotating shaft. The third gear is connected to the input mechanism, and the fourth gear is connected to the output mechanism. Wherein, the one-way transmission member is arranged between the first gear and the second gear; or Wherein, the one-way transmission member is arranged between the first gear and the second gear, and the one-way transmission member is arranged between the third gear and the fourth gear. The rotation transmission directions of the one-way transmission members arranged between the first gear and the second gear and between the third gear and the fourth gear are opposite.

100. The transmission device according to claim 99, wherein the output mechanism includes a fifth gear, a sixth gear and an internal gear ring meshing with the fifth gear and the sixth gear; Among them, The fifth gear is connected to the second gear, and the sixth gear is connected to the fourth gear.

101. The transmission device according to claim 100, characterized in that, The transmission device includes: A first bottom plate; A first support frame arranged on the first bottom plate. The first support frame includes a first support portion spaced from the first bottom plate; Wherein, the fifth gear and the sixth gear are rotatably arranged on the first bottom plate; Wherein, the first rotating shaft and the second rotating shaft are rotatably arranged on the first bottom plate; The input mechanism includes an input shaft rotatably arranged on the first support portion and an input gear arranged on the input shaft. The input gear meshes with the first gear and the third gear.

102. The transmission device according to claim 101, characterized in that, The transmission mechanism includes two sets of the first transmission systems and two sets of the second transmission systems; wherein, the two first gears of the two sets of the first transmission systems and the third gears of the two sets of the second transmission systems are arranged around the input gear; Wherein, there are two fifth gears, which are respectively connected to the two second gears of the two sets of the first transmission systems, and there are two sixth gears, which are respectively connected to the two fourth gears of the two sets of the second transmission systems.

103. The transmission device according to claim 102, characterized in that, The first support frame includes an annular support plate arranged on the first bottom plate, and the first support portion is arranged on the annular support plate; Wherein, the annular support plate and the first support portion form a first accommodation space, and at least a part of two second gears of the two sets of the first transmission systems, at least a part of two fourth gears of the two sets of the second transmission systems, at least a part of the two fifth gears, and at least a part of the two sixth gears are located in the first accommodation space; and / or Wherein, a second accommodation space is formed on a side of the first support portion away from the first bottom plate, and at least a part of two first gears of the two sets of the first transmission systems, at least a part of two third gears of the two sets of the second transmission systems, and at least a part of the input gear are located in the second accommodation space.

104. The transmission device according to claim 103, characterized in that, The first support portion includes an intermediate plate, a top plate arranged at intervals, and a first annular plate connecting the intermediate plate and the top plate. The top plate is arranged on a side of the intermediate plate away from the first bottom plate, and one end of the input shaft away from the first bottom plate protrudes from the top plate; Wherein, the intermediate plate, the top plate, and the first annular plate enclose to form the second accommodation cavity.

105. The transmission device according to claim 104, characterized in that, The transmission device further includes a first rotating bearing and a second rotating bearing; The inner ring of the first rotating bearing is sleeved on the first support portion, and the inner ring of the second rotating bearing is sleeved on the first bottom plate; The output mechanism further includes an annular output plate connected to a side of the internal gear ring away from the annular support plate; Wherein, the annular output plate is connected to the outer rings of the first rotating bearing and the second rotating bearing.

106. The transmission device according to claim 105, characterized in that, The first rotating bearing, the annular support plate, and the second rotating bearing form a second annular groove. The annular support plate further includes a first connection hole and a second connection hole connecting the second annular groove and the first accommodation space. The fifth gear passes through the first connection hole to be connected to the internal gear ring, and the sixth gear passes through the second connection hole to be connected to the internal gear ring; Wherein, the internal gear ring is located in the second annular groove. The annular output plate includes an embedding portion embedded in the second annular groove and connected to the internal gear ring, and the embedding portion is fixed to the outer ring of the first rotating bearing and / or the outer ring of the second rotating bearing.

107. The transmission device according to claim 100, characterized in that, The output mechanism further includes a seventh gear and an eighth gear. The seventh gear is respectively connected to the fifth gear and the second gear, and the eighth gear is respectively connected to the sixth gear and the fourth gear.

108. The transmission device according to claim 107, characterized in that, The output mechanism further includes a third rotating shaft and a fourth rotating shaft; The seventh gear and the fifth gear are both arranged on the third rotating shaft, and the eighth gear and the sixth gear are both arranged on the fourth rotating shaft; The transmission device further includes: A second bottom plate; A second support frame arranged on the second bottom plate. The second support frame includes a second support portion spaced from the second bottom plate; Wherein, the first rotating shaft and the second rotating shaft are rotatably arranged on the second support portion; Wherein, the third rotating shaft and the fourth rotating shaft are rotatably arranged on the second bottom plate and / or the second support portion; The input mechanism includes an input shaft rotatably arranged on the second support portion and an input gear arranged on the input shaft. The input gear meshes with the first gear and the third gear.

109. The transmission device according to claim 108, wherein the second support frame includes a second annular plate disposed on the second bottom plate, and the second support portion includes a first partition plate disposed on the second annular plate and spaced apart from the second bottom plate, and a second partition plate disposed on the second annular plate and spaced apart from the first partition plate and located on a side of the first partition plate away from the second bottom plate; wherein, the second bottom plate, the second annular plate, and the first partition plate enclose a third accommodation space; the second partition plate, the second annular plate, and the first partition plate enclose a fourth accommodation space; wherein, at least a part of the second gear, the seventh gear, the fourth gear, and the eighth gear is disposed in the third accommodation space; the input gear, the first gear, and the third gear are at least partially disposed in the fourth accommodation space.

110. The transmission device according to claim 109, characterized in that, The second annular plate includes an inner annular plate and an outer annular plate disposed at intervals, and a first interval space is formed between the inner annular plate and the outer annular plate; wherein, the internal gear ring is located in the first interval space; wherein, the output mechanism further includes an output plate and a connecting plate, the output plate is located on a side of the second partition plate away from the second bottom plate and is connected to the internal gear ring through the connecting plate.

111. The transmission device according to claim 110, characterized in that, A second interval space communicating with the first interval space is formed between the inner annular plate and the outer annular plate, the second interval space is located between the output plate and the internal gear ring, and the transmission device further includes a third bearing and a fourth bearing located in the second interval space; the inner ring of the third bearing is connected to the inner annular plate, and the outer ring of the fourth bearing is connected to the outer annular plate; wherein, the output plate and / or the connecting plate is connected to the outer ring of the third bearing and the inner ring of the fourth bearing.

112. The transmission device according to any one of claims 99-111, the transmission device further includes an elastic torsion structure; Among them, the elastic torsion structure is disposed between the first gear and the second gear; or wherein, the elastic torsion structure is disposed between the first gear and the second gear, and the elastic torsion structure is disposed between the third gear and the fourth gear.

113. The transmission device according to claim 99, wherein the one-way transmission member includes a one-way bearing.

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