CN116104914A - Transmission device and robot - Google Patents

Abstract

The invention discloses a transmission device and a robot, wherein an eccentric wheel is driven to rotate through an eccentric shaft, an outer gear ring of the eccentric wheel is meshed with an inner gear ring of a shell for transmission, a fixed pin on the eccentric wheel transmits power to a shaft pin on the opposite side, the shaft pin transmits the power to a floating disc, the floating disc continuously transmits the power to the shaft pin on the opposite side, and the shaft pin transmits the power to a connecting shaft of an end cover, so that the shaft pin does not need to bear shearing stress, is not easy to break and bend, and improves the load; in addition, because the mapping relation between the eccentric wheel and the end cover is changed, rolling friction is adopted to replace sliding friction, the transmission efficiency of the transmission device can be improved, and the processing difficulty and the accuracy requirement during operation can be effectively reduced, so that the production cost is reduced, and the transmission device can be applied to joints of a robot to realize anthropomorphic motion of the robot.

Description

Transmission device and robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a transmission device and a robot.

Background

A speed reducer is a transmission device used between a prime mover and a working machine, and is intended to transmit torque and reduce rotation speed. The speed reducer has wide application in various industries and is an indispensable mechanical transmission device. The speed reducer has various types and models, and different purposes are achieved in different types.

At present, four types of speed reducers, namely an RV speed reducer, a harmonic speed reducer, a planetary speed reducer and a speed reducer with small tooth difference, are generally used in the robot industry. The RV reducer and the harmonic reducer are overlarge in size and weight, high in processing difficulty and low in load; the precision of the planetary reducer is lower, and the planetary reducer is not suitable for use scenes with high precision requirements. The speed reducer with small tooth difference is easy to process, and high load is ensured, and meanwhile, higher precision can be achieved.

The existing speed reducer, such as a planetary speed reducer structure with small tooth difference disclosed in publication No. CN216009399U, adopts a first connecting pin protruding on an external gear to transmit power to a pin slot on a floating disc, and then transmits the power to a second connecting pin through a notch, and the second connecting pin drives a main body to rotate to output power. There are two disadvantages to this patent: (1) The connection relationship between the first connecting pin and the pin groove causes sliding friction in the rotating process, and the connection relationship between the notch and the second connecting pin causes sliding friction in the rotating process, so that the abrasion of the whole transmission structure is large, high-speed output and low efficiency cannot be realized, and the transmission structure can quickly generate heat in the rotating process, so that high load cannot be realized; (2) The first connecting pin is subjected to very large shearing stress during rotation, and breakage and bending of the first connecting pin are very easy to cause.

Therefore, the existing speed reducer has the defects of high abrasion and insufficient load of a transmission structure, and needs to be solved.

Disclosure of Invention

In order to solve the problems, the invention provides a transmission device and a robot.

The technical scheme of the invention is as follows:

the present invention provides a transmission device comprising:

the eccentric shaft is a power input end;

the eccentric wheels are assembled on the eccentric shafts, each eccentric wheel is provided with an outer gear ring, a plurality of fixing pins and a plurality of fixing holes, and each fixing pin is arranged on the side edge of each corresponding fixing hole;

at least two floating discs, each floating disc is rotationally sleeved on the eccentric shaft and is attached to the corresponding eccentric wheel;

the shaft pins are movably arranged on the side edges of each floating disc;

the shell is sleeved on the peripheries of the eccentric shaft, the eccentric wheel, the floating disc and the shaft pins, an inner gear ring is arranged on the inner wall of the shell, and the inner gear ring is meshed with the outer gear ring;

the two end covers are power output ends, the end covers are assembled on the eccentric shafts and are respectively positioned at two ends of the shell, a floating disc is arranged between each end cover and the corresponding eccentric wheel, a plurality of connecting shafts are arranged on the end covers, and the connecting shafts penetrate into corresponding fixing holes.

Further, at least two eccentric parts are arranged on the eccentric shaft, adjacent eccentric parts are in staggered fit, and the phase difference of all the eccentric parts is equal to 360 degrees.

Further, the floating disc comprises a round hole and a plurality of branch angles, the round hole is positioned at the center of the floating disc, the branch angles are arranged along the periphery of the round hole, and the shaft pins are assembled on two sides of the branch angles.

Further, concave positions are arranged on two sides of the supporting angle, and the shaft pin is arranged on the side edges of the concave positions.

Further, the connecting shaft comprises a first protruding shaft and a second protruding shaft, the first protruding shaft penetrates into the fixing hole, the second protruding shaft is located between the fixing pin and the shaft pin, and the second protruding shaft is attached to the shaft pin.

Further, each connecting shaft is provided with a plurality of through holes and connecting pieces, and the connecting pieces respectively penetrate into the corresponding through holes.

Further, an inner ring and an outer ring are arranged on the end cover, the inner ring is located at the center of the end cover, and the outer ring is located along the edge of the end cover.

Further, a first bearing is arranged on the inner ring, and a second bearing is arranged on the outer ring.

Further, the eccentric wheel is also provided with a central hole, and the central hole is provided with a third bearing.

The invention also provides a robot which comprises a joint and the transmission device connected with the joint.

The transmission device has the beneficial effects that:

the multi-stage transmission mode is adopted to replace the shaft driving mode, the eccentric wheel is driven to rotate through the eccentric shaft, the outer gear ring of the eccentric wheel is meshed with the inner gear ring of the shell for transmission, the fixed pin on the eccentric wheel transmits power to the shaft pin on the opposite side, the shaft pin transmits the power to the floating disc, the floating disc continuously transmits the power to the shaft pin on the opposite side, and the shaft pin transmits the power to the connecting shaft of the end cover, so that the shaft pin does not need to bear shear stress, is not easy to break and bend, and improves the load of the transmission device by reducing the shear stress; in addition, because the mapping relation between the eccentric wheel and the end cover is changed, rolling friction is adopted to replace sliding friction, so that the transmission efficiency of the transmission device is improved, the processing difficulty and the accuracy requirement in running are effectively reduced, and the production cost is reduced.

The robot has the beneficial effects that:

the transmission device is arranged on a joint of the robot, for example: shoulder joints and hip joints, and realizing the anthropomorphic motion of the robot.

Drawings

FIG. 1 is a schematic view showing an overall exploded structure of embodiment 1 of the present invention;

FIG. 2 is a schematic view showing an overall exploded structure of embodiment 2 of the present invention;

FIG. 3 is a schematic diagram of the overall structure of the present invention;

FIG. 4 is a schematic view of the internal structure of FIG. 3 with the first end cap omitted;

FIG. 5 is a schematic view of the internal structure of the omitted housing of FIG. 3;

FIG. 6 is a schematic elevational cross-sectional structure of FIG. 3;

FIG. 7 is a schematic top sectional view of FIG. 3;

FIG. 8 is a schematic cross-sectional view of the housing of the present invention;

FIG. 9 is a schematic view of the structure of the end cap of the present invention;

FIG. 10 is a schematic view of the structure of the floating disc of the present invention;

FIG. 11 is a schematic diagram showing an exploded structure of an eccentric shaft and a stopper in embodiment 1 of the present invention;

reference numerals: 1. eccentric shaft, 11, eccentric part, 12, stopper, 2, eccentric wheel, 21, outer ring gear, 22, fixed pin, 23, fixed hole, 24, centre bore, 3, floating disc, 31, round hole, 32, branch angle, 321, concave position, 322, main branch angle, 323, auxiliary branch angle, 4, axle pin, 5, casing, 51, inner ring gear, 52, first draw-in groove, 53, second draw-in groove, 6, end cover, 601, first end cover, 602, second end cover, 6021, connecting hole, 61, connecting axle, 611, first protruding axle, 612, second protruding axle, 613, through hole, 62, inner ring, 63, outer lane, 71, first bearing, 72, second bearing, 73, third bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

It will be understood that when an element is referred to as being "mounted" or "sleeved" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "on" or "penetrating" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It should be noted that, in the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. Wherein A and B may be singular or plural, respectively.

It is to be understood that the terms "middle," "upper," "two ends," "between," "center," "periphery," "both sides," "inner," and the like are used in an orientation or positional relationship based on that shown in the drawings, merely to facilitate describing the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a number" is two or more, unless explicitly defined otherwise.

Example 1

Referring to fig. 1 and fig. 3-11, the present invention provides a transmission device, which includes:

the eccentric shaft 1 is a power input end, two eccentric parts 11 are arranged on the eccentric shaft 1, adjacent eccentric parts 11 are in staggered fit, the eccentric shaft 1 is a double eccentric shaft, the phase difference of the two eccentric parts 11 is 180 degrees, the phase difference addition of the two eccentric parts 11 is equal to 360 degrees, namely, the eccentric torque of the eccentric shaft 1 is 0, the eccentric distances of the double eccentric shafts are equal, so that the two eccentric wheels 2 cannot generate eccentric force in the rotating process, and the two eccentric forces can be understood to cancel each other, so that the larger vibration generated in the shell 5 by the parts such as the eccentric wheels 2, the floating disc 3 and the shaft pin 4 is reduced, and the noise is further reduced;

as shown in fig. 11, the eccentric portion 11 has a cylindrical shape, two adjacent cylinders are attached to each other with a phase difference of 180 ° therebetween; in addition, the eccentric part can be designed into an elliptic cylinder shape or a rectangular body shape, two adjacent elliptic cylinders or two adjacent rectangular bodies are in staggered fit, and the sum of the phase differences of the two elliptic cylinders or the two rectangular bodies is close to 360 degrees; meanwhile, the limiting block 12 is arranged on the side edge of the eccentric part 11 on the eccentric shaft 1, and the limiting block 12 is arranged to facilitate the installation of the first bearing 71 and the end cover 6, so that the function of limiting the positions of the first bearing 71 and the third bearing 73 is achieved.

In addition, the transmission device is combined with the motor, the eccentric shaft 1 is connected with the rotor of the motor, and the electric energy is utilized to generate a rotating magnetic field on the coil and push the rotor and the eccentric shaft 1 to rotate;

the eccentric gears 2 are assembled on the eccentric shaft 1, an outer gear ring 21, four fixing pins 22 and four fixing holes 23 are arranged on each eccentric gear 2, each fixing pin 22 is arranged on the side edge of each corresponding fixing hole 23, the outer gear ring 21 is arranged on the circumferential line of the eccentric gear 2, and the outer gear ring 21 is used for meshing with an inner gear ring 51 on the shell 5 to drive the eccentric gear 2;

further, the eccentric wheel 2 is further provided with a central hole 24, and the central hole 24 is provided with a third bearing 73. If the central hole 24 of the eccentric wheel 2 is directly assembled on the eccentric shaft 1, a certain transmission resistance exists, and after the eccentric wheel 2 is worn, the replacement of the eccentric wheel is complicated; therefore, for smoother rotation of the eccentric wheels, the third bearing 73 is arranged on the central hole 24 of each eccentric wheel 2, the eccentric shafts 1 are directly contacted by the third bearing 73, and the third bearing 73 is a part which supports transmission by means of rolling contact among elements, so that the sliding resistance is small, the power consumption is low, and the starting is easy; in particular, the two eccentric wheels 2 may be symmetrically arranged on the two eccentric portions 11 of the eccentric shaft 1.

The two floating discs 3 are rotatably sleeved on the eccentric shafts 1 and are attached to the corresponding eccentric wheels 2, and the end cover 6 is arranged on the axis of the eccentric shafts 1, so that the end cover 6 can only concentrically rotate, but the floating discs 3 are adopted to transmit sliding force to the end cover 6 to drive the end cover 6 to eccentrically rotate; in particular, the two floating discs 3 are also in symmetrical relationship.

The shaft pins 4 are movably arranged at the side edge of each floating disc 3, the shaft pins 4 replace the connecting shafts on the traditional floating discs or eccentric wheels, the shaft pins 4 move together with the rotation of the eccentric wheels 2, and the shaft pins 4 conduct thrust to the floating discs 3 and the end covers 6; referring to fig. 4, each 16 pins 4 are located at two sides of the supporting corner 32 of the floating disc 3, the pins 4 are in the shape of small cylinders, each two pins 4 are taken as a small group, and four groups of pins 4 are attached to the corresponding fixing pins 22 of the eccentric wheel 2; besides the small cylinder shape, the floating disc can also be designed into a cuboid shape, and the main function is to fill the gaps between the floating disc 3 and the eccentric wheel 2 and the end cover 4, namely properly reduce back clearance, and the proper back clearance can enable the eccentric wheel to smoothly rotate, so that the eccentric wheel is not easy to wear and further reduce noise; specifically, every 16 shaft pins 4 are a large group, and the two large groups are also in symmetrical relation;

the shell 5 is sleeved on the peripheries of the eccentric shaft 1, the eccentric wheel 2, the floating disc 3 and the shaft pins 4, an inner gear ring 51 is arranged on the inner wall of the shell 5, the inner gear ring 51 is meshed with the outer gear ring 21, and the outer gear ring 21 is meshed with the rotating inner gear ring 51, so that the purpose of reducing speed is achieved;

the two end covers 6 are power output ends, the end covers 6 are assembled on the eccentric shafts 1 and are respectively positioned at two ends of the shell 5, a floating disc 3 is arranged between each end cover 6 and the corresponding eccentric wheel 2, four connecting shafts 61 are arranged on the end covers 6, and the connecting shafts 61 penetrate into the corresponding fixing holes 23;

as can be seen from fig. 1 and 5, each eccentric wheel 2, each floating disc 3 and a plurality of shaft pins 3 are a group of transmission structures, and the two groups of transmission structures are symmetrically arranged on the eccentric shaft 1.

The connecting shafts 61 corresponding to the two end caps 6 are all on the same axis, specifically, each connecting shaft 61 is provided with a plurality of through holes 613 and connecting pieces, and the connecting pieces respectively penetrate into each corresponding through hole 613 to fixedly connect the two end caps 6.

Further, an inner ring 62 and an outer ring 63 are arranged on the end cover 6, the inner ring 62 is positioned at the center of the end cover 6, and the outer ring 63 is positioned at the edge of the end cover 6; if the inner ring 62 of the end cover 6 is directly assembled on the eccentric shaft 1, a certain transmission resistance exists, and after the abrasion is large, the end cover 6 needs to be replaced; therefore, the first bearing 71 is disposed on the inner ring 62, and the second bearing 72 is disposed on the outer ring 63, so that the rotation of the end cover 6 is supported by the first bearing 71 and the second bearing 72, and the rotation of the end cover 6 is more flexible and smooth.

Specifically, the floating disc 3 includes a circular hole 31 and four support corners 32, the circular hole 31 is located at the center of the floating disc 3, the support corners 32 are disposed along the periphery of the circular hole 31, and the shaft pins 4 are assembled on two sides of the support corners 32. The floating disc 3 is not limited to the shape of the circular hole 31 and the four corners 32, and the floating disc 3 may be designed in a petal shape with a central circular hole.

The first bearing 71, the second bearing 72 and the third bearing 73 may be deep groove ball bearings or angular contact ball bearings.

Further, the two sides of the supporting corner 32 are provided with the concave positions 321, the shaft pin 4 is arranged on the side edge of the concave positions 321, and the shaft pin is better placed between the fixing pin 22 and the supporting corner 32 through the concave positions 321, so that the shaft pin is not easy to fall off in the assembling process.

In addition, the connecting shaft 61 includes a first protruding shaft 611 and a second protruding shaft 612, the first protruding shaft 611 penetrates into the fixing hole 23, the second protruding shaft 612 is located between the fixing pin 22 and the shaft pin 4, and the second protruding shaft 612 is attached to the shaft pin 4, so that the fixing pin 22 transmits power to the second protruding shaft 612, and the second protruding shaft 612 drives the end cover to rotate.

The housing 5 is provided with a first clamping groove 52 and a second clamping groove 53, the first clamping groove 52 and the second clamping groove 53 are respectively positioned at two ends of the annular gear 51, and the end cover 6 is respectively installed in the first clamping groove 52 and the second clamping groove 53.

The whole transmission mode process is as follows: referring to fig. 7, the branch angle 32 on the floating disc 3 is divided into a main branch angle 322 and a sub branch angle 323, the two eccentric wheels 2 are driven to rotate respectively through the eccentric shaft 1, the outer gear ring 21 of each eccentric wheel 2 is meshed with the inner gear ring 51 of the shell 5 for transmission, the four fixing pins 22 on each eccentric wheel 2 respectively transmit power to the shaft pins 4 on the opposite sides, the shaft pins 4 transmit power to the main branch angle 322 of the corresponding floating disc 3, the sub branch angle 323 of the floating disc 3 continuously transmits power to the shaft pins 4 on the opposite sides of the sub branch angle 323, the shaft pins 4 transmit power to the second protruding shaft 612 of the connecting shaft 61 of the end cover 6, so that the end cover 6 outputs power, the two end covers 6 are respectively transmitted by the corresponding eccentric wheels 2, the floating disc 3 and the shaft pins 4 and respectively output power, the transmission ratio is larger, the high rotation speed of the input end can be converted into the low rotation speed of the output end, the shaft pins 4 do not need to bear shear stress, and are not easy to break and bend, and the load is improved; in addition, because the mapping relation between the eccentric wheel 2 and the end cover 6 is changed, rolling friction is adopted to replace sliding friction, the transmission efficiency of the speed reducer can be improved, and the processing difficulty and the accuracy requirement during operation can be effectively reduced, so that the production cost is reduced.

Example 2

With reference to fig. 2, the present transmission can be designed as a single-stage transmission, i.e. a set of eccentric 2, floating disc 3 and shaft pin 4 is eliminated on the basis of embodiment 1, and only one eccentric 11 is provided on eccentric shaft 1.

The difference from example 1 is that: the end cover 6 comprises a first end cover 601 and a second end cover 602, the shapes of the first end cover 601 and the second end cover 602 are different, four connecting shafts 61 are arranged on the first end cover 601, eight connecting holes 6021 are arranged on the second end cover 602, the connecting shafts 61 correspond to the positions of the connecting holes 6021, the connecting shafts 63 penetrate into the fixed holes 23 of the eccentric wheel 2, and the floating disc 3 is positioned between the first end cover 601 and the eccentric wheel 2; each connecting shaft 61 is provided with two through holes 613 and a connecting piece (not shown), the connecting pieces respectively penetrate into each corresponding through hole 613 and each connecting hole 6021, the connecting pieces are screws, the first end cover 601 and the second end cover 602 are fixedly connected, along with the power input of the eccentric shaft 1, the eccentric shaft 1 drives the eccentric wheel 2 to rotate, the outer gear ring 21 of the eccentric wheel 2 is meshed with the inner gear ring 51 of the shell 5 for transmission, four fixing pins 22 on the eccentric wheel 2 respectively transmit power to the shaft pin 4 on the opposite side, the shaft pin 4 transmits power to the main support corner 322 of the floating disc 3, the auxiliary support corner 323 of the floating disc 3 continuously transmits power to the shaft pin 4 on the opposite side of the auxiliary support corner 323, and the shaft pin 4 transmits power to the second protruding shaft 612 of the connecting shaft 61 of the first end cover 601, so that the first end cover 601 drives the second end cover 602 to output power together.

The structure can be named as a single-stage small-tooth-difference speed reducer, and the speed reduction purpose is realized by rotating the eccentric wheel 2, the floating disc 3 and the shaft pin 4 together; compared with a planetary reducer, the planetary reducer has the advantages of reduced use of planetary gears, simple structure, compact assembly and less friction loss, thereby improving the overall accuracy of the transmission device.

The invention also provides a robot which comprises a joint and the transmission device connected with the joint. When the transmission device structure of the embodiment 1 is adopted, the two eccentric wheels 2 do not generate eccentric force in the rotating process, so that parts such as the eccentric wheels 2, the floating disc 3 and the shaft pin 4 generate larger vibration in the shell 5, noise is further reduced, the two-stage reduction transmission ratio is larger, the high rotating speed of the input end can be converted into the low rotating speed of the output end, and the requirement of the action of the robot joint can be met; when the transmission device structure of the embodiment 2 is adopted, compared with the traditional planetary reducer, the planetary reducer has the advantages of reducing the use of planetary gears, along with simple structure, compact assembly, less friction loss and improving the overall precision of the transmission device;

the two transmission devices are meshed with the inner gear ring 51 of the shell 5 through the outer gear ring 21 of the eccentric wheel 2, the fixed pin 22 on the eccentric wheel 2 transmits power to the shaft pin 4 on the opposite side, the shaft pin 4 transmits power to the floating disc 3, the floating disc 3 continuously transmits power to the shaft pin 4 on the opposite side, the shaft pin 4 transmits power to the second protruding shaft 612 of the connecting shaft 61 of the end cover 6, and therefore the end cover 6 outputs power.

Example 1 differs from example 2 in that: (1) In the embodiment 1, two end covers 6 are respectively transmitted by the power of the corresponding eccentric wheel 2, floating disc 3 and shaft pin 4 and respectively output power, so that single-input double-output of power is realized; embodiment 2 is that one eccentric wheel 2, one floating disc 3 and a plurality of shaft pins 4 drive two end covers 6 to output power, so that single-input single-output of the power is realized;

(2) In the embodiment 1, two eccentric wheels 2 are adopted, the eccentric shaft 1 is a double eccentric shaft, and the phase difference of the two eccentric parts 11 is 180 degrees, so that the whole structure is balanced, and the vibration noise can be reduced; in the embodiment 2, an eccentric wheel 2 is adopted, and only one eccentric part 11 is arranged on the eccentric shaft 1, so that large vibration noise can be generated due to eccentric rotation.

Example 3

On the basis of embodiment 2, the second end cover 602 is fixed on the housing 5, and when the eccentric shaft 1 rotates, only the first end cover 601 is driven to output power, and the transmission device is also a single-stage output transmission device.

Example 2 is compared to example 3, example 3 being a more classical single stage output transmission, which refers to a single eccentric 2 drive end cap.

Example 4

On the basis of the embodiment 1, one more eccentric part 11, an eccentric wheel 2 and a floating disc 3 are added; namely, 3 eccentric parts 11 are arranged on the eccentric shaft 1, two adjacent eccentric parts 11 are in staggered joint, and the phase difference of the two adjacent eccentric parts 11 is 120 degrees;

the connecting shafts 61 on the two end covers 6 penetrate into the fixing holes 23 of the eccentric wheel 2, the floating disc 3 in the middle conducts force through the fixing pins 22 on the eccentric wheel 2, and the floating disc 3 in the middle transfers the force to the first protruding shaft 611 of the connecting shaft 61 of the end cover 6, so that the force is transferred to the end cover 6, and the force output of the end cover 6 is driven.

Similarly, when 4 eccentric portions 11 are provided on the eccentric shaft, the phase difference between two adjacent eccentric portions 11 is 90 ° and the floating disc 3 is provided on the corresponding eccentric 2, and at the same time, the connecting shaft 61 on the end cover 6 needs to be increased.

The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (10)

1. A transmission, comprising:

the eccentric shaft (1), the said eccentric shaft (1) is the power input end;

the eccentric wheels (2) are assembled on the eccentric shafts (1), an outer gear ring (21), a plurality of fixing pins (22) and a plurality of fixing holes (23) are arranged on each eccentric wheel (2), and each fixing pin (22) is arranged on the side edge of each corresponding fixing hole (23);

at least two floating discs (3), wherein each floating disc (3) is rotationally sleeved on the eccentric shaft (1) and is attached to the corresponding eccentric wheel (2);

the shaft pins (4) are movably arranged on the side edges of each floating disc (3);

the shell (5) is sleeved on the periphery of the eccentric shaft (1), the eccentric wheel (2), the floating disc (3) and the shaft pins (4), an inner gear ring (51) is arranged on the inner wall of the shell (5), and the inner gear ring (51) is meshed with the outer gear ring (21);

the two end covers (6), end cover (6) are power take off, end cover (6) assemble on eccentric shaft (1), and are located the both ends of casing (5) respectively, every be equipped with a floating disc (3) between end cover (6) and corresponding eccentric wheel (2), be equipped with a plurality of connecting axle (61) on end cover (6), connecting axle (61) all penetrate in corresponding fixed orifices (23).

2. Transmission according to claim 1, characterized in that the eccentric shaft (1) is provided with at least two eccentric parts (11), adjacent eccentric parts (11) being in a staggered abutment, the phase differences of all eccentric parts (11) adding up to 360 °.

3. The transmission device according to claim 1, characterized in that the floating disc (3) comprises a round hole (31) and a plurality of support angles (32), the round hole (31) is positioned at the center of the floating disc (3), the support angles (32) are arranged along the periphery of the round hole (31), and the shaft pins (4) are assembled on two sides of the support angles (32).

4. The transmission device according to claim 1, wherein the two sides of the supporting angle (32) are provided with concave positions (321), and the shaft pin (4) is arranged at the side edges of the concave positions (321).

5. The transmission according to claim 1, characterized in that the connecting shaft (61) comprises a first protruding shaft (611) and a second protruding shaft (612), the first protruding shaft (611) penetrating into the fixing hole (23), the second protruding shaft (612) being located between the fixing pin (22) and the shaft pin (4), and the second protruding shaft (612) being in abutment with the shaft pin (4).

6. A transmission according to claim 3, wherein each connecting shaft (61) is provided with a plurality of through holes (613) and connecting members, which penetrate into each corresponding through hole (613).

7. The transmission device according to claim 1, wherein the end cover (6) is provided with an inner ring (62) and an outer ring (63), the inner ring (62) is located at the center of the end cover (6), and the outer ring (63) is located along the edge of the end cover (6).

8. The transmission according to claim 5, characterized in that the inner ring (62) is provided with a first bearing (71) and the outer ring (63) is provided with a second bearing (72).

9. The transmission according to claim 6, characterized in that the eccentric wheel (2) is further provided with a central hole (24), and that the central hole (24) is provided with a third bearing (73).

10. Robot comprising a joint and a transmission according to any of claims 1-9 connected to said joint.

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