CN114278705A

CN114278705A - Transmission mechanism

Info

Publication number: CN114278705A
Application number: CN202111565238.5A
Authority: CN
Inventors: 范正富; 陈宇昊
Original assignee: Ningbo Hansheng Transmission Technology Co ltd
Current assignee: Ningbo Hansheng Transmission Technology Co ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-04-05

Abstract

The application discloses drive mechanism, it includes casing device, eccentric shaft, flange device, first external gear, second external gear, synchronous connection pad, synchronous connection structure, output connection pad and output connection structure. The eccentric shaft is provided with a first eccentric part and a second eccentric part. The first external gear is sleeved on the first eccentric part of the eccentric shaft and is configured to move along with the rotation of the first eccentric part. The second external gear is sleeved on the second eccentric part of the eccentric shaft and configured to move along with the rotation of the second eccentric part. The synchronizing connection disk is configured to connect the first external gear and the second external gear to each other through a synchronizing connection structure and to enable the first external gear and the second external gear to perform eccentric translation independently with respect to each other. The output connecting disc is arranged around the eccentric shaft. The transmission mechanism has the advantages of simple structure, no need of arranging a planet carrier, small quantity of connecting parts, short transmission chain and easiness in realizing high-precision transmission.

Description

Transmission mechanism

Technical Field

The present application relates to transmission mechanisms.

Background

Most of traditional eccentric transmission mechanisms adopt two external gears with the same structure, the two external gears are respectively arranged on eccentric shafts with equal eccentric amount and 180-degree symmetrical arrangement in the eccentric direction, the rotating speed and the eccentric torque of the two external gears need to be output through a planet carrier, and the planet carrier penetrates through the two external gears. The planet carrier is poor in rigidity and complex in structure, the requirement on the position precision of the hole is high for a speed reducer with high precision requirement, the machining difficulty is high, and the structure is complex.

Disclosure of Invention

Exemplary embodiments of the present application may solve the above-described problems. The application provides a transmission mechanism, which comprises a shell device, an eccentric shaft, a flange device, a first external gear, a second external gear, a synchronous connecting disc, a synchronous connecting structure, an output connecting disc and an output connecting structure. The housing means is stationary. The eccentric shaft is provided with a first eccentric part and a second eccentric part, and the first eccentric part and the second eccentric part have the same eccentric amount and opposite eccentric directions. The flange device is configured to be rotatable. The first external gear is sleeved on the first eccentric part of the eccentric shaft and is configured to move along with the rotation of the first eccentric part. The second external gear is sleeved on the second eccentric part of the eccentric shaft and configured to move along with the rotation of the second eccentric part. The synchronizing connection disk is disposed around the eccentric shaft and between the first external gear and the second external gear, and is configured to connect the first external gear and the second external gear to each other through the synchronizing connection structure and enable the first external gear and the second external gear to perform eccentric translational motion independently with respect to each other. The output connecting disc is arranged around the eccentric shaft. Wherein one of the housing means and the flange means is in mesh with the first external gear and the second external gear, and wherein the output connection disc connects the first external gear with the other of the housing means and the flange means through the output connection structure and enables linear movement of the first external gear relative to the other of the housing means and the flange means.

According to the transmission mechanism, the synchronous connection structure comprises a first group of synchronous connection structures and a second group of synchronous connection structures. Wherein the first group of synchronous connection structures are configured to connect the first external gear with the synchronous connection disc and to generate a relative linear motion between the first external gear and the synchronous connection disc. Wherein the second set of synchronous connection structures is configured to connect the second external gear with the synchronous connection disc and to generate relative linear motion between the second external gear and the synchronous connection disc. And wherein the first set of synchronous connection structures is a linear slider mechanism or a linear bearing mechanism and the second set of synchronous connection structures is a linear slider mechanism or a linear bearing mechanism.

According to the transmission mechanism described above, the first group of synchronous connection structures and the second group of synchronous connection structures are arranged such that the direction of relative linear motion between the first external gear and the synchronous connection disc is perpendicular to the direction of relative linear motion between the second external gear and the synchronous connection disc.

According to the transmission mechanism, the output connection structure comprises a first group of output connection structures and a second group of output connection structures. Wherein the first group of output connection structures are configured to connect the first external gear with the output connection disk and enable relative linear motion to be generated between the first external gear and the output connection disk. Wherein the second set of output connection structures are configured to connect the other of the housing means and the flange means with the output land and enable relative linear motion between the output land and the other of the housing means and the flange means. And wherein the first set of output connection structures is a linear slider mechanism or a linear bearing mechanism and the second set of output connection structures is a linear slider mechanism or a linear bearing mechanism.

According to the transmission mechanism described above, the first group of output connection structures and the second group of output connection structures are arranged such that the direction of relative linear motion between the first external gear and the output land is perpendicular to the direction of relative linear motion between the output land and the other of the housing means and the flange means.

According to the above transmission mechanism, the linear slider mechanism is formed of a slider and a slide groove.

According to the above transmission mechanism, the linear bearing mechanism is formed of a slider, a slide groove, and a roller provided between the slider and the slide groove.

According to the transmission mechanism, the shell device comprises a cylindrical main body and a shell end cover, and the cylindrical main body is fixedly connected with the shell end cover. The flange device comprises a flange end cover and a flange inner gear ring, and the flange end cover is fixedly connected with the flange inner gear ring. The flange inner gear ring is arranged between the cylindrical main body and the first outer gear and the second outer gear and is configured to be meshed with the first outer gear and the second outer gear, the shell end cover is arranged around the eccentric shaft, and the output connecting disc connects the first outer gear with the shell end cover through the output connecting structure.

According to the above transmission mechanism, the first external gear and the second external gear do not rotate relative to each other.

According to the transmission mechanism, the shell device comprises a cylindrical main body and a shell end cover, and the cylindrical main body is fixedly connected with the shell end cover. The flange device comprises a flange end cover. Wherein the cylindrical body of the housing means is configured to engage the first and second external gears and the output connection pad connects the first external gear to the flanged end cap via the output connection.

According to the above transmission mechanism, the first external gear and the second external gear rotate synchronously with respect to each other.

The transmission mechanism has the advantages of simple structure, no need of arranging a planet carrier, small quantity of connecting parts, short transmission chain and easiness in realizing high-precision transmission.

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 of the invention and the following detailed description are exemplary and intended to provide further explanation without limiting the scope of the invention 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 may be better understood by reading the following detailed description with reference to the drawings, in which like characters represent like parts throughout the drawings, wherein:

FIG. 1A is a perspective view of a transmission mechanism according to one embodiment of the present application, looking from right to left;

FIG. 1B is a perspective view of the transmission mechanism shown in FIG. 1A, looking from left to right;

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

FIG. 2A is a perspective view of the eccentric shaft shown in FIG. 1C;

FIG. 2B is a side view of the eccentric shaft shown in FIG. 2A;

FIG. 2C is an enlarged view of the eccentricity of the eccentric shaft shown in FIG. 2A;

FIG. 3A is an exploded perspective view of the input end cap, output connection disk and first external gear shown in FIG. 1C;

fig. 3B is an exploded perspective view of the first external gear, the synchronizing land, and the second external gear connection shown in fig. 1C;

FIG. 4A is a perspective view of the first external gear shown in FIG. 1C;

FIG. 4B is a side view of the first external gear shown in FIG. 4A;

FIG. 5A is a perspective view of the second external gear shown in FIG. 1C;

FIG. 5B is a cross-sectional view of the second external gear shown in FIG. 5A;

FIG. 6 is a perspective view of the input end cap shown in FIG. 1C;

FIG. 7A is a perspective view of the output land shown in FIG. 1C;

FIG. 7B is a cross-sectional view of the output land shown in FIG. 1C;

FIG. 8A is a perspective view of the synchronization pad shown in FIG. 1C;

FIG. 8B is a cross-sectional view of the synchronizing land shown in FIG. 1C;

FIG. 9 is a perspective view of the flanged ring gear shown in FIG. 1C;

FIG. 10 is a perspective view of the flanged end cap shown in FIG. 1C;

FIG. 11 is a perspective view of the output end cap shown in FIG. 1C;

FIG. 12 is a perspective view of the cylindrical body shown in FIG. 1C;

FIG. 13A is a vertical axial cross-sectional view of the transmission shown in FIG. 1C;

FIG. 13B is a cross-sectional view A-A as shown in FIG. 13A;

FIG. 13C is a cross-sectional view B-B shown in FIG. 13A;

FIG. 14A is an exploded perspective view of another embodiment of a synchronization connection and/or an output connection;

FIG. 14B is a cross-sectional view of the synchronizing and/or output connecting structure shown in FIG. 14A;

FIG. 15A is a perspective view of a transmission mechanism according to another embodiment of the present application, looking from right to left;

FIG. 15B is a perspective view of the transmission mechanism shown in FIG. 15A, looking from left to right;

FIG. 15C is a cross-sectional view of the transmission shown in FIG. 15A;

FIG. 16A is a perspective view of the eccentric shaft shown in FIG. 15C;

FIG. 16B is a side view of the eccentric shaft shown in FIG. 16A;

FIG. 16C is an enlarged view of the eccentricity of the eccentric shaft shown in FIG. 16A;

fig. 17A is a perspective exploded view of the first external gear, the synchronizing land, and the second external gear shown in fig. 15C;

FIG. 17B is an exploded perspective view of the second external gear, output land and flange end cap shown in FIG. 15C;

FIG. 18 is a perspective view of the flanged end cap shown in FIG. 15C;

figure 19A is a perspective view of the first external gear shown in figure 15C;

figure 19B is a side elevational view of the first external gear illustrated in figure 19A;

FIG. 20A is a perspective view of the second external gear shown in FIG. 15C;

FIG. 20B is a cross-sectional view of the second external gear shown in FIG. 20A;

FIG. 21A is a perspective view of the output land shown in FIG. 15C;

FIG. 21B is a cross-sectional view of the output land shown in FIG. 21A;

FIG. 22A is a perspective view of the synchronizing land shown in FIG. 15C;

FIG. 22B is a cross-sectional view of the synchronizing land shown in FIG. 22A;

FIG. 23 is a perspective view of the cylindrical body of the transmission shown in FIG. 15C;

FIG. 24 is a perspective view of the output end cap shown in FIG. 15A;

FIG. 25 is a perspective view of the housing end cap shown in FIG. 15C;

FIG. 26A is a transverse axial cross-sectional view of the transmission shown in FIG. 15C;

FIG. 26B is a cross-sectional view A-A of the transmission shown in FIG. 26A;

fig. 26C is a cross-sectional B-B view of the transmission mechanism shown in fig. 26A.

Detailed Description

Various embodiments of the present application will now be described with reference to the accompanying drawings, which form a part hereof. It should be understood that although directional or orientational terms such as "left", "right", "front", "rear", "upper", "lower", "inner" and "outer" are used herein to describe various example structural portions and elements of the present application, these terms are used herein for convenience of description only and are to be determined based on example orientations shown in the drawings. Because the embodiments disclosed herein can be arranged in a variety of orientations, these directional terms are used for purposes of illustration only and are not to be construed as limiting. In the following drawings, like reference numerals are used for like parts.

Fig. 1A is a perspective view of a transmission mechanism 100 according to one embodiment of the present application as viewed from right to left, fig. 1B is a perspective view of the transmission mechanism 100 shown in fig. 1A as viewed from left to right, and fig. 1C is a cross-sectional view of the transmission mechanism 100 shown in fig. 1A to illustrate components in the transmission mechanism 100. As shown in fig. 1A-1C, the transmission 100 includes a housing assembly, an eccentric shaft 106, a flange assembly, an output coupling 114, a synchronizing coupling 115, a first external gear 112, a second external gear 116, a synchronizing coupling structure, and an output coupling structure (obscured from view in fig. 1A-1C). The housing device comprises an output end cover 103, a cylindrical main body 102 and a housing end cover 104 which are fixedly connected. The housing means is stationary. The flange arrangement comprises a fixedly connected flange inner ring gear 108 and a flange end cap 109. The flange device is configured to be rotatable. The first external gear 112 and the second external gear 116 are eccentrically disposed on the eccentric shaft 106 symmetrically with respect to the central axis of the eccentric shaft 106, and both mesh with the flanged ring gear 108. The synchronizing land 115 is disposed between the second external gear 116 and the first external gear 112, and connects the second external gear 116 and the first external gear 112 through a synchronizing connection structure. Through the connection of the synchronizing coupling 115 and the synchronizing coupling structure, the first external gear 112 and the second external gear 116 form a synchronizing external gear set. An output coupling 114 is disposed between the first external gear 112 and the housing end cover 104 and couples the first external gear 112 of the synchronous external gear set to the housing end cover 104 through an output coupling arrangement. The output connection is configured such that the first external gear 112 is driven by the eccentric shaft 106 to translate only relative to the housing end cap 104 and not rotate. The synchronous connection is configured such that the first external gear 112 and the second external gear 116 move in synchronization in the rotational direction, but can perform eccentric translation independently of each other. Since the first external gear 112 cannot rotate, the second external gear 116 cannot rotate either, and thus, in the present embodiment, the synchronous external gear set formed by the first external gear 112 and the second external gear 116 does not rotate. The first outer gear 112 and the second outer gear 116 of the synchronous outer gear set are capable of eccentric translational movement independently of each other and therefore are capable of transmitting power between the eccentric shaft 106 and the flange arrangement.

The specific structure of the components of the transmission 100 are described in detail below in conjunction with fig. 2A-14B:

fig. 2A to 2C show a specific structure of the eccentric shaft 106 in fig. 1C, in which fig. 2A is a perspective view of the eccentric shaft 106, fig. 2B is a side view of the eccentric shaft 106, and fig. 2C is an enlarged view of the eccentricity of the eccentric shaft 106. As shown in fig. 2A-2C, the eccentric shaft 106 comprises an eccentric shaft body. Which is substantially cylindrical and has an eccentric shaft centre axis X1. The drive mechanism is capable of driving the eccentric shaft 106 to rotate about its eccentric shaft central axis X1. As one example, the drive mechanism is a motor.

The eccentric shaft 106 is provided with a first eccentric portion 212 and a second eccentric portion 214 having the same eccentric amount but opposite eccentric directions. The first eccentric portion 212 is a circular ring shape eccentrically disposed with respect to the central axis X1 of the eccentric shaft 106. The first eccentric portion 212 forms a circumferential surface having a radius D1, having a central axis N1. The distance of the center axis N1 from the eccentric shaft center axis X1 is the eccentricity d. The second eccentric portion 214 is a circular ring shape eccentrically disposed with respect to the eccentric shaft center axis X1 of the eccentric shaft 106. The second eccentric portion 214 forms a circumferential surface having a radius D2 and has a central axis N2. The distance of the center axis N2 from the eccentric shaft center axis X1 is the eccentricity d. The central axis N1 of the first eccentric section 212 and the central axis N2 of the second eccentric section 214 are symmetrical with respect to the central axis X1 of the eccentric shaft 106. When the eccentric shaft 106 rotates about its eccentric shaft center axis X1, both the center axis N1 of the first eccentric section 212 and the center axis N2 of the second eccentric section 214 rotate about the eccentric shaft center axis X1.

Further, the eccentric shaft 106 is provided with a first isolation portion 213 and a second isolation portion 215. Wherein the first isolating part 213 is provided at the right side of the first eccentric part 212, and the second isolating part 215 is provided between the first and second

eccentric parts

212 and 214, so that a space can be provided in the axial direction to arrange the output land 114 and the synchronizing land 115, respectively.

Fig. 3A is a perspective exploded view of the first external gear 112, the output land 114, and the case cover 104 shown in fig. 1C. The output coupling 114 couples the first external gear 112 to the housing end cap 104 via an output coupling structure, thereby enabling linear movement of the first external gear 112 relative to the housing end cap 104. The output connection structure comprises a first group of output connection structures 310 and a second group of output connection structures 320, wherein the first group of output connection structures 310 is used for connecting the shell end cover 104 and the output connecting disc 114 and enabling relative linear motion to be generated between the output connecting disc 114 and the shell end cover 104, and the second group of output connection structures 320 is used for connecting the first external gear 112 and the output connecting disc 114 and enabling relative linear motion to be generated between the first external gear 112 and the output connecting disc 114.

Fig. 3B is a perspective view of the second external gear 116, the synchronizing land 115, and the first external gear 112 shown in fig. 1C. The synchronizing coupling 115 connects the second external gear 116 and the first external gear 112 to each other through a synchronizing coupling structure, and eccentrically translates the second external gear 116 and the first external gear 112 independently of each other. Wherein the synchronous connection structure includes a first group of synchronous connection structures 330 and a second group of synchronous connection structures 340, the first group of synchronous connection structures 330 can connect the first external gear 112 and the synchronous connection disc 115 and generate a relative linear motion between the first external gear 112 and the synchronous connection disc 115, and the second group of synchronous connection structures 340 can connect the synchronous connection disc 115 and the second external gear 116 and generate a relative linear motion between the synchronous connection disc 115 and the second external gear 116.

Fig. 4A and 4B show a specific structure of the first external gear 112 in fig. 1C, in which fig. 4A is a perspective view of the first external gear 112, and fig. 4B is a side view of the first external gear 112. As shown in fig. 4A-4B, the first external gear 112 includes a first external gear body 402. The first outer gear body 402 is generally annular and has a thickness. The first outer gear body 402 has a central axis N1 and has first outer teeth 412 on its outer periphery for meshing engagement with the flanged ring gear 108. More specifically, as first outer gear 112 moves, at least a portion of first outer teeth 412 can engage with flanged ring gear 108. The first outer gear body 402 is provided at the right side with two first projections 422 and at the left side with two second projections 432. Two first projections 422 are formed extending rightward along the center axis N1 from the right side of the first external gear body 402, and two second projections 432 are formed extending leftward along the center axis N1 from the left side of the first external gear body 402. The two first protrusions 422 are disposed respectively forward and rearward of the central axis N1, and are arranged symmetrically with respect to the central axis N1. The two second projecting portions 432 are provided above and below the central axis N1, respectively, and are arranged symmetrically with respect to the central axis N1. In other words, two first projections 422 and two second projections 432 are arranged spaced apart from each other about the central axis N1, and adjacent two first projections 422 and second projections 432 are arranged at 90 ° therebetween.

Fig. 5A and 5B show a specific structure of the second external gear 116 in fig. 1C, in which fig. 5A is a perspective view of the second external gear 116, and fig. 5B is a sectional view of the second external gear 116. As shown in fig. 5A-5B, the second external gear 116 includes a second external gear body 502. The second outer gear body 502 is generally annular and has a thickness. The second external gear body 502 has a central axis N2 with second external teeth 512 on its periphery for meshing with the flanged ring gear 108. More specifically, at least a portion of the second external teeth 512 can engage the flanged ring gear 108 when the second external gear 116 is moved. The right side of the second external gear body 502 is provided with two fourth projections 542. Two fourth projections 542 are formed extending rightward along the center axis N2 from the right side of the second outer gear body 502. The two fourth projecting portions 542 are provided above and below the central axis N2, respectively, and are arranged symmetrically with respect to the central axis N2.

Fig. 6 is a perspective view of the housing end cap 104 shown in fig. 1C, and as shown in fig. 6, the housing end cap 104 includes a housing end cap body 602. The housing end cap body 602 is generally annular and has a thickness. The housing end cap body 602 has a housing end cap central axis X2 with two third tabs 612 on the left side. Two third tabs 612 are formed extending leftward from the left side of the shell end cover body 602 along the central axis X2 of the shell end cover 104. The two third tabs 612 are disposed above and below the central axis X2 of the shell end cap 104, respectively, and are symmetrically arranged about the shell end cap central axis X2.

Fig. 7A and 7B show a specific structure of the output land 114 in fig. 1C, in which fig. 7A is a perspective view of the output land 114, and fig. 7B is a sectional view of the output land 114. As shown in fig. 7A-7B, output land 114 is generally disk-shaped having a central aperture 702 and having an output land central axis M1. The radial dimension of the central hole 702 is greater than the radial dimension of the first separation 213 on the eccentric shaft 106, so that the output connection disc 114 can be slipped over the first separation 213 of the eccentric shaft 106 through the central hole 702 and the output connection disc 114 does not come into contact with the eccentric shaft 106 in the assembled state of the transmission 100 and during the movement of the output connection disc 114 and the eccentric shaft 106. The output land 114 is further provided with two first concave portions 714 for receiving the first convex portions 422, respectively, and two third concave portions 712 for receiving the third convex portions 612, respectively. The first and third recessed

portions

714 and 712 each penetrate the output land 114 in the axial direction of the output land 114. In the circumferential direction, two third recessed portions 712 and two first recessed portions 714 are provided at regular intervals.

As can be seen from fig. 3A, the two third convex portions 612 and the two third concave portions 712 form a first group output connection structure 310 that can connect the first external gear 112 and the output land 114 and enable relative linear motion to be generated between the first external gear 112 and the output land 114. The two first protrusions 422 and the two first recesses 714 form a second set of output connection structures 320 that are capable of connecting the output land 114 with the housing end cap 104 and enabling relative linear movement between the output land 114 and the housing end cap 104. By providing the first group of output connection structures 310 and the second group of output connection structures 320, the direction of the relative linear motion between the first external gear 112 and the output land 114 can be made perpendicular to the direction of the relative linear motion between the output land 114 and the case cover 104. In some embodiments, the first set of output connections 310 and the second set of output connections 320 are each linear slider mechanisms formed by the cooperation of a slider formed by a protrusion and a slot formed by a depression in the first set of output connections 310/the second set of output connections 320.

More specifically, as shown in fig. 7A, 7B and 13B in conjunction, the third projecting portion 612 and the third recessed portion 712 forming the first group output connecting structure 310 constitute a slider and a slide groove in the linear slider mechanism, respectively, and the third projecting portion 612 is capable of linear movement in the third recessed portion 712 in a first direction (up-down direction shown by arrow BH in fig. 13B) with respect to the third recessed portion 712, but is incapable of linear movement in a second direction (left-right direction shown by arrow BW in fig. 13B) perpendicular to the first direction with respect to the third recessed portion 712. To this end, the third projection 612 is substantially square-shaped having a pair of short sides extending along the first direction BH and a pair of long sides extending substantially along the second direction BW. The third concave portion 712 is also formed in a substantially square block shape, and also has a pair of short sides extending along the first direction BH and a pair of long sides extending substantially along the second direction BW. A dimension H1 of a pair of short sides of the third protrusion 612 extending in the first direction BH is smaller than a dimension H2 of a pair of short sides of the third recess 712 extending in the first direction BH, but a dimension W1 of a pair of long sides of the third protrusion 612 extending in the second direction is substantially equal to a dimension W2 of a pair of long sides of the third recess 712 extending in the second direction. Thus, the third projecting portion 612 and the third recessed portion 712 constitute a linear slider mechanism in which a pair of short sides of the third recessed portion 712 define a slide groove, and the third projecting portion 612 constitutes a slider that moves along the slide groove. Via this linear slider mechanism, the third convex portion 612 is able to perform linear motion in the first direction BH with respect to the third concave portion 712, and thereby relative linear motion in the first direction BH is enabled between the case end cap 104 connected to the third convex portion 612 and the output land 114 provided with the third concave portion 712. Further, the third protrusion 612 and the third recess 712 are also sized such that the distance of relative linear motion between the housing cover 104 and the output connection disc 114 is related to the amount of eccentricity of the two eccentrics on the eccentric shaft 106.

Still referring to fig. 7A, 7B and 13B, the first protrusion 422 and the first recess 714 forming the second group of output connection structures 320 are similar in structure to the third protrusion 612 and the third recess 712, respectively, except that the first protrusion 422 is rotated 90 degrees with respect to the third protrusion 612 and the first recess 714 is rotated 90 degrees with respect to the third recess 712. Thereby, the first convex portion 422 can perform linear motion in the second direction BW with respect to the first concave portion 714, and thus relative linear motion in the second direction BW can be generated between the first external gear 112 connected to the first convex portion 422 and the output land 114 provided with the first concave portion 714. And therefore, the direction of the relative linear motion between the first external gear 112 and the output land 114 is perpendicular to the direction of the relative linear motion between the output land 114 and the case cover 104.

Fig. 8A and 8B show a specific structure of the synchronization land 115 shown in fig. 1C, wherein fig. 8A is a perspective view of the synchronization land 115 and fig. 8B is a sectional view of the synchronization land 115. As shown in fig. 8A-8B, synchronization pad 115 is generally disk-shaped, having a central aperture 802, and having a synchronization pad central axis M2. The size of the central hole 802 is larger than the size of the second spacer 215, so that the synchronization connection disc 115 can be fitted over the second spacer 215 of the eccentric shaft 106 through the central hole 802, and the synchronization connection disc 115 does not contact the eccentric shaft 106 in the assembled state of the transmission mechanism 100 and during the movement of the synchronization connection disc 115 and the eccentric shaft 106. The synchronization land 115 is further provided with two second concave portions 812 respectively receiving the two second convex portions 432, and two fourth concave portions 814 respectively receiving the two fourth convex portions 542. The second concave portion 812 and the fourth concave portion 814 each penetrate the synchronizing land 115 in the axial direction of the synchronizing land 115. In the circumferential direction, two second concave portions 812 and two fourth concave portions 814 are provided at regular intervals.

As can be seen from fig. 3B, the two second convex portions 432 and the two second concave portions 812 form a first group of synchronous coupling structures 330 that can couple the first external gear 112 and the synchronous coupling disk 115 and generate a relative linear motion between the first external gear 112 and the synchronous coupling disk 115. The two fourth protrusions 542 and the two fourth recesses 814 form a second group synchronizing coupling structure 340 capable of coupling the synchronizing land 115 and the second external gear 116 and generating a relative linear motion between the synchronizing land 115 and the second external gear 116. By providing the first and second sets of

synchronous connection structures

330 and 340, the direction of the relative linear motion between the first external gear 112 and the synchronous coupling disk 115 can be made perpendicular to the direction of the relative linear motion between the synchronous coupling disk 115 and the second external gear 116. In some embodiments, the first set of synchronization connection structures 330 and the second set of synchronization connection structures 340 are linear slider mechanisms formed by mating male and female portions of the first set of synchronization connection structures 330/the second set of synchronization connection structures 340, respectively. Referring to fig. 13C, the first group of synchronous connection structures 330 and the second group of synchronous connection structures 340 are similar to the first group of output connection structures 310 and the second group of output connection structures 320, respectively, and are not repeated herein.

Fig. 9 is a perspective view of flanged ring gear 108 shown in fig. 1C. As shown in fig. 9, flanged ring gear 108 is generally annular, having a ring gear central axis X3. The flanged ring gear 108 has a hollow 912 that extends axially through the flanged ring gear 108. The flanged ring gear 108 is sleeved on the first outer gear 112 and the second outer gear 116 through the hollow portion 912. The inner wall of the flanged inner gear ring 108 is provided with a first row of inner teeth 902 and a second row of inner teeth 904 for meshing with the first outer teeth 412 of the first outer gear 112 and the second outer teeth 512 of the second outer gear 116, respectively. As one example, the internal teeth 902 are formed from needle rollers.

It is to be understood that, although the first row of internal teeth 902 and the second row of internal teeth 904 on the inner wall of the flange ring gear 108 are used to mesh with the first external teeth 412 of the first external gear 112 and the second external teeth 512 of the second external gear 116, respectively, in other examples, since the number of teeth of the first row of internal teeth 902 and the second row of internal teeth 904 is the same, the first row of internal teeth 902 and the second row of internal teeth 904 may also be a row of internal teeth having a wider dimension in the axial direction for meshing with the first external teeth 412 of the first external gear 112 and the second external teeth 512 of the second external gear 116.

Fig. 10 is a perspective view of the flange end cover 109 shown in fig. 1C. The flange end cover 109 is generally annular and has a flange end cover central axis X4. The flange end cover 109 is arranged on the left side of the flange inner gear ring 108 and is connected with the flange inner gear ring 108. In the embodiment of the application, the flange end cover 109 is connected with the flange inner gear ring 108 through bolts.

Fig. 11 is a perspective view of the output cap 103 shown in fig. 1A. As shown in fig. 11, the output cap 103 is generally ring-shaped and has a housing central axis X5. The output cap 103 has a hollow portion 1012 that penetrates the output cap 103 in the axial direction. The output end cover 103 is sleeved on the flange ring gear 108 through the hollow part 1012. The output end cap 103 cooperates with the flange ring gear 108 and the cylindrical body 102 to form a first annular space for mounting a bearing 131 (see fig. 1C). In the embodiment of the present application, the output cover 103 is connected to the cylindrical body 102 by bolts.

Fig. 12 is a perspective view of the tubular body 102 shown in fig. 1C. As shown in fig. 12, the cylindrical body 102 is substantially annular and has a cylindrical body center axis X6. The cylindrical body 102 has a hollow part 1022 for accommodating the flanged ring gear 108, and the flanged ring gear 108 is disposed inside the cylindrical body 102 through the bearing 131 and the bearing 132 (see fig. 1C). With the tubular body 102 fixed, the flanged ring gear 108 can rotate about the tubular body central axis X6. The output end cap 103, the flange inner gear 108 and the cylindrical body 102 cooperate to form a first annular space for mounting the connecting bearing 131. The cylindrical body 102 cooperates with the flange ring gear 108 and the housing end cap 104 to form a second annular space for mounting the connecting bearing 132. In the embodiment of the present application, the cylindrical body 102 is connected to the case cover 104 and the output cover 103 by bolts.

Fig. 13A is a vertical axial cross-sectional view of the transmission 100 shown in fig. 1C. Fig. 13B is a sectional view a-a of the transmission mechanism 100 shown in fig. 13A, illustrating the specific mating relationship of the male and female portions in the first set of synchronizing connecting structures 330 and the second set of synchronizing connecting structures 340, and fig. 13C is a sectional view B-B of the transmission mechanism 100 shown in fig. 13A, illustrating the specific mating relationship of the male and female portions in the first set of output connecting structures 310 and the second set of output connecting structures 320. As shown in fig. 13A-13C, when the transmission mechanism 100 is assembled in place, the eccentric shaft central axis X1, the housing end cover central axis X2, the flange ring gear central axis X3, the flange end cover central axis X4, the output end cover central axis X5, and the cylindrical body central axis X6 are coaxially arranged. The first and second

external gears

112 and 116 are fitted over the first and second

eccentric portions

212 and 214, respectively. The output land 114 is disposed around the first isolation portion 213 and does not contact the first isolation portion 213. The synchronization land 115 is disposed around the second isolation portion 215 and does not contact the second isolation portion 215. The first external gear 112 and the housing cover 104 are connected by an output connection plate 114, and the second external gear 116 and the first external gear 112 are connected by a synchronization connection plate 115.

The second external gear 116 has the same number of teeth as the first external gear 112 but has a difference in number of teeth (for example, the difference in number of teeth is 1) from the flanged ring gear 108, and when the transmission mechanism 100 operates as a reduction mechanism, the power transmission relationship thereof is substantially as follows:

the eccentric shaft 106 is connected to a drive mechanism (not shown) and the flange end caps 109 of the flange unit are connected to the unit to be driven. The driving mechanism drives the eccentric shaft 106 to rotate. Since the housing cover 104 is fixed, when the eccentric shaft 106 rotates, the first external gear 112 drives the output connection disc 114 to move together in the up-down direction with respect to the housing cover 104, but the first external gear 112 moves in the front-back direction with respect to the output connection disc 114, so that a movement mode is formed in which the first external gear 112 can perform translational movements in the up-down, front-back and front-back directions, but cannot rotate with respect to the housing cover 104.

The second external gear 116 and the first external gear 112 are connected by the synchronizing land 115, and when the eccentric shaft 106 rotates, the first external gear 112 moves in the up-down direction with respect to the synchronizing land 115 while the first external gear 112 brings the synchronizing land 115 together to move in the front-rear direction with respect to the second external gear 116, the second external gear 116 moves in the front-rear direction with respect to the synchronizing land 115 while the second external gear 116 brings the synchronizing land 115 together to move in the up-down direction with respect to the first external gear 112. Therefore, the first external gear 112 and the second external gear 116 can perform independent up-down, front-back and back translation when the eccentric shaft 106 rotates, but do not rotate relatively.

And because the first external gear 112 and the second external gear 116 are meshed with the flange inner gear 108 at the same time, when the eccentric shaft 106 rotates for one circle, the first external gear 112 and the second external gear 116 are driven to make a translation circle independently, and simultaneously, because the difference of the number of teeth of the internal and external gears is one, the flange inner gear 108 and the eccentric shaft 106 are pushed together to rotate for one tooth in the same direction, and low-speed power is output through the flange end cover 109 connected with the flange inner gear 108.

The calculation mode of the speed reduction ratio when the transmission mechanism is used as a speed reduction mechanism is as follows:

wherein n is₂The number of teeth of the flanged ring gear 108, n₁The number of teeth of the first external gear 112 and the second external gear 116.

Fig. 14A and 14B show another embodiment of a synchronous connection structure/output connection structure in the form of a linear slider mechanism, in which fig. 14A is a perspective exploded view of another embodiment of a synchronous connection structure/output connection structure in the form of a linear slider mechanism, and fig. 14B is a sectional view of the synchronous connection structure/output connection structure shown in fig. 14A. While the synchronous coupling structure is illustrated in fig. 14A to 14B by taking the first external gear 112, the second external gear 116, and the synchronous coupling disk 115 as an example, those skilled in the art will appreciate that the output coupling structure can be realized by the same mechanism. As shown in fig. 14A-14B, the synchronization pad 115 is substantially rectangular parallelepiped and substantially square in cross section, having a first pair of

edges

1411 and 1413 extending substantially in a first direction BH (i.e., up-down direction in fig. 14A), and a second pair of

edges

1412 and 1414 extending substantially in a second direction BW (i.e., front-back direction in fig. 14A). The first outer gear 112 is provided with a first slide channel 1420 formed by the two guide blocks 442. Two guide blocks 442 are formed extending leftward along the center axis N1 from the left side of the first external gear body 402. The two guide pieces 442 are disposed respectively forward and rearward of the center axis N1, and are arranged symmetrically with respect to the center axis N1. The mutually facing inner side surfaces of the two guide blocks 442 extend substantially along the first direction BH and define said first sliding channel 1420. The first slide groove 1420 can receive the synchronization land 115, and the width of the first slide groove 1420 in the second direction BW is set to be substantially the same as the distance between the first pair of

edges

1411 and 1413 of the synchronization land 115, so that the first external gear 112 can move linearly in the up-down direction (i.e., the first direction BH) with respect to the synchronization land 115 when the synchronization land 115 is fitted in place. The second external gear 116 is provided with a second sliding slot 1440 formed by two guide blocks 552. Two guide blocks 552 are formed extending rightward along the center axis N2 from the right side of the second outer gear body 502. The two guide blocks 552 are provided above and below the center axis N2, respectively, and are arranged symmetrically with respect to the center axis N2. The mutually facing inner side surfaces of the two guide blocks 552 extend substantially in the second direction BW and define said second sliding groove 1440. The second sliding groove 1440 can receive the synchronizing land 115, and the width of the second sliding groove 1440 in the first direction BH is set to be substantially the same as the distance between the second pair of

edges

1412 and 1414 of the synchronizing land 115, so that the second external gear 116 can move linearly in the front-rear direction (i.e., the second direction BW) with respect to the synchronizing land 115 when the synchronizing land 115 is fitted in place. That is, in this embodiment, the first group of synchronous coupling structures formed by the slider constituted by the synchronous coupling disk 115 and the first slide groove 1410 on the first external gear 112 and the second group of synchronous coupling structures formed by the slider constituted by the synchronous coupling disk 115 and the second slide groove 1440 on the second external gear 116 are also linear slider mechanisms, respectively.

Fig. 15A-15C illustrate a transmission 1500 according to another embodiment of the present application, where fig. 15A is a perspective view of the transmission 1500 looking from right to left, fig. 15B is a perspective view of the transmission 1500 looking from left to right, and fig. 15C is a cross-sectional view of the transmission 1500. As shown in fig. 15A-15C, the transmission 1500 includes a housing arrangement, a flange arrangement, an eccentric shaft 1506, a flange cap 1509, an output connection disc 1514, a synchronization connection disc 1515, a first external gear 1512, a second external gear 1516, synchronization connection structure, and output connection structure (obscured from view in fig. 15A-15C)). The housing device comprises an output end cover 1503, a cylindrical main body 1502 and a housing end cover 1504 which are fixedly connected, wherein the cylindrical main body 1502 comprises internal teeth arranged inside. The housing means is stationary. The flange arrangement includes a flange end cap 1509. The flange end cap 1509 is configured to be rotatable. The first external gear 1512 and the second external gear 1516 are eccentrically disposed on the eccentric shaft 1506 symmetrically with respect to the central axis of the eccentric shaft, and both mesh with the internal teeth of the cylindrical main body 1502. The synchronizing connection disk 1515 is disposed between the second external gear 1516 and the first external gear 1512, and connects the second external gear 1516 and the first external gear 1512 by a synchronizing connection structure. Through the connection of the synchronizing coupling 1515 and the synchronizing coupling structure, the first external gear 1512 and the second external gear 1516 form a synchronizing external gear set. An output connection disk 1514 is disposed between the first external gear 1512 and the flanged end cap 1509 and connects the first external gear 1512 to the flanged end cap 1509 via an output connection such that the first external gear 1512 is linearly movable relative to the flanged end cap 1509. The output connection is configured such that the first external gear 1512 is linearly movable relative to the flange end 1509 under drive from the eccentric shaft 106. The synchronous connection is configured such that the first external gear 1512 and the second external gear 1516 move in a rotational direction in synchronism, but are capable of independent eccentric translational movement relative to each other. In the present embodiment, the synchronous external gear set formed by the first external gear 112 and the second external gear 116 is rotated synchronously.

In summary, the primary difference between the transmission 1500 shown in fig. 15A-15C and the transmission 100 shown in fig. 1A-1C is that the synchronizing external gear set of the transmission 100 is meshed with the flange arrangement and the output land connects the synchronizing external gear set with the housing arrangement, while the synchronizing external gear set of the transmission 1500 is meshed with the housing arrangement and the output land connects the synchronizing external gear set with the flange arrangement. The transmission 1500 is similar to the transmission 100 in that a similar synchronizing coupling and synchronizing coupling structure is used to effect coupling between the two external gears such that the two external gears are synchronized in the direction of rotation (synchronous rotation or synchronous non-rotation) but perform eccentric translation independently of each other, and a similar output coupling and output coupling structure is used to effect output of torque from the synchronized external gear sets.

The specific structure of each component in the transmission 1500 is detailed below:

fig. 16A to 16C show a specific structure of the eccentric shaft 1506 in fig. 15C, in which fig. 16A is a perspective view of the eccentric shaft 1506, fig. 16B is a side view of the eccentric shaft 1506, and fig. 16C is an enlarged view of the eccentricity of the eccentric shaft 1506. As shown in fig. 16A-16C, the eccentric shaft 1506 includes an eccentric shaft body. Which is substantially cylindrical and has an eccentric shaft centre axis X1. The drive mechanism is capable of driving the eccentric shaft 1506 to rotate about its eccentric shaft central axis X1. As one example, the drive mechanism is a motor.

The eccentric shaft 1506 is provided with a first eccentric portion 1212 and a second eccentric portion 1214 having the same eccentric amount but opposite eccentric directions. The first eccentric portion 1212 is a circular ring shape eccentrically disposed with respect to the central axis X1 of the eccentric shaft 1506. The first eccentric portion 1212 forms a circumferential surface having a radius D1 and has a central axis N1. The distance of the center axis N1 from the eccentric shaft center axis X1 is the eccentricity d. The second eccentric portion 1214 is a circular ring shape eccentrically disposed with respect to the eccentric shaft center axis X1 of the eccentric shaft 1506. The second eccentric portion 1214 forms a circumferential surface having a radius D2, having a central axis N2. The distance of the center axis N2 from the eccentric shaft center axis X1 is the eccentricity d. The central axis N1 of the first eccentric section 1212 and the central axis N2 of the second eccentric section 1214 are symmetrical with respect to the central axis X1 of the eccentric shaft 106. When the eccentric shaft 1506 rotates about its eccentric shaft central axis X1, the central axis N1 of the first eccentric section 1212 and the central axis N2 of the second eccentric section 1214 each rotate about the eccentric shaft central axis X1.

In addition, a first partition 1213 and a second partition 1215 are provided on the eccentric shaft 1506. Wherein the second isolating part 1215 is provided between the first eccentric part 1212 and the second eccentric part 1214, and the first isolating part 1213 is provided on the left side of the first eccentric part 1212, so that a space can be provided in the axial direction to arrange the output land 1514 and the synchronizing land 1515, respectively.

Fig. 17A is a perspective exploded view of the first external gear 1512, the synchronizing land 1515, and the second external gear 1516 shown in fig. 15C. The synchronizing coupling 1515 connects the first external gear 1512 and the second external gear 1516 to each other via a synchronizing coupling structure, and causes the first external gear 1512 and the second external gear 1516 to perform eccentric translation independently of each other. Wherein the synchronous connection structure comprises a first group of synchronous connection structures 1330 and a second group of synchronous connection structures 1340, the first group of synchronous connection structures 1330 can connect the first external gear 1512 and the synchronous connection disc 1515 and enable the first external gear 1512 and the synchronous connection disc 1515 to generate relative linear motion, and the second group of synchronous connection structures 1340 can connect the synchronous connection disc 1515 and the second external gear 1516 and enable the synchronous connection disc 1515 and the second external gear 1516 to generate relative linear motion.

Fig. 17B is an exploded perspective view of the first external gear 1512, the output connection disk 1514 and the flanged end cap 1509 shown in fig. 15C. The output connection disk 1514 connects the flange end cap 1509 with the first external gear 1512 by an output connection structure, thereby enabling linear movement of the first external gear 1512 relative to the flange end cap 1509. The output connection structures comprise a first group of output connection structures 1310 and a second group of output connection structures 1320, wherein the first group of output connection structures 1310 can connect the flange end cover 1509 and the output connecting disc 1514 and enable relative linear motion to be generated between the flange end cover 1509 and the output connecting disc 1514, and the second group of output connection structures 1320 can connect the output connecting disc 1514 and the first external gear 1512 and enable relative linear motion to be generated between the output connecting disc 1514 and the first external gear 1512.

Figure 18 is a perspective view of the flanged end 1509 shown in figure 15C. As shown in fig. 18, the flange end cap 1509 includes a flange end cap body 1802. The flange end cap body 1802 is generally annular and has a thickness. The flange end cover body 1802 has a flange end cover central axis X2 with two first tabs 1804 provided on the right side thereof. Two first tabs 1804 are formed extending rightward from the right side of the flanged end cover body 1802 along the flanged end cover central axis X2. The two first tabs 1804 are disposed respectively forward and rearward of the flange end cover central axis X2 and are symmetrically disposed about the flange end cover central axis X2.

Fig. 19A and 19B show a specific structure of the first external gear 1512 in fig. 15C, in which fig. 19A is a perspective view of the first external gear 1512, and fig. 19B is a side view of the first external gear 1512. As shown in fig. 19A-19B, the first external gear 1512 includes a first external gear body 1502. The first outer gear body 1502 is generally annular and has a thickness. The first external gear body 1502 has a center axis N1, and its outer periphery has first external teeth 1513 for meshing with the cylindrical main body 1502. More specifically, when the first external gear 1512 moves, at least a portion of the first external teeth 1513 can mesh with the cylindrical body 1502. The left side of the first external gear body 1502 is provided with two second projecting portions 1532. Two second projecting portions 1532 are formed extending leftward from the left side of the first external gear body 1502 along the center axis N2. The two second protrusions 1532 are disposed above and below the central axis N2, respectively, and are arranged symmetrically with respect to the central axis N1. Two third protrusions 1542 are provided on the right side of the first external gear body 1502. Two third protrusions 1542 are formed extending rightward from the right side of the first external gear body 1502 along the center axis N1. The two third protrusions 1542 are disposed respectively forward and rearward of the central axis N2, and are symmetrically arranged about the central axis N1.

Fig. 20A and 20B show a specific structure of the second external gear 1516 in fig. 15C, in which fig. 20A is a perspective view of the second external gear 1516, and fig. 20B is a sectional view of the second external gear 1516. As shown in fig. 20A-20B, the second external gear 1516 includes a second external gear body 1402. The second outer gear body 1402 is generally annular and has a thickness. The second outer gear body 1402 has a center axis N2, and has second outer teeth 1422 on its outer periphery for meshing with the cylindrical main body 1502. More specifically, as the second external gear 1516 moves, at least a portion of the second external teeth 1422 can mesh with the cylindrical body 1502. The left side of the second external gear body 1402 is provided with two fourth protrusions 1432. Two fourth protrusions 1432 are formed extending leftward along the center axis N2 from the left side of the second external gear body 1402. The two fourth protrusions 1432 are provided above and below the central axis N2, respectively, and are arranged symmetrically with respect to the central axis N2.

Fig. 21A and 21B show a specific structure of the output land 1514 in fig. 1C, in which fig. 21A is a perspective view of the output land 1514 and fig. 21B is a sectional view of the output land 1514. As shown in fig. 21A-21B, the output land 1514 is generally disc-shaped having a central aperture 1702 and having an output land central axis M1. The radial dimension of central bore 1702 is greater than the radial dimension of first partition 1213 on eccentric shaft 1506, such that output interface disk 1514 can fit over first partition 1213 of eccentric shaft 1506 through central bore 1702, and output interface disk 1514 does not contact eccentric shaft 1506 in the assembled state of drive mechanism 100 and during movement of output interface disk 1514 and eccentric shaft 1506. The output land 1514 is further provided with two first recesses 1712 for receiving the two first protrusions 1804, respectively, and two second recesses 1714 for receiving the two second protrusions 1532, respectively. The first concave portion 1712 and the second concave portion 1714 each penetrate the output land 1514 in the axial direction of the output land 1514. In the circumferential direction, two first concave portions 1712 and two second concave portions 1714 are arranged at regular intervals.

As can be seen in fig. 17B, the two first protrusions 1804 and the two first recesses 1712 form a first set of output connection structures 1310 capable of connecting the flange cover 1509 and the output land 1514 and enabling relative linear movement between the flange cover 1509 and the output land 1514. The two second convex portions 1532 and the two second concave portions 1714 form a second group output connection 1320 capable of connecting the output land 1514 and the first external gear 1512 and enabling relative linear motion between the output land 1514 and the first external gear 1512. By providing the first and second sets of

output connection structures

1310 and 1320, the direction of relative linear motion between the flange end cap 1509 and the output land 1514 can be made perpendicular to the direction of relative linear motion between the output land 1514 and the first external gear 1512. In some embodiments, the first set of output connections 1310 and the second set of output connections 1320 are each linear bearing mechanisms formed by the cooperation of a slider formed by a protrusion in the first set of output connections 1310/the second set of output connections 1320, a runner formed by a recess, and a roller disposed between the slider and the runner.

More specifically, as shown in connection with fig. 18, 21A, 21B, and 26B, the first protrusion 1804 and the first recess 1712 that form the first set of output connections 1310 form a slider and a runner, respectively, in a linear bearing mechanism, and the first set of output connections 1310 also include a roller 2610 disposed between the first protrusion 1804 and the first recess 1712. The first convex portion 1804 is capable of linear movement in the second direction (the left-right direction as indicated by arrow BW in fig. 26B) with respect to the first concave portion 1712 in the first concave portion 1712, but is incapable of linear movement in the first direction (the up-down direction as indicated by arrow BH in fig. 26B) perpendicular to the second direction with respect to the first concave portion 1712. To this end, the first projection 1804 is generally block-shaped, having a pair of short sides extending along the second direction BW and a pair of long sides extending generally along the first direction BH. The first concave portion 1712 is also formed in a substantially block shape, and also has a pair of short sides extending along the second direction BW and a pair of long sides extending substantially along the first direction BH. A dimension W1 of a pair of short sides of the first protrusion 1804 extending in the second direction BW is smaller than a dimension W2 of a pair of short sides of the first recess 1712 extending in the second direction BW, and a dimension H1 of a pair of long sides of the first protrusion 1804 extending in the first direction BH is also smaller than a dimension H2 of a pair of long sides of the first recess 1712 extending in the first direction BH. A pair of short sides of the first protrusion 1804 are adjacent to a pair of short sides of the first recess 1712, respectively, and a roller 2610 is provided therebetween, respectively. Thus, the first convex portion 1804, the first concave portion 1712, and the roller 2610 constitute a linear bearing mechanism, wherein a pair of short sides of the first concave portion 1712 define a slide groove, the first convex portion 1804 constitutes a slider, and the slider and the slide groove are in contact with each other through the roller 2610, so that the slider can move along the slide groove, and at the same time, the slider and the slide groove have a small frictional force therebetween. Via this linear slider mechanism, the first convex portion 1804 is capable of linear movement in the second direction BW relative to the first concave portion 1712, and thereby the relative linear movement in the second direction BW is enabled between the flange cover 1509 connected to the first convex portion 1804 and the output land 1514 provided with the first concave portion 1712.

Still referring to fig. 18, 21A, 21B and 26B, the second protrusion 1532 and the second recess 1714 forming the second group of output connection structures 1320 are similar in structure to the first protrusion 1804 and the first recess 1712, respectively, except that the second protrusion 1532 is rotated 90 degrees with respect to the first protrusion 1804 and the second recess 1714 is rotated 90 degrees with respect to the first recess 1712. Thereby, the second protrusion 1532 is linearly movable in the first direction BH with respect to the second recess 1714, and thereby a relative linear movement in the first direction BH is allowed to be generated between the first external gear 1512 connected to the second protrusion 1532 and the output land 1514 provided with the second recess 1714. And thus the direction of relative linear motion between the first external gear 1512 and the output connection disk 1514 is perpendicular to the direction of relative linear motion between the output connection disk 1514 and the flange end cap 1509.

Fig. 22A and 22B show a specific structure of the synchronizing land 1515 in fig. 15C, in which fig. 22A is a perspective view of the synchronizing land 1515 and fig. 22B is a sectional view of the synchronizing land 1515. As shown in fig. 22A-22B, synchronizing pad 1515 is generally disk-shaped having a central aperture 1802 and having a synchronizing pad central axis M2. The radial dimension of the central bore 1802 is greater than the radial dimension of the second partition 1215, so that the synchronization connection disc 1515 can be slipped over the second partition 1215 of the eccentric shaft 1506 through the central bore 1802 and the synchronization connection disc 1515 does not come into contact with the eccentric shaft 1506 in the assembled state of the transmission 1500 and during the movement of the synchronization connection disc 1515 and the eccentric shaft 1506. The synchronizing land 1515 is further provided with two third concave portions 1814 for receiving the two third convex portions 1542, respectively, and two fourth concave portions 1812 for receiving the two fourth convex portions 1432, respectively. The third recessed portion 1814 and the fourth recessed portion 1812 each penetrate the synchronizing land 1515 in the axial direction of the synchronizing land 1515. In the circumferential direction, two third recessed portions 1814 and two fourth recessed portions 1812 are provided at regular intervals.

As can be seen from fig. 17B and 26C, the two third protrusions 1542, the two third recesses 1814, and the rollers 2620 disposed between the third protrusions 1542 and the third recesses 1814 form a first set of synchronizing coupling structures 1330 capable of coupling the first external gear 1512 and the synchronizing coupling 1515 and generating a relative linear motion between the first external gear 1512 and the synchronizing coupling 1515. The two fourth protrusions 1432, the two fourth recesses 1812, and the rollers 2620 disposed between the fourth protrusions 1432 and the fourth recesses 1812 form a second set of synchronizing connection structures 1340 capable of connecting the synchronizing land 1515 and the second external gear 1516 and generating a relative linear motion between the synchronizing land 1515 and the second external gear 1516. The direction of the relative linear motion between the first external gear 1512 and the synchronization connection disc 1515 can be made perpendicular to the direction of the relative linear motion between the synchronization connection disc 1515 and the second external gear 1516 by providing the first group 1330 and the second group 1340 of synchronization connection structures. In some embodiments, the first set of synchronizing connections 1330 and the second set of synchronizing connections 1340 are each linear bearing mechanisms formed by the mating of the protrusions, recesses, and rollers disposed between the protrusions and recesses of the first set of synchronizing connections 1330/second set of synchronizing connections 1340. Referring to fig. 26C, the first set of synchronization connection structures 1330 and the second set of synchronization connection structures 1340 are similar to the first set of output connection structures 1310 and the second set of output connection structures 1320, respectively, and are not repeated herein.

It can be seen that the output connection/synchronous connection in the form of a linear bearing mechanism and the output connection/synchronous connection in the form of a linear slider mechanism both achieve relative linear motion between the two parts to which they are connected by linear motion of the slider along the slide way, in contrast to the linear bearing mechanism in which a roller is added to reduce the friction between the slider and the slide way. According to the present application, either the transmission mechanism 100 shown in fig. 1A-1C or the transmission mechanism 1500 shown in fig. 15A-15C may employ an output connection/synchronization connection in the form of a linear slider mechanism or an output connection/synchronization connection in the form of a linear bearing mechanism. Further, the specific formation manner of the linear slider mechanism and the linear bearing mechanism is not limited to the specific structure disclosed in the present application.

Fig. 23 is a perspective view of the cylindrical body 1502 of the transmission mechanism 1500 shown in fig. 15C. As shown in fig. 23, the cylindrical body 1502 has a substantially annular shape and a cylindrical body center axis X3. The cylindrical body 1502 has a recess 2312, and the recess 2312 is provided through the cylindrical body 1502. The cylindrical body 1502 fits over the first external gear 1512, the second external gear 1516, the output land 1514 and the synchronizing land 1515 via the recess 2312. The middle of the wall of the recess 2312 is provided with internal teeth 2302 capable of meshing with the first and second

external gears

1512, 1516. The output land 1514 and the synchronizing land 1515 are not in contact with the cylindrical body 1502.

Fig. 24 is a perspective view of the outlet end cap 1503 shown in fig. 14A. As shown in fig. 24, output end cap 1503 is generally ring-shaped and has a housing central axis X4. The outlet cover 1503 is provided on the left side of the cylindrical body 1502. The output end cap 1503 has a hollow portion 2412 that penetrates the output end cap 1503 in the axial direction. Output end cap 1503 is sleeved on flange end cap 1509 through hollow part 2412.

Fig. 25 is a perspective view of the housing end cap 1504 shown in fig. 15C. The housing end cap 1504 is generally annular and has a flange end cap central axis X5. A case end cover 1504 is provided on the right side of the cylindrical body 1502, and is connected to the cylindrical body 1502 by bolts.

Fig. 26A to 26C show an assembly structure of the transmission mechanism 1500 in fig. 15C, in which fig. 26A is a transverse axial sectional view of the transmission mechanism 1500, fig. 26B is a sectional view a to a of the transmission mechanism 1500 shown in fig. 26A for showing a specific fitting relationship of the convex portions and the concave portions in the first group output connection structure 1310 and the second group output connection structure 1320, and fig. 26C is a sectional view B to B of the transmission mechanism 1500 shown in fig. 26A for showing a specific fitting relationship of the convex portions and the concave portions in the first group synchronizing connection structure 1330 and the second group synchronizing connection structure 1340. The angle shown in fig. 26B-26C is rotated 90 deg. relative to the angle shown in fig. 17A-17B. 26A-26C, when the gear train 1500 is assembled in place, the eccentric shaft central axis X1, the flange cover central axis X2, the cylindrical body central axis X3, the output cover central axis X4, and the housing cover central axis X5 are coaxially disposed. First and second

external gears

1512, 1516 are respectively sleeved on the first and second

eccentric portions

1212, 1214. The output land 1514 is disposed around the first partition 1213, and is not in contact with the first partition 1213. The synchronizing land 1515 is disposed around the second separation part 1215 and does not contact the second separation part 1215. The output connection disk 1514 connects the first external gear 1512 to the flange end 1509 via an output connection arrangement, and the synchronizing connection disk 1515 connects the second external gear 1516 to the first external gear 1512 via a synchronizing connection arrangement.

the eccentric shaft 1506 is connected to a drive mechanism (not shown) and the flange head 1509 of the flange assembly is connected to the driven assembly. The driving mechanism drives the eccentric shaft 1506 to rotate, and since the first external gear 1512 and the second external gear 1516 are engaged with the internal teeth of the cylindrical main body 1502, when the eccentric shaft 106 rotates for one revolution, the first external gear 1512 and the second external gear 1516 alone make one revolution of translation and simultaneously rotate for one tooth in the opposite direction of the eccentric shaft 106, and the speed ratio is calculated by:

wherein n is₂The number of teeth of the flanged ring gear 108, n₁The number of teeth of the first external gear 112 and the second external gear 116. The second external gear 1516 in combination with the first external gear 1512 transmits a resultant force to the flange head 1509 via the synchronization land 1515 and the output land 1514, thereby imparting rotation to the flange head 1509. Thereby realizing the speed reduction transmission.

In a conventional transmission mechanism, two pieces of external gears having opposite eccentric directions are generally arranged in parallel, flanges are arranged on both sides of the external gears, and the flanges on both sides are connected by a plurality of connecting pins penetrating through the two pieces of external gears, thereby forming a carrier through which torque from the two pieces of external gears is transmitted. The rigidity of the planet carrier determines the bearing capacity and the load-sharing coefficient of the two-piece external gear, but the rigidity of the planet carrier is limited due to volume and structural limitations. The overall load capacity of the reducer is dependent on the stiffness of the planet carrier. In addition, in the structure of the conventional pin bush carrier, a plurality of connecting pins of the carrier have not only a small diameter but also a certain length due to the penetration of two pieces of external gears. In addition, since the plurality of connecting pins of the carrier penetrate through the two pieces of external gears, the two pieces of external gears are respectively provided with a plurality of holes corresponding to the number of the connecting pins. The traditional transmission mechanism has high requirement on the machining precision of the hole in the external gear, so that the machining difficulty of the external gear is high. This is because the external gear pieces are not only rotated but also eccentrically translated, and the directions of translation of the external gear pieces are different, so that the diameters of the holes in the external gear pieces need to be set larger than the outer diameters of the pins, and the torque on the external gear pieces needs to be transmitted to the pins by the contact engagement of the holes and the pins, which requires the relative positions of the holes in each external gear piece to be accurate, and the size and dimension of each hole to be accurate. Therefore, the traditional transmission mechanism has larger processing difficulty of the external gear.

The transmission mechanism of the application does not use a planet carrier in the traditional transmission mechanism any more, but adopts the synchronous connecting disc and the synchronous connecting structure to synchronously connect the two external gears, and connects the synchronous external gear set with the shell device or the flange device through the output connecting disc and the output connecting structure to realize torque output, so that a plurality of connecting pins are not needed, and a plurality of holes are not needed to be arranged on the external gears. From this, the bearing capacity of the transmission mechanism of this application no longer receives the restriction of the rigidity of planet carrier, on the contrary, because synchronous connection pad/output connection pad extremely connection structure have better rigidity for the bearing capacity of the transmission mechanism of this application can reach great, can be applicable to great bearing scope. And the requirement on the machining precision of the external gear is also small. In addition, the number of the connecting parts of the transmission mechanism is small, and the assembling difficulty is reduced.

It should be noted that the transmission mechanism of the present application is not limited to the structure shown in the embodiment in the drawings, and the transmission of the one-stage or two-stage planetary structure may be added to the input end in the embodiment in the drawings to reduce the rotation speed of the eccentric shaft, so as to achieve the effects of reducing friction and reducing temperature rise. Although not shown in the drawings of the present application, all designs that employ the addition of one or two stage transmissions are within the scope of the present application. The transmission mechanism of the present application is also not limited to being used as a speed reduction mechanism, but may be used as a speed increase mechanism.

It should be noted that, although the concave portion serving as the slide groove is provided on the synchronizing land/output land and the convex portion serving as the slider is provided on the component (external gear or housing means or flange means) connected to the synchronizing land/output land in the embodiment shown in the present application, the positions of the convex portion and the concave portion may be reversed. That is, it is also possible to provide the convex portion serving as the slider on the synchronization land/output land and the concave portion serving as the runner on the component (external gear or housing device or flange device) connected to the synchronization land/output land. Further, although the convex portion for the slider and the concave portion serving as the slide groove in the embodiment of the present application are provided on the specific member, respectively, they may be separate structures connected to the members by a fixed connection. For example, the convex portion may be connected to the external gear or the synchronizing land by welding or fastening, the concave portion may be formed on the synchronizing land or a separate member connected to the external gear, and so on. All of the above are within the scope of the present application.

It should be noted that although the output connection structure and the synchronous connection structure in the present application respectively include two sets of output connection structures and two sets of synchronous connection structures, any number of output connection structures and synchronous connection structures are within the scope of the present application.

It should also be noted that two specific embodiments of the transmission mechanism are shown in this application. In a first embodiment the flange means engages the first external gear and the housing means is connected to the first external gear. In a second embodiment the housing means engages the first external gear and the flange means is connected to the first external gear. Therefore, it is within the scope of the present application that one of the flange device and the housing device is meshed with the first external gear, and the other of the flange device and the housing device is connected with the first external gear.

While the present disclosure has been described in conjunction with examples of the embodiments outlined above, various alternatives, modifications, variations, improvements, and/or substantial equivalents, whether known or that are or may be presently foreseen, may become apparent to those of ordinary skill in the art. Additionally, the technical effects and/or technical problems described in this specification are exemplary rather than limiting; the disclosure in this specification may be used to solve other technical problems and have other technical effects and/or may be used to solve other technical problems. Accordingly, the examples of embodiments of the present disclosure set forth above are intended to be illustrative, not limiting. Various changes may be made without departing from the spirit or scope of the disclosure. Accordingly, the present disclosure is intended to embrace all known or earlier-developed alternatives, modifications, variations, improvements, and/or substantial equivalents.

Claims

1. A transmission mechanism, characterized by comprising:

a housing means, said housing means being stationary;

the eccentric shaft is provided with a first eccentric part and a second eccentric part, and the first eccentric part and the second eccentric part have the same eccentric amount and opposite eccentric directions;

a flange device configured to be rotatable;

a first external gear sleeved on the first eccentric portion of the eccentric shaft and configured to move with rotation of the first eccentric portion;

a second external gear sleeved on the second eccentric portion of the eccentric shaft and configured to move with rotation of the second eccentric portion;

a synchronous connecting disc provided around the eccentric shaft and disposed between the first external gear and the second external gear, and a synchronous connecting structure configured to connect the first external gear and the second external gear to each other through the synchronous connecting structure and to enable the first external gear and the second external gear to perform eccentric translational motion independently with respect to each other;

the output connecting disc is arranged around the eccentric shaft;

wherein one of the housing means and the flange means is in mesh with the first external gear and the second external gear, and wherein the output connection disc connects the first external gear with the other of the housing means and the flange means through the output connection structure and enables linear movement of the first external gear relative to the other of the housing means and the flange means.

2. The transmission mechanism as claimed in claim 1, wherein:

the synchronous connection structure comprises a first group of synchronous connection structures and a second group of synchronous connection structures;

wherein the first set of synchronous coupling structures is configured to couple the first external gear to the synchronous coupling disk and to cause relative linear motion between the first external gear and the synchronous coupling disk;

the second group of synchronous connecting structures are configured to connect the second external gear with the synchronous connecting disc and enable the second external gear and the synchronous connecting disc to generate relative linear motion;

and wherein the first set of synchronous connection structures is a linear slider mechanism or a linear bearing mechanism and the second set of synchronous connection structures is a linear slider mechanism or a linear bearing mechanism.

3. The transmission mechanism as claimed in claim 2, wherein:

the first and second sets of synchronous connection structures are arranged such that a direction of relative linear motion between the first external gear and the synchronous connection pad is perpendicular to a direction of relative linear motion between the second external gear and the synchronous connection pad.

4. The transmission mechanism as claimed in claim 1, wherein:

the output connection structures comprise a first group of output connection structures and a second group of output connection structures;

wherein the first set of output connection structures are configured to connect the first external gear to the output connection pad and enable relative linear motion between the first external gear and the output connection pad;

wherein the second set of output connection structures are configured to connect the other of the housing means and the flange means with the output land and enable relative linear movement between the output land and the other of the housing means and the flange means;

and wherein the first set of output connection structures is a linear slider mechanism or a linear bearing mechanism and the second set of output connection structures is a linear slider mechanism or a linear bearing mechanism.

5. The transmission mechanism as claimed in claim 4, wherein:

the first and second sets of output connection structures are arranged such that a direction of relative linear motion between the first external gear and the output land is perpendicular to a direction of relative linear motion between the output land and the other of the housing means and the flange means.

6. The transmission mechanism according to claim 2 or 4, wherein:

the linear slider mechanism is formed by a slider and a runner.

7. The transmission mechanism according to claim 2 or 4, wherein:

the linear bearing mechanism is formed of a slider, a slide groove, and a roller disposed between the slider and the slide groove.

8. The transmission mechanism as claimed in claim 1, wherein:

the shell device comprises a cylindrical main body and a shell end cover, wherein the cylindrical main body is fixedly connected with the shell end cover;

the flange device comprises a flange end cover and a flange inner gear ring, and the flange end cover is fixedly connected with the flange inner gear ring;

the flange inner gear ring is arranged between the cylindrical main body and the first outer gear and the second outer gear and is configured to be meshed with the first outer gear and the second outer gear, the shell end cover is arranged around the eccentric shaft, and the output connecting disc connects the first outer gear with the shell end cover through the output connecting structure.

9. The transmission mechanism as claimed in claim 8, wherein:

the first and second external gears do not rotate relative to each other.

10. The transmission mechanism as claimed in claim 1, wherein:

the flange device comprises a flange end cover;

wherein the cylindrical body of the housing means is configured to engage the first and second external gears and the output connection pad connects the first external gear to the flanged end cap via the output connection.

11. The transmission mechanism as claimed in claim 10, wherein:

the first and second external gears rotate synchronously with respect to each other.