CN112112939B

CN112112939B - Transmission mechanism

Info

Publication number: CN112112939B
Application number: CN202010574642.8A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Ningbo Hansheng Transmission Technology Co ltd
Current assignee: Ningbo Hansheng Transmission Technology Co ltd
Priority date: 2019-06-21
Filing date: 2020-06-22
Publication date: 2025-05-16
Anticipated expiration: 2040-06-22
Also published as: CN212928677U; CN112112939A

Abstract

The application discloses a transmission mechanism which comprises an outer wheel, a first inner wheel, a second inner wheel and a first flange body. The outer wheel has outer wheel inner teeth. The first inner wheel has a first row of first inner teeth and a second row of first inner teeth arranged side by side, the first inner wheel being arranged eccentrically in the outer wheel, the first row of first inner teeth being engageable with the inner teeth of the outer wheel. The second inner wheel has a first row of second inner wheel teeth eccentrically disposed within the outer wheel, the first row of second inner wheel teeth being engageable with the inner teeth of the outer wheel. The first flange body includes first flange body teeth that are engageable with the second row of first internal gear teeth. The transmission mechanism can realize an ultra-large speed ratio under the condition of unchanged volume, and the inner wheel bearing between the inner wheel and the eccentric shaft has a large size, so that the service life of the inner wheel bearing is longer.

Description

Transmission mechanism

Technical Field

The application relates to a transmission mechanism, in particular to an internal meshing transmission mechanism.

Background

Typically, the ring gear includes a flange, an inner wheel, an input shaft, an inner wheel bearing, and a planet carrier. The inner wheel bearing is disposed between the input shaft and the inner wheel. The inner wheel bearing needs to bear large radial force and rotate at high speed, so the inner wheel bearing is easy to wear and is the most easily damaged part in the internal engagement transmission. In addition, the speed ratio of the transmission mechanism is usually realized by the mutual engagement of the inner wheel and the outer wheel, and the speed change and the torque output are required to be output through a pin sleeve mechanism or a cross linear bearing output mechanism, the speed ratio of the single-stage transmission is usually smaller (for example, the speed ratio is 30-300), and the application range is limited.

Disclosure of Invention

Exemplary embodiments of the present application may solve at least some of the above problems. For example, the present application provides a transmission mechanism. The transmission mechanism comprises an outer wheel, a first inner wheel, a second inner wheel, a first flange body, a second flange body, an eccentric shaft and an inner wheel bearing. The inner edge of the outer wheel forms a containing space, and inner teeth of the outer wheel are arranged on the inner edge of the outer wheel, and the outer wheel is provided with an outer wheel central axis. The outer edge of the first inner wheel is provided with a first row of first inner wheel teeth and a second row of first inner wheel teeth which are arranged side by side, the first row of first inner wheel teeth are accommodated in the accommodating space of the outer wheel and can be meshed with the inner teeth of the outer wheel, the first inner wheel is provided with a first inner wheel central axis, the first inner wheel central axis is eccentrically arranged relative to the outer wheel central axis, and the first inner wheel can eccentrically rotate around the outer wheel central axis. The second inner wheel is arranged on the first side of the first inner wheel, a first row of second inner wheel teeth and a second row of second inner wheel teeth which are arranged side by side are arranged on the outer edge of the second inner wheel, the first row of second inner wheel teeth are accommodated in the accommodating space of the outer wheel and can be meshed with the inner wheel teeth of the outer wheel, the second inner wheel is provided with a second inner wheel central axis, the second inner wheel central axis is eccentrically arranged relative to the outer wheel central axis, and the second inner wheel can eccentrically rotate around the outer wheel central axis. The first flange body is disposed on a second side of the first inner wheel opposite the first side, the first flange body including first flange body teeth engageable with the second row of first inner wheel teeth. The second flange body and the first inner wheel are respectively arranged at two sides of the second inner wheel, the second flange body comprises second flange body teeth, the second flange body teeth can be meshed with the second inner wheel teeth of the second row, and the first flange body is rigidly connected with the second flange body, so that the first flange body and the second flange body can rotate together.

According to the transmission mechanism of the present application, the outer wheel inner teeth of the outer wheel and the first row of first inner wheel teeth of the first inner wheel have a first tooth number difference, and the outer wheel inner teeth of the outer wheel and the first row of second inner wheel teeth of the second inner wheel also have a first tooth number difference.

According to the transmission mechanism of the application, the first flange body teeth and the second row of first inner teeth have a second tooth number difference, and the second flange body teeth and the second row of second inner teeth have a second tooth number difference.

According to the transmission mechanism of the present application, the first row of first inner gear teeth and the second row of first inner gear teeth are provided at outer edges of the first inner wheel having different diameters. The first and second rows of second inner gear teeth are disposed at outer edges of the second inner wheel having different diameters.

According to the transmission mechanism of the present application, the first inner gear teeth of the first row and the second inner gear teeth of the second row have different numbers of teeth. The first row of second inner gear teeth and the second row of second inner gear teeth have different numbers of teeth.

The transmission mechanism according to the application further comprises an eccentric shaft and a connecting part. The eccentric shaft is a hollow shaft, a first eccentric part and a second eccentric part are arranged on the periphery of the eccentric shaft, the first inner wheel is arranged around the first eccentric part, and the second inner wheel is arranged around the second eccentric part. The connecting component is rigidly connected with the first flange body and the second flange body, and the connecting component passes through the hollow part of the eccentric shaft to rigidly connect the first flange body and the second flange body together.

According to the transmission mechanism of the application, the connecting part comprises a first connecting boss extending from the first flange body, a second connecting boss extending from the second flange body and a fastener. The first and second connection bosses extend into the hollow portion of the eccentric shaft, and the fastener is capable of interconnecting the first and second connection bosses.

According to the transmission mechanism of the application, the connecting part further comprises a positioning piece, and the positioning piece can mutually position the first connecting boss and the second connecting boss.

According to the transmission mechanism of the application, the first connecting boss is integrally formed with the first flange body, and the second connecting boss is integrally formed with the second flange body.

According to the transmission mechanism of the application, the first flange body teeth and the second flange body teeth are arranged in the accommodating space of the outer wheel.

Other features, advantages, and embodiments of the application may be set forth or apparent from consideration of the following detailed description, drawings, and claims. Furthermore, it is to be understood that both the foregoing summary and the following detailed description are exemplary and intended to provide further explanation without limiting the scope of the application as claimed. However, the detailed description and the specific examples merely indicate preferred embodiments of the application. Various changes and modifications within the spirit and scope of the application will become apparent to those skilled in the art from this detailed description.

Drawings

These and other features and advantages of the present application will be better understood from a reading of the following detailed description taken in conjunction with the drawings in which like reference designators refer to like elements throughout, and in which:

FIG. 1A is a perspective view of a transmission according to one embodiment of the present application from front to back;

FIG. 1B is a perspective view of the transmission mechanism shown in FIG. 1A from the rear looking forward;

FIG. 1C is a cross-sectional view of the transmission shown in FIG. 1A;

FIG. 2A is an exploded view of the input transmission of the transmission shown in FIG. 1C;

FIG. 2B is a schematic illustration of the input transmission of FIG. 2A in an assembled state;

FIG. 3A is an enlarged front view of the eccentric shaft shown in FIGS. 2A-2B;

FIG. 3B is an enlarged axial cross-sectional view of the eccentric shaft shown in FIG. 3A;

FIG. 4A is a perspective view of a first flange body of the transmission mechanism shown in FIG. 1C and a first connection boss of a connection member;

FIG. 4B is a front view of the first flange body and the first connection boss shown in FIG. 4A;

FIG. 4C is a cross-sectional view of the first flange body and the first connection boss shown in FIG. 4B taken along section line A-A in FIG. 4B;

FIG. 5A is a perspective view of a second flange body of the transmission mechanism shown in FIG. 1C and a second connection boss of the connection member;

FIG. 5B is a front view of the second flange body and the second connection boss shown in FIG. 5A;

FIG. 5C is a cross-sectional view of the second flange body and the second attachment boss shown in FIG. 5B taken along section line B-B in FIG. 5B;

FIG. 6A is a perspective view of a first inner wheel of the transmission shown in FIG. 1C;

FIG. 6B is an axial cross-sectional view of the first inner wheel shown in FIG. 6A;

FIG. 7A is a perspective view of a second inner wheel of the transmission shown in FIG. 1C;

FIG. 7B is an axial cross-sectional view of the second inner wheel shown in FIG. 7A;

FIG. 8A is a perspective view of an outer wheel of the transmission shown in FIG. 1C;

FIG. 8B is a front view of the outer wheel shown in FIG. 8A;

FIG. 8C is an axial cross-sectional view of the outer wheel shown in FIG. 8A;

FIG. 9A is an axial cross-sectional view of the transmission shown in FIG. 1C;

fig. 9B is a radial cross-sectional view of the transmission shown in fig. 9A.

Detailed Description

Various embodiments of the present application are described below with reference to the accompanying drawings, which form a part hereof. It is to be understood that, although directional terms are used herein to describe various example structural components and elements of the application, such as "front", "rear", "left", "right", "inner" and "outer", etc., the terms are used herein for convenience of description only and are determined based on the example orientations shown in the drawings. Since the disclosed embodiments of the application may be arranged in a variety of orientations, these directional terms are used by way of illustration only and are in no way limiting. In the drawings below, like reference numerals refer to like elements, and like reference numerals refer to like elements.

In the transmission mechanism 100 in the present application, relative movement can occur among the outer wheel 102, the first inner wheel 122, the second inner wheel 124, and the carrier 101, so that power is output via the transmission mechanism 100, and the transmission mechanism 100 can achieve a deceleration purpose. When it is desired to achieve deceleration, the first inner wheel 122 and the second inner wheel 124 move at high speed, while the outer wheel 102 or the planet carrier 101 moves at low speed. When the outer wheel 102 is used as a torque output member (i.e., connected to a driven member), the carrier 101 must be fixed. When the carrier 101 is used as a torque output member, the outer ring 102 must be fixed. For convenience of description, description will hereinafter be made taking an example in which the first inner wheel 122 and the second inner wheel 124 move at a high speed, the outer wheel 102 is stationary, and the carrier 101 moves at a low speed as a torque output member.

Fig. 1A is a perspective view of the transmission 100 according to one embodiment of the present application, seen from the front to the rear, and fig. 1B is a perspective view of the transmission 100 shown in fig. 1A, seen from the rear to the front. Fig. 1C is a cross-sectional view of the transmission 100 shown in fig. 1A to illustrate further components in the transmission 100. As shown in fig. 1A-1C, the transmission 100 includes an outer wheel 102. The components carried or supported by the outer wheel 102 include the planet carrier 101, the first inner wheel 122, the second inner wheel 124, and the input drive 132. Wherein the first inner wheel 122 and the second inner wheel 124 are arranged side by side and are sleeved on the input transmission 132. The first inner wheel 122 and the second inner wheel 124 are supported by the carrier 101 and clamped in the carrier 101.

Specifically, the carrier 101 includes a first flange body 104, a second flange body 106, and a connecting member 108. The first and second flange bodies 104, 106 are disposed on both sides of the first and second inner wheels 122, 124, respectively, and are rigidly connected together by the connection member 108 to hold the first and second inner wheels 122, 124 between the first and second flange bodies 104, 106. The first inner wheel 122 and the second inner wheel 124 are engaged with the first flange body 104 and the second flange body 106, respectively, such that the first inner wheel 122 and the second inner wheel 124 are capable of transmitting movement on the first inner wheel 122 and the second inner wheel 124 to the first flange body 104 and the second flange body 106, respectively, such that the first flange body 104 and the second flange body 106 rotate.

When the transmission 100 is operating, its power transmission relationship is generally as follows:

The input transmission 132 is connected to a drive mechanism (not shown). The drive mechanism drives the input transmission 132 to rotate. Because the outer wheel 102 is stationary and because of the meshing relationship between the outer wheel 102 and the teeth of the first and second inner wheels 122, 124, rotation of the input drive 132 translates and rotates the first and second inner wheels 122, 124 nested thereon. The first inner wheel 122 and the second inner wheel 124 are engaged with the first flange 104 and the second flange 106, respectively, and rotate the first flange 104 and the second flange 106. The first flange body 104 and the second flange body 106 are connected to a driven device (not shown) to achieve speed change and torque output.

The specific structure of the components in the transmission 100 is described in detail below.

Fig. 2A is an exploded view of the input transmission 132 of the transmission 100 shown in fig. 1C to illustrate the specific structure of the various components in the input transmission 132. As shown in fig. 2A, the input transmission 132 includes an eccentric shaft 212 and a power input 244 for driving the eccentric shaft 212 to rotate. The eccentric shaft 212 is a hollow shaft having a hollow portion 231 provided through the eccentric shaft 212. The eccentric shaft 212 has a central axis X. The wall of the hollow portion 231 (i.e., the inner circumferential surface of the eccentric shaft 212) is provided with eccentric shaft inner teeth 233 for cooperation with the power input device 244, so that the power input device 244 can drive the eccentric shaft 212 to rotate.

More specifically, power input device 244 includes three planetary gears 204,206,208 and input shaft 202. The input shaft 202 is generally cylindrical with a central axis S. The input shaft 202 is provided with an input shaft first stepped portion 252, an engagement portion 256, an input shaft second stepped portion 254, and a driving portion 258 in this order from left to right. The input shaft first stepped portion 252 is for abutting against a first input shaft bearing 932 (see fig. 9A), and restricts the first input shaft bearing 932 from moving rightward in the axial direction. The outer circumferential surface of the engagement portion 256 is provided with input shaft outer teeth 272 for engagement with the outer ring gear 284,286,288 on the three planetary gears 204,206, 208. The input shaft second stepped portion 254 is configured to abut a second input shaft bearing 934 (see fig. 9A) and limit movement of the second input shaft bearing 934 axially to the left. The driving portion 258 is for connection with a driving mechanism (not shown). The drive mechanism is capable of driving the input shaft 202 to rotate about the central axis S.

The three planetary gears 204,206,208 are substantially identical in construction. Wherein the planet gears 204 have a central axis M1. The outer circumference of the planetary gear 204 is provided with an outer ring gear 284, and the outer ring gear 284 can be meshed with both the input shaft outer teeth 272 of the input shaft 202 and the eccentric shaft inner teeth 233 of the eccentric shaft 212. The planet gears 204 also have a hollow 264 therethrough for receiving a planet gear support 952 (see fig. 9A-9B) such that the planet gears 204 are supported between the first flange body 104 and the second flange body 106. Similarly, the planet gears 206 have a central axis M2. The planetary gear 206 is provided with an outer ring gear 286 on the outer circumference thereof, and the outer ring gear 286 can be engaged with both the input shaft outer teeth 272 of the input shaft 202 and the eccentric shaft inner teeth 233 of the eccentric shaft 212. The planet gears 206 also have a hollow 266 therethrough for receiving a planet gear support 952 (see fig. 9A-9B) such that the planet gears 206 are supported between the first flange body 104 and the second flange body 106. The planetary gear 208 has a central axis M3. The planetary gear 208 is provided with an outer ring gear 288 on the outer circumference, and the outer ring gear 288 can be meshed with both the input shaft outer teeth 272 of the input shaft 202 and the eccentric shaft inner teeth 233 of the eccentric shaft 212. The planet gears 208 also have a hollow 268 extending therethrough for receiving a planet gear support 952 (see fig. 9A-9B) such that the planet gears 208 are supported between the first flange body 104 and the second flange body 106.

Fig. 2B is a schematic illustration of the input transmission 132 of fig. 2A in an assembled state to illustrate the assembled relationship of the various components. As shown in fig. 2B, the input shaft 202, the planetary gears 204, the planetary gears 206, and the planetary gears 208 are all disposed in the hollow 231 of the eccentric shaft 212. The central axis S of the input shaft 202 is arranged to overlap with the central axis X of the eccentric shaft 212. Three planetary gears 204,206,208 are disposed around the input shaft 202. The outer ring gear 284,286,288 of the three planetary gears 204,206,208 meshes with the input shaft outer teeth 272 of the input shaft 202 and also with the eccentric shaft inner teeth 233 of the eccentric shaft 212. When the drive mechanism drives the input shaft 202 to rotate, the input shaft outer teeth 272 of the input shaft 202 drive the planet gears 204,206, and 208 to rotate (i.e., spin) about their respective central axes. The outer ring gear 284,286,288 of the three planetary gears 204,206,208 meshes with the eccentric shaft inner teeth 233 of the eccentric shaft 212, thereby driving the eccentric shaft 212 to rotate about its central axis X.

Fig. 3A is an enlarged front view of the eccentric shaft 212 shown in fig. 2A-2B, and fig. 3B is an enlarged axial cross-sectional view of the eccentric shaft 212 shown in fig. 3A. As shown in connection with fig. 2A, the eccentric shaft 212 is a hollow shaft having a hollow portion 231. The eccentric shaft 212 has a central axis X, and the eccentric shaft 212 is rotatable about the central axis X. The middle part of the wall of the hollow 231 is provided with eccentric shaft inner teeth 233 for meshing with the outer ring gear 284,286,288 of the three planetary gears 204,206, 208. The hollow 231 also serves to receive the first and second connection bosses 402, 502 of the connection member 108 (see fig. 9A).

The eccentric shaft 212 is provided with a first eccentric portion 304 and a second eccentric portion 306. The first eccentric portion 304 and the second eccentric portion 306 are symmetrically and eccentrically arranged with respect to the central axis X, and the eccentric amounts are equal. Specifically, the first eccentric portion 304 and the second eccentric portion 306 are both annular rings that are eccentrically disposed with respect to the central axis X of the eccentric shaft 212. The outer peripheral surface 322 of the first eccentric portion 304 forms a circumferential surface having a radius D1. The outer peripheral surface 324 of the second eccentric portion 306 forms a circumferential surface having a radius D2. Wherein d1=d2.

More specifically, the outer peripheral surface 322 and the outer peripheral surface 324 each have a first inner wheel center axis N1 and a second inner wheel center axis N2. The first and second inner wheel center axes N1 and N2 are each at a distance e from the center axis X of the eccentric shaft 212. Wherein the distance e is greater than 0. The first inner wheel center axis N1 and the second inner wheel center axis N2 are symmetrically arranged about the center axis X. In more detail, the outer circumferential surface 322 of the first eccentric portion 304 is 180 ° out of phase with the outer circumferential surface 324 of the second eccentric portion 306. When the eccentric shaft 212 rotates about its central axis X, both the first inner wheel central axis N1 of the first eccentric portion 304 and the second inner wheel central axis N2 of the second eccentric portion 306 rotate about the central axis X.

The eccentric shaft 212 is further provided with a first flange body bearing abutment 312. The first flange body bearing abutment 312 is located on the right side of the first eccentric portion 304 for abutment against the inner wall of the first flange body bearing 922 (see fig. 9A). The first eccentric portion 304 extends radially beyond the first flange body bearing abutment 312 to limit the first flange body bearing 922 from moving axially to the left. The eccentric shaft 212 is also provided with a second flange body bearing abutment 314. The second flange body bearing abutment 314 is located on the left side of the second eccentric portion 306 for abutment against the inner wall of the second flange body bearing 924 (see fig. 9A). The second eccentric portion 306 extends radially beyond the second flange body bearing abutment 314 to limit movement of the second flange body bearing 924 axially to the right.

Fig. 4A is a perspective view of the first flange body 104 and the first connection boss 402 of the connection member 108 of the transmission mechanism shown in fig. 1C, fig. 4B is a front view of the first flange body 104 and the first connection boss 402 shown in fig. 4A, and fig. 4C is a cross-sectional view of the first flange body 104 and the first connection boss 402 shown in fig. 4B taken along the line A-A in fig. 4B. The first flange body 104 shown in fig. 4A-4C is integrally formed with the first connection boss 402.

Specifically, the first flange body 104 includes a first flange body 401 and a first flange body protrusion 432. The first flange body 104 has a central axis F1. The first flange body 401 is substantially cylindrical, and the first flange body protrusion 432 is substantially annular. The first flange body protrusion 432 extends from the left surface of the first flange body 401 to the left side in the axial direction. The outer wall 452 (i.e., the outer circumferential surface) of the first flange body protrusion 432 is configured to contact the inner wall of the first outer wheel bearing 912 (see fig. 9A). The first flange body 401 radially exceeds the first flange body protrusion 432 to restrict the first outer wheel bearing 912 from moving rightward in the axial direction. The inner wall 454 (i.e., the inner circumferential surface) of the first flange body protrusion 432 is configured to contact the outer wall of the first flange body bearing 922 (see fig. 9A). The first flange body 401 serves to restrict the first flange body bearing 922 from moving rightward in the axial direction.

The first flange body protrusion 432 is provided with first flange body teeth 406 that are capable of engaging with a second row of first inner gear teeth 614 (see fig. 6A-6B) on the first inner wheel 122. As one example, the first flange body teeth 406 include thirty-two teeth, and each tooth is comprised of a needle roller 442 and a needle sleeve 444. Specifically, thirty-two mounting holes 441 are provided in the first flange body protruding portion 432. Thirty-two mounting holes 441 are uniformly arranged in the circumferential direction on the left surface of the first flange body protruding portion 432 and extend toward the right in the axial direction. Thirty-two mounting holes 441 are provided for receiving needle rollers 442. The needle roller 442 is inserted into the mounting hole 441. The length of the needle roller 442 is greater than the depth of the mounting hole 441 so that the needle roller sleeve 444 can be sleeved on the needle roller 442. The needle hub 444 reduces friction generated when the first flange body 104 engages the first inner wheel 122.

The first coupling boss 402 is disposed on the first flange body 104 and is integrally formed with the first flange body 104. Specifically, the first connection boss 402 extends in the axial direction from the left surface of the first flange body 401, and the first connection boss 402 is located inside the first flange body protrusion 432. The first coupling boss 402 is sized such that the outer diameter of the first coupling boss 402 is smaller than the inner diameter of the eccentric shaft 212 so that the first coupling boss 402 can extend into the hollow 231 of the eccentric shaft 212.

The first connection boss 402 is provided with a receiving portion 409. The receiving portion 409 axially penetrates the first connection boss 402 and the first flange body 104. A stepped portion 424 is provided on a wall of the housing 409 for abutting against a second input shaft bearing 934 (see fig. 9A), and restricting movement of the second input shaft bearing 934 to the left in the radial direction.

The first connection boss 402 is further provided with three support mounting holes (i.e., support mounting portions) 405. Each of the three support mounting holes 405 extends axially rightward from the left surface of the first connection boss 402 for receiving a planetary gear support 952 (see fig. 9A-9B). The three support mounting holes 405 are uniformly arranged in the circumferential direction around the receiving portion 409.

The first connecting boss 402 is further provided with three positioning holes 407 and three connecting holes 408. A positioning hole 407 extends rightward in the axial direction from the left surface of the first coupling boss 402 for receiving the positioning piece 904 (see fig. 9B) to thereby position the first flange body 104 and the second flange body 106 with respect to each other. A connection hole 408 extends through the first connection boss 402 and the first flange body 104 for receiving a fastener 902 (see fig. 9B) to rigidly connect the first flange body 104 and the second flange body 106 together. Specifically, the three positioning holes 407 are uniformly arranged in the circumferential direction and are arranged at intervals in the circumferential direction from the three support mounting holes 405. The three positioning holes 407 are arranged uniformly in the circumferential direction around the receiving portion 409 together with the three support mounting holes 405. The right end of the wall of the connection hole 408 is provided with a stopper 422 for blocking the fastener 902 (see fig. 9B). The three connection holes 408 are uniformly arranged in the circumferential direction and are spaced apart from the three support mounting holes 405 in the circumferential direction. Each of the three connection holes 408 is arranged in the same radial direction as a corresponding one of the three positioning holes 407, and the three connection holes 408 are arranged farther from the central axis F1 than the positioning holes 407.

It should be noted that, although the first flange body 104 is integrally formed with the first connecting boss 402 in the present embodiment, it is also within the scope of the present application to use a connecting member or use welding to connect the first connecting boss 402 to the first flange body 104.

It should be noted that, although three connecting holes 408 and three positioning holes 407 are used in the present embodiment, the number and positions thereof may be changed, and any number and position changes fall within the scope of the present application. Fig. 5A is a perspective view of the second flange body 106 and the second connection boss 502 of the connection member 108 of the transmission mechanism shown in fig. 1C, fig. 5B is a front view of the second flange body 106 and the second connection boss 502 shown in fig. 5A, and fig. 5C is a cross-sectional view of the second flange body 106 and the second connection boss 502 shown in fig. 5B taken along the line B-B in fig. 5B. The second flange body 106 shown in fig. 5A-5C is integrally formed with the second connection boss 502.

Specifically, the second flange body 106 includes a second flange body 501 and a second flange body protrusion 532. The second flange body 106 has a central axis F2. The second flange body 501 is substantially cylindrical, and the second flange body protrusion 532 is substantially annular. The second flange body protrusion 532 extends from the right surface of the second flange body 501 to the right side in the axial direction. The outer circumferential surface 552 (i.e., the outer wall) of the second flange body protrusion 532 is configured to contact the inner wall of the second outer wheel bearing 914 (see fig. 9A). The second flange body 501 radially extends beyond the second flange body protrusion 532 to limit the second outer wheel bearing 914 from moving axially to the left. An inner circumferential surface 554 (i.e., an inner wall) of the second flange body protrusion 532 is configured to contact an outer wall of the second flange body bearing 924 (see fig. 9A). The second flange body 501 serves to restrict the second flange body bearing 924 from moving leftward in the axial direction.

The second flange body tab 532 is provided with second flange body teeth 506 that are capable of engaging a second row of second inner gear teeth 714 (see fig. 7A-7B) on the second inner wheel 124. As one example, the second flange body teeth 506 include thirty-two teeth, and each tooth is comprised of a needle roller 542 and a needle roller sleeve 544. Specifically, thirty-two mounting holes 541 are provided in the second flange body protrusion 532. Thirty-two mounting holes 541 are uniformly arranged in the circumferential direction on the right surface of the second flange body protruding portion 532 and extend toward the left in the axial direction. Thirty-two mounting holes 541 are for receiving needle rollers 542. The needle roller 542 is inserted into the mounting hole 541. The length of the needle 542 is greater than the depth of the mounting hole 541 so that the needle cover 544 can be sleeved over the needle 542. The needle hub 544 reduces friction generated when the second flange body 106 engages the second inner wheel 124.

The second connection boss 502 is disposed on the second flange body 106 and is integrally formed with the second flange body 106. Specifically, the second connection boss 502 extends in the axial direction from the right surface of the second flange body 501, and the second connection boss 502 is located inside the second flange body protrusion 532. The second connection boss 502 is sized such that the outer diameter of the second connection boss 502 is smaller than the inner diameter of the eccentric shaft 212 so that the second connection boss 502 can extend into the hollow 231 of the eccentric shaft 212.

The second connection boss 502 is provided with a receiving portion 509. The receiving portion 509 axially penetrates the second connection boss 502 and the second flange body 106. The right end of the wall of the housing 509 is provided with a stopper 524 for abutting against the first input shaft bearing 932 (see fig. 9A), and restricting the first input shaft bearing 932 from moving to the right in the radial direction.

The second connection boss 502 is further provided with three support mounting holes (i.e., support mounting portions) 505. Each of the three support mounting holes 505 is extended from the right surface of the second connection boss 502 to the left in the axial direction for receiving the planetary gear support 952 (see fig. 9A-9B). The three support mounting holes 505 are uniformly arranged in the circumferential direction around the accommodating portion 509.

In addition, the second connection boss 502 further includes three extension bosses 512. Each of the three extension bosses 512 is formed to extend rightward in the axial direction from the right surface of the second connection boss 502. The three extension bosses 512 are uniformly arranged in the circumferential direction and are spaced apart from the three support mounting holes 505 in the circumferential direction. Specifically, each of the three extension bosses 512 is provided with a positioning hole 507 and a connection hole 508. The positioning hole 507 and the connecting hole 508 are formed to extend leftwards in the axial direction from the right surface of the second connecting boss 502. The positioning holes 507 are used to receive positioning pieces 904 (see fig. 9B) so as to position the first flange body 104 and the second flange body 106 with respect to each other. The attachment holes 508 are adapted to receive fasteners 902 (see fig. 9B) to rigidly attach the first flange body 104 and the second flange body 106 together. More specifically, the positioning hole 507 and the connection hole 508 on each extension boss 512 are arranged in the same radial direction, and the connection hole 508 is arranged farther from the central axis F2 than the positioning hole 507. The walls of the connection aperture 508 are provided with threads 558 for mating with threads on the fastener 902 (see fig. 9B) to connect the first flange body 104 and the second flange body 106 together.

It should be noted that, although the second flange body 106 and the second connecting boss 502 are integrally formed in the present embodiment, it is also within the scope of the present application to use a connecting piece or use welding to connect the second connecting boss 502 to the second flange body 106.

In the present embodiment, three connecting holes 508 and three positioning holes 507 are used, but the number and positions thereof may be set corresponding to the number and positions of the connecting holes 408 and the positioning holes 407.

Fig. 6A is a perspective view of the first inner wheel 122 of the transmission mechanism shown in fig. 1C, and fig. 6B is an axial sectional view of the first inner wheel 122 shown in fig. 6A. As shown in fig. 6A-6B, the first inner wheel 122 includes a first inner wheel first body 622. The first inner wheel first body 622 is generally annular and has a thickness. The diameter of the outer edge is the first diameter of the inner wheel. The first inner wheel first body 622 has a first inner wheel central axis N1 with a first row of first inner wheel teeth 612 on its outer edge. The first row of first inner gear teeth 612 is configured to mesh with the outer gear teeth 802 (see fig. 8A-8B) of the outer gear 102. More specifically, as the first inner wheel 122 moves, at least a portion of the first row of first inner gear teeth 612 are able to mesh with the outer wheel inner teeth 802 of the outer wheel 102. There is a first difference in the number of teeth between the first row of first inner teeth 612 and the outer teeth 802. Wherein the number of teeth of the outer wheel inner teeth 802 is greater than the number of teeth of the first row of first inner teeth 612 (i.e., the first tooth difference is an integer greater than zero). The first inner wheel 122 and the outer wheel 102 are configured such that the first inner wheel first body 622 is capable of both rotational and translational movement (i.e., revolution and rotation) as the first inner wheel first body 622 moves within the outer wheel 102.

The first inner wheel 122 also includes a first inner wheel second body 624. The first inner wheel second body 624 is generally annular and has a thickness. The diameter of the outer edge is the second diameter of the inner wheel. The inner wheel second diameter is smaller than the first diameter. The first inner wheel second body 624 and the first inner wheel first body 622 may be integrally formed by casting or forging. The first inner wheel first body 622 and the first inner wheel second body 624 are arranged side by side in the first inner wheel central axis N1 direction. A second row of first inner gear teeth 614 are provided on the outer edge of the first inner wheel second body 624. The number of teeth of the second row of first internal gear teeth 614 is less than the number of teeth of the first row of first internal gear teeth 612. The second row of first internal gear teeth 614 is concentric with the first row of first internal gear teeth 612 (i.e., the first internal wheel central axis N1). The second row of first internal gear teeth 614 is configured to engage with the first flange body teeth 406 (see fig. 4A-4C) on the first flange body 104. More specifically, at least a portion of the second row of first inner gear teeth 614 is capable of engaging the first flange body teeth 406 as the first inner wheel 122 moves. This enables the first flange body 104 to rotate about its central axis F1 (see fig. 4C) when the first inner wheel second body 624 translates and rotates. The second row of first internal teeth 614 has a second difference in number of teeth with the first flange body teeth 406. Wherein the number of teeth of the first flange body teeth 406 is greater than or equal to the number of teeth of the second row of first internal teeth 614 (i.e., the second tooth difference is an integer greater than or equal to zero).

It should be noted that, although the first inner wheel first body 622 and the first inner wheel second body 624 are integrally formed by casting or forging in the embodiment of the present application, it is within the scope of the present application that the first inner wheel first body 622 and the first inner wheel second body 624 are rigidly connected together by other means (such as using a connecting member). The term "rigidly connected" in the present application refers to a fixed connection to each other. In other words, the two parts that are rigidly connected do not move relative to each other.

The first inner ring 122 further has a receiving portion 632 extending radially through the first inner ring 122 in the middle thereof. The wall 634 of the receiver 632 has a diameter substantially the same as the outer diameter of the first inner wheel bearing 942 (see fig. 9A) so that the first inner wheel 122 can fit over the first inner wheel bearing 942 disposed about the first eccentric portion 304 (see fig. 3B). When the eccentric shaft 212 rotates, the first eccentric portion 304 of the eccentric shaft 212 can rotate the first inner wheel 122 through the first inner wheel bearing 942. In other words, when the eccentric shaft 212 rotates, the eccentric shaft 212 can rotate the first inner wheel center axis N1 of the first inner wheel 122 about the center axis X of the eccentric shaft 212 (i.e., the first inner wheel 122 can revolve about the center axis X of the eccentric shaft 212).

It should be noted that, although the first row of first internal gear teeth 612 and the second row of first internal gear teeth 614 are external teeth and the external gear teeth 802 and the first flange body gear teeth 406 are internal teeth in the above embodiment, the present application is not limited to the engagement between the first row of first internal gear teeth 612 and the external gear teeth 802 and the engagement between the second row of first internal gear teeth 614 and the first flange body gear teeth 406, and any engagement falls within the scope of the present application.

It should be further noted that the first row of first inner teeth 612 and the outer teeth 802, and the second row of first inner teeth 614 and the first flange body teeth 406, which are meshed with each other in the present application, may be any type of tooth shape, such as cycloidal teeth, circular arc teeth, involute teeth, or planar teeth.

Fig. 7A is a perspective view of the second inner wheel 124 of the transmission mechanism shown in fig. 1C, and fig. 7B is an axial sectional view of the second inner wheel 124 shown in fig. 7A. As shown in fig. 7A-7B, the second inner wheel 124 includes a second inner wheel first body 722. The second inner wheel first body 722 is generally annular and has a thickness. The diameter of the outer edge is the first diameter of the inner wheel. The second inner wheel first body 722 has a second inner wheel central axis N2 with a first row of second inner wheel teeth 712 on an outer edge thereof. The first row of second inner gear teeth 712 are configured to mesh with the outer gear teeth 802 (see fig. 8A-8B) of the outer gear 102. More specifically, as the second inner wheel 124 moves, at least a portion of the first row of second inner gear teeth 712 can mesh with the outer wheel inner teeth 802 of the outer wheel 102. The number of teeth of the first row of second internal gear teeth 712 is the same as the number of teeth of the first row of first internal gear teeth 612. There is also a first tooth difference between the first row of second inner teeth 712 and the outer teeth 802. Wherein the number of teeth of the outer wheel inner teeth 802 is greater than the number of teeth of the first row of second inner teeth 712 (i.e., the first tooth difference is an integer greater than zero). The second inner wheel 124 and the outer wheel 102 are configured such that the first row of second inner gear teeth 712 are capable of both rotational and translational movement (i.e., revolution and rotation) as the first row of second inner gear teeth 712 move within the outer wheel 102.

The second inner wheel 124 also includes a second inner wheel second body 724. The second inner wheel second body 724 is generally annular and has a thickness. The diameter of the outer edge is the second diameter of the inner wheel. The inner wheel second diameter is smaller than the first diameter. The second inner wheel second body 724 and the second inner wheel first body 722 may be integrally formed by casting or forging. The second inner wheel first body 722 and the second inner wheel second body 724 are arranged side by side in the second inner wheel central axis N2 direction. A second row of second inner gear teeth 714 are provided on the outer edge of the second inner wheel second body 724. The number of second inner teeth 714 of the second row is less than the number of second inner teeth 712 of the first row. The second row of second inner gear teeth 714 is concentric with the first row of second inner gear teeth 712 (i.e., the second inner wheel central axis N2). The second row of second internal gear teeth 714 is configured to engage second flange body teeth 506 (see fig. 5A-5C) on the second flange body 106. More specifically, at least a portion of the second row of second inner gear teeth 714 are capable of meshing with the second flange body teeth 506 as the second inner wheel 124 moves. This enables the second flange body 106 to rotate about its central axis F2 (see fig. 5C) when the second inner wheel second body 724 translates and rotates. The second row of second internal gear teeth 714 has the same number of teeth as the second row of first internal gear teeth 614. There is also a second difference in the number of teeth between the second row of second internal teeth 714 and the second flange body teeth 506. Wherein the number of teeth of the second flange body teeth 506 is greater than or equal to the number of teeth of the second row of second inner teeth 714 (i.e., the second tooth count difference is an integer greater than or equal to zero).

It should be noted that, although the second inner wheel first body 722 and the second inner wheel second body 724 are integrally formed by casting or forging in the above embodiment, it is within the scope of the present application that the second inner wheel first body 722 and the second inner wheel second body 724 are rigidly connected together by other means (such as using a connecting member).

In addition, the second inner wheel 124 has a receiving portion 732 extending radially through the second inner wheel 124 in the middle thereof. The wall 734 of the receiving portion 732 has a diameter substantially the same as the outer diameter of the second inner wheel bearing 944 (see fig. 9B) so that the second inner wheel 124 can fit over the second inner wheel bearing 944 disposed about the second eccentric portion 306 (see fig. 3B). When the eccentric shaft 212 rotates, the second eccentric portion 306 of the eccentric shaft 212 can rotate the second inner wheel 124 through the second inner wheel bearing 944. In other words, when the eccentric shaft 212 rotates, the eccentric shaft 212 can rotate the second inner wheel center axis N2 of the second inner wheel 124 about the center axis X of the eccentric shaft 212 (i.e., the second inner wheel 124 can revolve about the center axis X of the eccentric shaft 212).

It should be noted that, although the first row of second internal gear teeth 712 and the second row of second internal gear teeth 714 are external teeth and the external gear teeth 802 and the second flange body gear teeth 506 are internal teeth in the above embodiment, the present application is not limited to the engagement manner between the first row of second internal gear teeth 712 and the external gear teeth 802 and between the second row of second internal gear teeth 714 and the second flange body gear teeth 507, and any engagement manner falls within the scope of the present application.

It should be further noted that, in the present application, the first row of second inner teeth 712 and the outer teeth 802, and the second row of second inner teeth 714 and the second flange body teeth 507 may be any type of tooth shape, such as cycloidal teeth, circular arc teeth, involute teeth, or plane teeth.

Fig. 8A is a perspective view of the outer wheel 102 of the transmission mechanism shown in fig. 1C, fig. 8B is a front view of the outer wheel 102 shown in fig. 8A, and fig. 8C is an axial sectional view of the outer wheel 102 shown in fig. 8A. As shown in fig. 8A-8C, the outer wheel 102 is generally annular and has an outer wheel center axis O. The outer wheel 102 has a receiving space 812, the receiving space 812 being disposed through the outer wheel 102. The middle (i.e., inner edge) of the wall of the receiving space 812 is provided with outer internal teeth 802 that are capable of meshing with a first row of first internal teeth 612 and a first row of second internal teeth 712. As one example, the outer internal teeth 802 are formed by needle rollers 822. Specifically, a needle groove is provided in the middle of the wall of the accommodating space 812, and the needle 822 is disposed in the needle groove.

The outer wheel 102 further has a support portion 804 and a support portion 806, the support portion 804 and the support portion 806 being provided on the left and right sides of the outer wheel inner teeth 802, respectively. The support portion 804 serves to support a first outer wheel bearing 912 (see fig. 9A). The support portion 806 is for supporting a second outer wheel bearing 914 (see fig. 9A).

It should be noted that, in the present application, the external teeth 802, the first internal teeth 612, and the second internal teeth 712 may be any type of tooth shape, such as cycloidal teeth, circular arc teeth, involute teeth, or planar teeth.

Fig. 9A is an axial sectional view of the transmission 100 shown in fig. 1C, and fig. 9B is a radial sectional view of the transmission 100 shown in fig. 9A to show the structure of each component in the transmission 100 and the positional relationship between each component. As shown in fig. 9A to 9B, the center axis X of the eccentric shaft 212, the center axis S of the input shaft 202, the center axis F1 of the first flange body 104, and the center axis F2 of the second flange body 106 are coaxially disposed with the outer wheel center axis O of the outer wheel 102.

A first inner wheel bearing 942 is provided on the first eccentric portion 304 of the eccentric shaft 212. A second inner wheel bearing 944 is provided on the second eccentric portion 306 of the eccentric shaft 212. Specifically, the inner wall of the first inner wheel bearing 942 contacts the circumferential surface 322 of the first eccentric portion 304 (see fig. 3B), and the outer wall of the first inner wheel bearing 942 contacts the wall 634 of the receiving portion 632 of the first inner wheel 122 (see fig. 6A-6B), such that the first inner wheel 122 is sleeved over the first inner wheel bearing 942. When the eccentric shaft 212 rotates about the outer wheel center axis O, the first inner wheel 122 revolves about the outer wheel center axis O, i.e., the first inner wheel center axis N1 of the first inner wheel 122 rotates (i.e., translates) about the outer wheel center axis O. The inner wall of the second inner wheel bearing 944 contacts the circumferential surface 324 of the second eccentric portion 306 (see fig. 3B) and the outer wall of the second inner wheel bearing 944 contacts the wall 734 (see fig. 7A-7B) of the receiving portion 732 of the second inner wheel 124, such that the second inner wheel 124 is sleeved over the second inner wheel bearing 944. When the eccentric shaft 212 rotates about the outer wheel center axis O, the second inner wheel 124 revolves about the outer wheel center axis O, i.e., the second inner wheel center axis N2 of the second inner wheel 124 rotates (i.e., translates) about the outer wheel center axis O.

Since the first inner wheel 122 and the second inner wheel 124 have the same structure, and the first inner wheel 122 and the second inner wheel 124 are symmetrically and eccentrically arranged relative to the central axis O of the outer wheel, when the eccentric shaft 212 drives the first inner wheel 122 and the second inner wheel 124 to rotate, the phase difference between the first inner wheel 122 and the second inner wheel 124 is 180 degrees, thereby ensuring that the first inner wheel 122 and the second inner wheel 124 can maintain dynamic balance integrally during movement.

Further, the first inner wheel 122 and the second inner wheel 124 are in meshed relationship with the outer wheel 102 at the same time. Specifically, when the eccentric shaft 212 revolves the first and second inner wheels 122 and 124, since there is a first tooth difference between the first row of first inner gear teeth 612 and the outer wheel inner teeth 802 and between the first row of second inner gear teeth 712 and the outer wheel inner teeth 802, and the outer wheel 102 is stationary, the first and second inner wheels 122 and 124 can rotate about their respective central axes (i.e., the first and second inner wheel central axes N1 and N2). That is, the first inner wheel 122 and the second inner wheel 124 achieve rotation while revolving.

The first inner wheel 122 and the second inner wheel 124 are supported by the planet carrier 101 in the outer wheel 102. The planet carrier 101 includes a first flange body 104 and a second flange body 106. The first flange body 104 and the second flange body 106 are disposed on both sides of the first inner wheel 122 and the second inner wheel 124, respectively. Specifically, the inner wall of the first outer ring bearing 912 contacts the outer wall 452 of the first flange body 104, and the outer wall of the first outer ring bearing 912 contacts the support portion 804 of the outer ring 102, so that the first flange body 104 is mounted on the outer ring 102 through the first outer ring bearing 912. The inner wall of the second outer wheel bearing 914 contacts the outer wall 552 of the second flange body 106 and the outer wall of the second outer wheel bearing 914 contacts the support portion 806 of the outer wheel 102 such that the second flange body 106 is mounted to the outer wheel 102 by the second outer wheel bearing 914. The above-described mounting enables the first flange body 104 and the second flange body 106 to rotate about the outer wheel center axis O, as the outer wheel 102 is stationary. In addition, the second row of first inner gear teeth 614 of the first inner wheel 122 engage the first flange body teeth 406 on the first flange body 104. The second row of second inner gear teeth 714 of the second inner wheel 124 engage the second flange body teeth 506 on the second flange body 106.

Eccentric shaft 212 is mounted to first flange body 104 and second flange body 106 by first flange body bearing 922 and second flange body bearing 924, respectively. Specifically, the inner wall of the first flange body bearing 922 contacts the first flange body bearing abutment 312, and the outer wall of the first flange body bearing 922 contacts the inner wall 454 of the first flange body protrusion 432. The inner wall of the second flange body bearing 924 contacts the second flange body bearing abutment 314 and the outer wall of the second flange body bearing 924 contacts the inner wall 554 of the second flange body protrusion 532.

The first flange body 104 and the second flange body 106 are coupled to each other by a coupling member 108. The connecting member 108 is accommodated in the hollow 231 of the eccentric shaft 212. Specifically, the connection member 108 includes a first connection boss 402 extending axially from the first flange body 104, a second connection boss 502 extending axially from the second flange body 106, a fastener 902, and a detent 904. Wherein the fastener 902 is a bolt having threads at least at its left end to mate with threads 558 in the connection hole 508 of the second connection boss 502. The positioning piece 904 is a pin that can be inserted into the positioning hole 407 and the positioning hole 507. The first and second connection bosses 402 and 502 in the connection member 108 pass through the hollow portion 231 and abut against each other. The attachment holes 408 on the first attachment boss 402 are aligned with the attachment holes 508 on the second attachment boss 502. The locating holes 407 on the first coupling boss 402 are aligned with the locating holes 507 on the second coupling boss 502. Both ends of the positioning piece 904 are inserted into the positioning holes 407 and 507, respectively, to position the first and second coupling bosses 402 and 502 with each other, thereby positioning the first and second flange bodies 104 and 106 with each other. The fastener 902 is inserted through the attachment hole 408 in the first attachment boss 402 and into the attachment hole 508 in the second attachment boss 502. The threads on the fastener 902 mate with the threads 558 on the wall of the connection hole 508 until the shoulder of the fastener 902 abuts the stop 422 on the connection hole 408, thereby rigidly connecting the first flange body 104 and the second flange body 106 together. The connecting members 108 (i.e., the first and second connecting bosses 402 and 502) are received in the hollow 231 of the eccentric shaft 212.

Further, the power input device 244 is also accommodated in the hollow 231 of the eccentric shaft 212. Specifically, each of the three support mounting holes 405 on the first connection boss 402 is aligned with a corresponding one of the three support mounting holes 505 on the second connection boss 502 for mounting the planetary gear support 952. After the extension bosses 512 of the first and second connection bosses 402, 502 abut against each other, three recesses 933 are formed between the first and second connection bosses 402, 502 for receiving the three planetary gears 204,206,208, respectively. The three planetary gear supports 952 are inserted into the corresponding pair of support mounting holes 405 and 505 after penetrating the hollow 264 of the planetary gear 204, the hollow 266 of the planetary gear 206, and the hollow 268 of the planetary gear 208, respectively. In this way, the three planet gears 204,206,208 are mounted between the first connection boss 402 and the second connection boss 502, and each of the three planet gears 204,206,208 is capable of rotating (i.e., spinning) about its respective central axis (i.e., central axis M1, central axis M2, and central axis M3). The outer ring gear on each of the three planet gears 204,206,208 is capable of meshing with the eccentric shaft inner teeth 233 of the eccentric shaft 212.

The input shaft 202 is mounted to the first flange body 104 and the second flange body 106 by a first input shaft bearing 932 and a second input shaft bearing 934. Specifically, the input shaft 202 passes through the receiving portion 409 of the first flange body 104 into the receiving portion 509 of the second flange body 106. The inner wall of the first input shaft bearing 932 contacts the input shaft first stepped portion 252 of the input shaft 202, and the outer wall of the first input shaft bearing 932 contacts the wall of the receiving portion 509 in the second flange body 106 and contacts the stopper portion 524, so that the first input shaft bearing 932 does not move to the right side in the radial direction. The inner wall of the second input shaft bearing 934 contacts the input shaft second stepped portion 254 of the input shaft 202, and the outer wall of the second input shaft bearing 934 contacts the wall of the receiving portion 409 of the first flange body 104 and contacts the stepped portion 424, so that the second input shaft bearing 934 does not move to the left in the radial direction. The input shaft outer teeth 272 of the input shaft 202 are capable of meshing with the outer ring gear on each of the three planet gears 204,206, 208.

The following details the process of torque transfer when the transmission 100 is in operation, taking the example in which the outer wheel 102 is fixed (i.e., the outer wheel 102 does not translate or rotate):

A drive mechanism (e.g., a motor, not shown) drives the input shaft 202 in rotation about the outer wheel center axis O. The input shaft outer teeth 272 of the input shaft 202 mesh with the outer ring gear 284,286,288 of the three planetary gears 204,206,208, thereby enabling the three planetary gears 204,206,208 to rotate (i.e., spin) about their respective central axes (i.e., central axis M1, central axis M2, and central axis M3). The outer ring gear 284,286,288 of the three planetary gears 204,206,208 is meshed with the eccentric shaft inner teeth 233 of the eccentric shaft 212, thereby driving the eccentric shaft 212 to rotate about the outer wheel center axis O. The eccentric shaft 212 translates the first and second inner wheels 122, 124 (i.e., the first and second inner wheel central axes N1, N2 rotate about the outer wheel central axis O) via the first and second inner wheel bearings 942, 944. The first row of first inner gear teeth 612 of the first inner wheel 122 and the first row of second inner gear teeth 712 of the second inner wheel 124 mesh with the outer wheel inner teeth 802 of the outer wheel 102 such that the first inner wheel 122 and the second inner wheel 124 rotate (i.e., the first inner wheel 122 and the second inner wheel 124 are capable of rotating about their respective first inner wheel center axis N1 and second inner wheel center axis N2). In this way, the first inner wheel 122 and the second inner wheel 124 can rotate while revolving.

The first inner wheel 122 engages the first flange body teeth 406 via a second row of first inner gear teeth 614 to rotate the first flange body 104 about the outer wheel central axis O. The second inner wheel 124 engages the second flange body teeth 506 through a second row of second inner gear teeth 714 to rotate the second flange body 106 about the outer wheel central axis O. The first flange body 104 and/or the second flange body 106 may be coupled to a driven device (not shown). Thereby, the torque of the driving mechanism can be output to the driven device through the transmission mechanism 100.

Since the first flange body 104 and the second flange body 106 are mounted to the outer wheel 102 via the first outer wheel bearing 912 and the second outer wheel bearing 914, the first flange body 104 and the second flange body 106 can only rotate about the outer wheel center axis O. This allows power to be transmitted from the first and second inner wheels 122 and 124 to the first and second flange bodies 104 and 106 such that only rotation (i.e., autorotation) of the first and second inner wheels 122 and 124 is transmitted to the first and second flange bodies 104 and 106, and translational (i.e., revolution) of the first and second inner wheels 122 and 124 is not transmitted to the first and second flange bodies 104 and 106.

It should be noted that, since the first flange body 104 and the second flange body teeth 506 are rigidly connected by the connecting member 108, the first flange body 104, the second flange body teeth 506, and the connecting member 108 rotate together about the outer wheel center axis O. Since each of the three planetary gears 204,206,208 is mounted on the connection member 108 by three planetary gear supports 952, the central axes M1, M2, M3 of each of the three planetary gears 204,206,208 can rotate (i.e., revolve) about the outer wheel central axis O. In this way, when the input shaft 202 rotates about the outer wheel center axis O, the three planetary gears 204,206,208 can realize rotation while revolving.

It will be appreciated by those skilled in the art that although the above embodiment includes three planetary gears 204,206,208, the number of planetary gears is not limited to three and at least one planetary gear falls within the scope of the present application.

It will be further appreciated by those skilled in the art that although the positioning member 904 and the fastening member 902 are disposed on the same attachment boss in the embodiment of the present application, it is within the scope of the present application to dispose the positioning member 904 and the fastening member 902 separately on different attachment bosses.

It will also be appreciated by those skilled in the art that while the three planetary gears 204,206,208 of the present application are secured to the connecting member 108, the three planetary gears 204,206,208 may be secured directly to at least one of the first flange body 104 and the second flange body teeth 506.

It will also be appreciated by those skilled in the art that the number of inner wheels is not limited to the two shown in the embodiments of the present application, but that several inner wheels may be provided so as to be able to maintain dynamic balance as a whole upon eccentric rotation.

In addition, although the transmission 100 of the present application provides for the first inner wheel 122 and the second inner wheel 124 to engage the first flange body 104 and the second flange body 106, respectively, such that both the first inner wheel 122 and the second inner wheel 124 are capable of outputting torque. However, as will be appreciated by those skilled in the art, since the first flange body 104 and the second flange body 106 are coupled together by the coupling member 108, the first inner wheel 122 may not engage the first flange body 104, or the second inner wheel 124 may not engage the second flange body 106, but rather the coupling member 108 may be utilized to rotate the second flange body 106 to rotate the first flange body 104, or the first flange body 104 may rotate the second flange body 106.

The transmission 100 of the present application has at least the following advantages over conventional transmissions:

first, the transmission mechanism 100 of the present application drives the first flange body 104 and the second flange body 106 to rotate by the first inner wheel 122 and the second inner wheel 124 through the tooth engagement, so that the pin bush output structure is reduced, and the size of the inner wheel bearing is increased. This may increase the service life of the inner wheel bearing. Meanwhile, the efficiency of machining the teeth is far higher than that of machining holes output by the pin bush, so that batch production is facilitated, and the manufacturing cost is reduced.

Specifically, in conventional transmissions, the pins typically function as a torque transfer between the inner wheel and the flange body and a connection between the flange bodies. The pin is disposed through the inner wheel so as to transmit power of the inner wheel to the flange body. The pin size (e.g., diameter) needs to be set large to transmit torque while ensuring the rigidity of the carrier.

In contrast, in the transmission 100 of the present application, the meshed teeth (i.e., the first row of first internal gear teeth 612, the first row of second internal gear teeth 712, the second row of first internal gear teeth 614, and the second row of second internal gear teeth 714) are used as torque transmitting members between the first and second inner wheels 122, 124 and the first and second flange bodies 104, 106, while the connecting member 108 is used as a connecting member between the first and second flange bodies 104, 106. The meshed teeth are each disposed at the circumferential edges of the first inner wheel 122 and the second inner wheel 124 (i.e., the meshed teeth are disposed away from the outer wheel central axis O). Such a transmission eliminates the pins in the transmission, thereby saving space for setting the pins. Accordingly, the inner wheel bearings (i.e., the first inner wheel bearing 942 and the second inner wheel bearing 944) may be made larger in size without changing the size of the outer wheel 102 and the equivalent torque transferred from the first inner wheel 122 and the second inner wheel 124 to the first flange body 104 and the second flange body 106, respectively. The larger size of the inner wheel bearing can carry a larger base rated dynamic load, which results in a longer service life of the larger size inner wheel bearing.

On the other hand, conventional transmission mechanisms typically use pins as the connecting members between the torque transmitting members between the inner wheel and the flange body. The inner wheel is provided with a through hole for accommodating the pin. The pin penetrates through the inner wheel, and two ends of the pin are connected with flange bodies on two sides of the inner wheel. The through holes of the pin and the inner wheel are configured such that when the inner wheel revolves and rotates, the rotation of the inner wheel drives the pin to rotate, and the pin transmits only the rotation of the inner wheel to the flange body. This is very high for the machining precision requirements and the assembly precision requirements of the pin and of the through holes in the inner wheel. Second, the pin, which is responsible for torque transmission, is subjected to radial forces exerted on it by the inner wheel. If the pin is deformed, the transmission torque of the transmission is affected. Therefore, the rigidity requirement of the material is also high.

Second, the transmission mechanism 100 of the present application is connected to each other by the connecting member 108, and the connecting member 108 is accommodated in the hollow portion 231 of the eccentric shaft 212, which can increase the size of the inner wheel bearing. This may enhance the service life of the inner wheel bearing and thus the service life of the transmission 100.

In particular, in conventional transmission mechanisms, the pins generally function as a torque transmission between the inner wheel and the flange body and as a connection between the flange bodies, so the pins must be arranged through the inner wheel.

In contrast, in the present application, the meshed teeth (i.e., the first row of first internal gear teeth 612, the first row of second internal gear teeth 712, the second row of first internal gear teeth 614, and the second row of second internal gear teeth 714) are used as torque transmitting members between the first and second inner wheels 122, 124 and the first and second flange bodies 104, 106, while the connecting member 108 is used as a connecting member between the first and second flange bodies 104, 106. The position of the connecting part 108 is thus no longer limited, and it may be arranged outside the eccentric shaft 212 or inside the eccentric shaft 212. The connecting member 108 of the present application is provided in the hollow portion 231 of the eccentric shaft 212, which allows the inner wheel bearing to be made larger in size. The larger size of the inner wheel bearing can carry a larger base rated dynamic load, which results in a longer service life of the larger size inner wheel bearing.

Further, in the present application, the first flange body 104 and the second flange body 106 are abutted against each other by the connection boss of the connection member 108, and are fixed by the fastener 902 and the positioning piece 904, which greatly enhances the torsional rigidity of the carrier 101. Specifically, the first flange body 104 and the second flange body 106, which are abutted together by the connecting boss, are substantially more rigid than the first flange body 104 and the second flange body 106, which are only connected together, but are not abutted against each other. This is because the first flange body 104 and the second flange body 106 that are abutted together form a contact area, have a force in the axial direction, and are more easily formed as a single body by the connection member 108. When the first flange body 104 and/or the second flange body 106 output torque outwardly (e.g., connected to a driven device), the first flange body 104 and the second flange body 106 need to twist, and the first flange body 104 and the second flange body 106 that are abutted together can block the twisting from occurring between the first flange body 104 and the second flange body 106, thereby increasing the torsional rigidity of the carrier 101. This can not only improve the output torque of the transmission mechanism 100, but also improve the angular transmission error accuracy. For the robot field with micrometers as a unit, improving the angular transfer error accuracy can greatly improve the positioning accuracy of the robot itself.

Third, the transmission 100 of the present application is capable of driving the eccentric shaft 212 through planetary gears (e.g., three planetary gears 204,206, 208) when the eccentric shaft 212 cannot be directly connected to a driving mechanism (not shown).

In particular, in conventional transmission mechanisms, the eccentric shaft is typically directly connected to the drive mechanism, such that the drive mechanism is able to drive the eccentric shaft in rotation. However, in the illustrated embodiment of the present application, since the connection members 108 of the first flange body 104 and the second flange body 106 are disposed in the eccentric shaft 212, and the first flange body 104 and the second flange body 106 are engaged with the outer wheel 102, both ends of the eccentric shaft 212 are blocked by the first flange body 104 and the second flange body 106, respectively, and cannot be connected to the driving mechanism. Second, when the transmission 100 is operating, the eccentric shaft 212 rotates at a first speed, and the first flange body 104 and the second flange body 106 rotate at a second speed. The first speed is different from the second speed, and therefore, the inability to directly connect the eccentric shaft 212 to the drive mechanism can result in the connection of the eccentric shaft 212 to the drive mechanism colliding with the first flange body 104 and/or the second flange body 106, resulting in the transmission mechanism 100 being inoperable.

In contrast, the planetary gear in the transmission mechanism 100 of the present application can solve the above-described problem. Specifically, the input shaft 202 and the planetary gears are both disposed within an eccentric shaft 212. The input shaft 202 is connected to a drive mechanism. The input shaft 202 is provided with input shaft external teeth 272 (see fig. 2A). Eccentric shaft 212 has eccentric shaft inner teeth 233. An outer ring gear of the planetary gear (e.g., outer ring gear 284,286,288) is simultaneously meshed with the eccentric shaft inner teeth 233 and the input shaft outer teeth 272, so that the rotation of the input shaft 202 can rotate the eccentric shaft 212 through the planetary gear. This solves the technical problem that the eccentric shaft 212 cannot be connected with the driving mechanism.

On the other hand, the planetary gear is supported between the first flange body 104 and the second flange body 106 by the planetary gear support 952, and the central axes of the planetary gear (i.e., central axes M1, M2, M3) can rotate at a second speed together with the first flange body 104 and the second flange body 106. In this way, the revolution of the planetary gears can overcome the problem that the eccentric shaft 212 does not coincide with the rotational speeds of the first flange body 104 and the second flange body 106, and the rotation of the planetary gears can transmit the power of the input shaft 202 to the eccentric shaft 212, so that the eccentric shaft 212 rotates.

In yet another aspect, the input transmission 132 (i.e., the input shaft 202, the planetary gears, and the eccentric shaft 212) of the present application is capable of a first stage of speed change. Specifically, the number of teeth of the input shaft external teeth 272 of the input shaft 202 is C1, the number of teeth of the eccentric shaft internal teeth 233 of the eccentric shaft 212 is C2, and the first-stage speed ratio i1 satisfies:

fourth, the transmission 100 of the present application can provide a relatively large transmission.

Specifically, the eccentric shaft in the conventional transmission mechanism is directly connected to a driving mechanism (not shown), so that the driving mechanism directly drives the eccentric shaft to rotate. Thus, the conventional transmission mechanism can only realize one-stage speed change between the inner wheel and the flange body.

In contrast, the transmission mechanism 100 of the present application is capable of achieving at least two-stage shifting. Wherein the first speed change is provided by the input drive 132 as described above. The first-stage speed ratio i1 satisfiesThe second gear shift is generated by the power of the first inner wheel 122 being transferred to the first flange body 104 (or the power of the second inner wheel 124 being transferred to the second flange body 106). The power of the first inner wheel 122 is transmitted to the first flange 104 as an example.

The relative movement between the first inner wheel 122 and the outer wheel 102 is described in detail below as the eccentric shaft 212 rotates the first inner wheel 122. The first row of first inner gear teeth 612 of the first inner wheel 122 has a first tooth number difference from the outer wheel inner teeth 802 of the outer wheel 102, and the first inner wheel 122 can rotate while revolving due to the outer wheel 102 being stationary. The rotation direction of the first inner wheel 122 is opposite to the revolution direction of the first inner wheel 122 (i.e., the rotation direction of the eccentric shaft 212).

The relative movement between the first inner wheel 122 and the first flange body 104 is specifically described as the second row of first inner gear teeth 614 of the first inner wheel 122 having a second tooth difference with the first flange body teeth 406 of the first flange body 104. The revolution of the first inner wheel 122 drives the first flange body 104 to rotate through the engagement of the second tooth number difference, and the rotation direction of the first flange body is the same as the revolution direction of the first inner wheel 122 (i.e., the rotation direction of the eccentric shaft 212). At the same time, the rotation of the first inner wheel 122 drives the first flange body 104 to rotate at the same speed and direction, i.e. in the same direction as the rotation of the first inner wheel 122, but opposite to the rotation direction of the eccentric shaft 212, through the engagement between the second row of first inner teeth 614 and the first flange body teeth 406 of the first flange body 104.

In this way, the revolution of the first inner ring 122 and the rotation of the first inner ring 122 will make the absolute rotation speed of the first flange 104 be the difference between the speeds in the two different rotation directions, and the final rotation speed will be lower, so that a larger speed ratio can be achieved.

The second-stage speed ratio i2 is described below taking as an example that the first tooth number difference between the first row of first inner teeth 612 of the first inner wheel 122 and the outer wheel inner teeth 802 of the outer wheel 102 is 1, and the second tooth number difference between the second row of first inner teeth 614 of the first inner wheel 122 and the first flange body teeth 406 of the first flange body 104 is also 1:

The first row of first inner teeth 612 has a number of teeth Z1 and the outer teeth 802 has a number of teeth Z2, where z2—z1=1. The first row is shifted at a speed ratio i 21. i21 satisfies:

The second row of first internal teeth 614 has a number of teeth Z3 and the first flange body teeth 406 have a number of teeth Z4, wherein Z4-z3=1. The second row is shifted at a speed ratio i 22. i22 satisfies:

the second speed ratio i2 of the transmission 100 is:

For the second gear shift, a larger range of speed ratios can be achieved. As one example, when z1=60, z2=61, z3=50, and z4=51, i2=340. As another example, when z1=199, z2=200, z3=197, and z4=198, i2=39402.

The overall speed ratio i of the transmission 100 satisfies:

i=i1×i2。

the range of the overall speed ratio i of the transmission 100 can be very large.

As one example, when c1=15, c2=75, z1=60, z2=61, z3=50, and z4=51, i=1700. As another example, when c1=15, c2=75, z1=199, z2=200, z3=197, and z4=198, i= 197010.

Fifth, the transmission mechanism 100 of the present application has a compact structure and a compact outer contour. Specifically, the eccentric shaft 212, the first inner wheel 122, the second inner wheel 124, the first connection boss 402, the second connection boss 502, the first flange body tooth 406 of the first flange body 104, and the second flange body tooth 506 of the second flange body 106 in the transmission mechanism 100 are all disposed within the receiving space 812 of the outer wheel 102. In this way, the above components are supported by the outer wheel 102 to ensure stable operation. In addition, only the outer wheel 102, the first flange body 104 and the second flange body 106 can be seen from the outside of the transmission mechanism 100, so that the outer wheel profile is compact and attractive.

Although only a few features of the application have been shown and described, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the application.

Claims

1. A transmission (100), characterized by comprising:

An outer wheel (102), an accommodation space (812) being formed at an inner edge of the outer wheel (102), and outer wheel inner teeth (802) being provided on the inner edge of the outer wheel (102), the outer wheel (102) having an outer wheel center axis (O);

A first inner wheel (122), on the outer edge of which first inner wheel (122) a first row of first inner wheel teeth (612) and a second row of first inner wheel teeth (614) are arranged side by side, the first row of first inner wheel teeth (612) being accommodated in an accommodation space of the outer wheel (102) and being capable of meshing with the outer wheel inner teeth (802), the first inner wheel (122) having a first inner wheel center axis (N1), the first inner wheel center axis (N1) being arranged eccentrically with respect to the outer wheel center axis (O) and the first inner wheel (122) being eccentrically rotatable about the outer wheel center axis (O);

-a second inner wheel (124), which second inner wheel (124) is arranged on a first side of the first inner wheel (122), which second inner wheel (124) is provided with a first row of second inner wheel teeth (712) and a second row of second inner wheel teeth (714) arranged side by side on an outer edge, which first row of second inner wheel teeth (712) is accommodated in an accommodation space of the outer wheel (102) and is capable of meshing with the outer wheel inner teeth (802), which second inner wheel (124) has a second inner wheel central axis (N2), which second inner wheel central axis (N2) is arranged eccentrically with respect to the outer wheel central axis (O), and which second inner wheel (124) is capable of eccentric rotation about the outer wheel central axis (O);

A first flange body (104), the first flange body (104) being disposed on a second side of the first inner wheel (122) opposite the first side, the first flange body (104) including first flange body teeth (406), the first flange body teeth (406) being engageable with the second row of first inner wheel teeth (614), and

The second flange body (106), the second flange body (106) with first interior wheel (122) are arranged respectively in the both sides of second interior wheel (124), the second flange body (106) include second flange body tooth (506), second flange body tooth (506) can with second row second internal tooth (714) mesh, first flange body (104) with second flange body (106) rigid connection, so that first flange body (104) with second flange body (106) can together rotate.

2. The transmission mechanism (100) according to claim 1, wherein:

The outer wheel inner teeth (802) of the outer wheel (102) have a first tooth number difference with the first row of first inner teeth (612) of the first inner wheel (122), and the outer wheel inner teeth (802) of the outer wheel (102) also have a first tooth number difference with the first row of second inner teeth (712) of the second inner wheel (124).

3. The transmission mechanism (100) according to claim 1, wherein:

the first flange body teeth (406) have a second tooth count difference with the second row of first internal gear teeth (614), and the second flange body teeth (506) have a second tooth count difference with the second row of second internal gear teeth (714).

4. The transmission mechanism (100) according to claim 1, wherein:

the first and second rows of first internal gear teeth (612, 614) are disposed at outer edges of the first internal wheel (122) having different diameters;

The first and second rows of second internal gear teeth (712, 714) are disposed at outer edges of the second internal wheel (124) having different diameters.

5. The transmission mechanism (100) according to claim 1, wherein:

-said first row of first internal gear teeth (612) and said second row of first internal gear teeth (614) have different numbers of teeth;

The first row of second internal gear teeth (712) and the second row of second internal gear teeth (714) have different numbers of teeth.

6. The transmission mechanism (100) according to claim 1, further comprising:

An eccentric shaft (212), the eccentric shaft (212) is a hollow shaft, a first eccentric part (304) and a second eccentric part (306) are arranged on the periphery of the eccentric shaft (212), the first inner wheel (122) is arranged around the first eccentric part (304), the second inner wheel (124) is arranged around the second eccentric part (306), and

-A connecting part (108), the connecting part (108) being rigidly connected to the first flange body (104) and the second flange body (106), and the connecting part (108) rigidly connecting the first flange body (104) and the second flange body (106) together through a hollow portion of the eccentric shaft (212).

7. The transmission mechanism (100) of claim 6, wherein:

The connecting member (108) includes a first connecting boss (402) extending from the first flange body (104) and a second connecting boss (502) extending from the second flange body (106) and a fastener (902);

The first and second connection bosses (402, 502) extend into the hollow portion of the eccentric shaft (212), and the fastener (902) is capable of interconnecting the first and second connection bosses (402, 502).

8. The transmission mechanism (100) of claim 7, wherein:

the connection part (108) further comprises a positioning piece (904), the positioning piece (904) being capable of positioning the first connection boss (402) and the second connection boss (502) with respect to each other.

9. The transmission mechanism (100) of claim 7, wherein:

the first connection boss (402) is integrally formed with the first flange body (104), and the second connection boss (502) is integrally formed with the second flange body (106).

10. The transmission mechanism (100) according to claim 1, wherein:

The first flange body tooth (406) and the second flange body tooth (506) are disposed within the receiving space (812) of the outer wheel (102).