CN213017530U - Internal gearing transmission mechanism - Google Patents

Abstract

The application discloses inner gearing drive mechanism, including first interior wheel, the interior wheel of second, eccentric shaft, input shaft and planetary gear. Wherein the second inner wheel is arranged side by side with the first inner wheel. The eccentric shaft is the quill shaft, has arranged the eccentric shaft internal tooth in the eccentric shaft, and the periphery of eccentric shaft is equipped with first eccentric portion and second eccentric portion, and first interior wheel sets up around first eccentric portion, and the wheel sets up around the second eccentric portion in the second to make eccentric shaft can drive first interior wheel and the eccentric rotation of second interior wheel. Wherein the input shaft has input shaft external teeth. The planetary gear meshes with input shaft external tooth mutually, and the planetary gear meshes with the eccentric shaft internal tooth mutually to make the input shaft can drive the eccentric shaft rotation through the planetary gear. The inner gearing transmission mechanism of this application can drive the eccentric shaft when the eccentric shaft can't with actuating mechanism lug connection.

Description

Internal gearing transmission mechanism

Technical Field

The present application relates to internal gearing transmissions.

Background

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

SUMMERY OF THE UTILITY MODEL

Exemplary embodiments of the present application may address at least some of the above-mentioned issues. For example, the present application provides an internal gearing transmission. The internal gearing transmission mechanism comprises an input shaft, a planetary gear and an eccentric shaft. The input shaft is engaged with the planetary gear, and the planetary gear is engaged with the eccentric shaft, so that the power of the input shaft can be transmitted to the eccentric shaft. The inner gearing transmission mechanism of this application not only can change the transmission speed ratio through utilizing planetary gear, can also reserve the connection space for first flange body and second flange body on the inner gearing transmission mechanism, is favorable to realizing compact structural arrangement. In addition, because the planetary gear and the input shaft are both arranged in the eccentric shaft, the size of the inner wheel bearing sleeved on the eccentric shaft can be made larger. Compared with the inner wheel bearing with a smaller size, the inner wheel bearing with a larger size has large basic rated dynamic load and longer service life under the same torque. Therefore, the internal gearing transmission mechanism of the inner wheel bearing, which changes the speed ratio in the power transmission process from the input shaft to the eccentric shaft and has long service life, can be provided.

Specifically, the internal gear transmission mechanism of the present application includes an outer wheel, a first inner wheel, a second inner wheel, an eccentric shaft, an input shaft, a planetary gear, a first flange body, a second flange body, and at least two transmission members. The outer wheel has outer wheel internal teeth and the outer wheel has an outer wheel central axis. The second inner wheel is arranged side by side with the first inner wheel. Be equipped with first interior wheel external tooth on the first interior wheel, first interior wheel external tooth can mesh with the foreign steamer internal tooth mutually, is equipped with interior wheel external tooth of second in the second, and interior wheel external tooth of second can mesh with the foreign steamer internal tooth mutually, is equipped with two at least transmission through holes in first interior wheel and the second respectively. The eccentric shaft is a hollow shaft and is provided with eccentric shaft internal teeth. The periphery of eccentric shaft is equipped with first eccentric portion and second eccentric portion, and the first interior wheel sets up around first eccentric portion, and the second is interior the wheel and is set up around the second eccentric portion to make the eccentric shaft can drive the eccentric rotation of first interior wheel and second. The input shaft has input shaft external teeth. The planetary gear meshes with input shaft external tooth mutually, and the planetary gear meshes with the eccentric shaft internal tooth mutually to make the input shaft can drive the eccentric shaft rotation through the planetary gear. The first and second flange bodies are disposed on opposite sides of the first and second inner wheels, respectively. Each of the at least two transmission members extends through the at least two transmission through holes on the first and second inner wheels and is connected with at least one of the first and second flange bodies such that the first and second inner wheels and the first and second flange bodies can transmit power through the at least two transmission members.

According to the internal gearing mechanism of the present application, the first inner wheel comprises a first receiving portion for receiving the first eccentric portion, and the second inner wheel comprises a second receiving portion for receiving the second eccentric portion. Wherein at least two transfer through holes provided on the first inner wheel are provided around the first receiving portion, and at least two transfer through holes provided on the second inner wheel are provided around the second receiving portion.

According to the internal gearing drive mechanism of this application, the inward flange of foreign steamer forms accommodation space, and the foreign steamer internal tooth sets up on the inward flange, and first flange body and second flange body set up in accommodation space.

An internal gearing transmission according to the present application further comprises a coupling member. The connecting part is rigidly connected with the first flange body and the second flange body, and the connecting part penetrates through the hollow part of the eccentric shaft to rigidly connect the first flange body and the second flange body together.

According to the internal gear transmission mechanism of the present application, the planetary gear is supported by at least one of the first flange body and the second flange body. The planetary gear is fixed on at least one of the first flange body and the second flange body, and the planetary gear can rotate together with the first flange body and the second flange body.

An internal gearing transmission according to the present application further comprises a planetary gear support. The planet gear support is connected with the planet gear. At least one of the first flange body and the second flange body is provided with a supporting piece mounting part. The planet gear support is mounted in the support mounting portion such that the planet gear is supported by at least one of the first and second flange bodies.

According to the internal gear transmission of the present application, each of the at least two transmission members may interconnect the first flange body and the second flange body.

According to the internal gear transmission mechanism of the present application, the connecting member includes a connecting boss and a fastening member extending from at least one of the first flange body and the second flange body. The connecting boss extends into the hollow portion of the eccentric shaft, and the first flange body and the second flange body are rigidly connected together by a fastener.

According to the internal gearing transmission mechanism, the connecting boss comprises a first connecting boss extending from the first flange body and a second connecting boss extending from the second flange body. The fastener can interconnect the first connection boss and the second connection boss.

According to the internal engagement transmission mechanism, the first connecting boss and the second connecting boss are provided with connecting holes, and the fastening piece is inserted into the connecting holes.

According to the internal gearing transmission mechanism of this application, first flange body and second flange body set up in the foreign steamer, and the eccentric rotation of first interior wheel and second interior wheel can drive first flange body and second flange body and rotate around foreign steamer central axis.

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 general description and the following detailed description are exemplary and are intended to provide further explanation without limiting the scope of the application as claimed. However, the detailed description and the specific examples merely indicate preferred embodiments of the application. Various changes and modifications within the spirit and scope of the application will become apparent to those skilled in the art from this detailed description.

Drawings

These and other features and advantages of the present application 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 an internal gearing transmission mechanism according to an embodiment of the present application, viewed from the front to the rear;

FIG. 1B is a perspective view of the internal gearing transmission mechanism illustrated in FIG. 1A as viewed from the rear to the front;

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

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

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

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

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

fig. 4A is a perspective view of a first flange body of the internal gearing mechanism and a first coupling boss of the coupling member shown in fig. 1C;

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

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

fig. 5A is a perspective view of a second flange body of the internal gearing mechanism and a second coupling boss of the coupling member shown in fig. 1C;

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

FIG. 5C is a cross-sectional view of the second flange body and second coupling boss of FIG. 5B, as taken along section line B-B of FIG. 5B;

fig. 6A is a perspective view of a first inner wheel of the internal gearing transmission mechanism shown in fig. 1C;

FIG. 6B is a front view of the first inner wheel shown in FIG. 6A;

FIG. 7A is a perspective view of an outer wheel of the internal gearing transmission shown in FIG. 1C;

FIG. 7B is a front view of the outer wheel shown in FIG. 8A;

FIG. 7C is an axial cross-sectional view of the outer wheel shown in FIG. 8A;

FIG. 8A is an axial cross-sectional view of the internal gearing transmission mechanism illustrated in FIG. 1C;

fig. 8B is a radial cross-sectional view of the internal gearing mechanism shown in fig. 8A.

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 terms, such as "front," "rear," "left," "right," "inner" and "outer," are used herein to describe various example structural portions and elements of the 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 parts are given like reference numerals and similar parts are given like reference numerals.

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

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

Specifically, the carrier 101 includes a first flange body 104, a second flange body 106, a connecting member 109, and a transmission member 108. The first and second flange bodies 104, 106 are disposed on either side of the first and second inner wheels 122, 124, respectively, and are rigidly connected together by a connecting member 109 to retain the first and second inner wheels 122, 124 between the first and second flange bodies 104, 106. The transmission member 108 is disposed through the first inner wheel 122 and the second inner wheel 124 and is capable of connecting the first flange body 104 and the second flange body 106. The transmission member 108 is capable of transmitting the movement of the first inner wheel 122 and the second inner wheel 124 to the first flange body 104 and the second flange body 106, thereby causing the first flange body 104 and the second flange body 106 to rotate.

When the internal gear transmission mechanism 100 operates, the power transmission relationship is substantially as follows:

the input transmission 132 is connected to a drive mechanism (not shown). The drive mechanism drives the input transmission 132 to rotate. Because the outer wheel 102 is fixed, and because of the meshing relationship between the outer wheel 102 and the teeth of the first inner wheel 122 and the second inner wheel 124, the rotation of the input transmission device 132 can drive the first inner wheel 122 and the second inner wheel 124 sleeved thereon to translate and rotate. The transmission member 108 transmits the rotation and torque of the first inner wheel 122 and the second inner wheel 124 to the first flange body 104 and the second flange body 106, and drives the first flange body 104 and the second flange body 106 to rotate. The first and second flange bodies 104 and 106 are connected with a driven device (not shown) to realize speed change and torque output.

The specific structure of each component in the internal gear transmission mechanism 100 is described in detail below.

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

More specifically, the power input 244 includes three planetary gears 204,206,208 and an input shaft 202. The input shaft 202 is generally cylindrical with a central axis S. The input shaft 202 is provided with an input shaft first stepped portion 252, an engagement portion 256, an input shaft second stepped portion 254, and a driving portion 258 in this order from left to right. The input shaft first step 252 is adapted to abut the first input shaft bearing 832 (see fig. 8A) and limit the axial movement of the first input shaft bearing 832 to the right. The outer circumferential surface of the engaging portion 256 is provided with input shaft external teeth 272 for engaging with an external ring gear 284,286,288 on the three pinion gears 204,206, 208. The input shaft second step 254 serves as a second input shaft bearing 834 (see fig. 8A) and limits the movement of the second input shaft bearing 834 to the left in the axial direction. The drive portion 258 is adapted to be coupled to a drive mechanism (not shown). The drive mechanism is capable of driving the input shaft 202 to rotate about the central axis S.

The three planet gears 204,206,208 are of substantially identical construction. Wherein the planet gear 204 has a central axis M1. An outer ring gear 284 is provided on the outer circumference of the planetary gear 204, and the outer ring gear 284 can be simultaneously engaged with the input shaft outer teeth 272 of the input shaft 202 and the eccentric shaft inner teeth 233 of the eccentric shaft 212. The planet gear 204 also has a hollow 264 through itself for receiving a planet gear support 852 (see fig. 8A-8B) such that the planet gear 204 is supported between the first and second flange bodies 104, 106. Similarly, the planet gears 206 have a central axis M2. An outer ring gear 286 is provided on the outer circumference of the planetary gear 206, and the outer ring gear 286 can be simultaneously meshed with the input shaft outer teeth 272 of the input shaft 202 and the eccentric shaft inner teeth 233 of the eccentric shaft 212. The planet gear 206 also has a hollow 266 through itself for receiving a planet gear support 852 such that the planet gear 206 is supported between the first and second flange bodies 104, 106. The planet gears 208 have a central axis M3. An outer ring gear 288 is provided on the outer circumference of the planetary gear 208, and the outer ring gear 288 can be simultaneously meshed with the input shaft outer teeth 272 of the input shaft 202 and the eccentric shaft inner teeth 233 of the eccentric shaft 212. The planet gears 208 also have hollow portions 268 therethrough for receiving the planet gear supports 852 such that the planet gears 208 are supported between the first and second flange bodies 104, 106.

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

FIG. 3A is an enlarged front view of the eccentric shaft 212 shown in FIGS. 2A-2B; fig. 3B is an enlarged axial sectional view of the eccentric shaft 212 shown in fig. 3A. As shown in connection with fig. 2A, the eccentric shaft 212 is a hollow shaft having a hollow portion 231. The eccentric shaft 212 has a central axis X, and the eccentric shaft 212 is rotatable about the central axis X. The middle of the wall of the hollow 231 is provided with eccentric shaft inner teeth 233 for engagement with the outer ring gear 284,286,288 of the three planet gears 204,206, 208. The hollow 231 also serves to receive the first and second connection bosses 402, 502 of the connection member 109 (see fig. 8A).

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

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

The eccentric shaft 212 is further provided with a first flange bearing abutment 312. The first flange body bearing abutment 312 is located on the right side of the first eccentric portion 304 for abutting against an inner wall of a first flange body bearing 822 (see fig. 8A). The first eccentric portion 304 extends radially beyond the first flange body bearing abutment 312 to limit axial leftward movement of the first flange body bearing 822. The eccentric shaft 212 is further provided with a second flange bearing abutting portion 314. The second flange body bearing abutment 314 is located on the left side of the second eccentric portion 306 for abutting against an inner wall of a second flange body bearing 824 (see fig. 8A). The second eccentric portion 306 extends radially beyond the second flange body bearing abutment 314 to limit the second flange body bearing 824 from moving axially to the right.

Fig. 4A is a perspective view of the first flange body 104 of the internal gearing mechanism shown in fig. 1C and the first coupling boss 402 of the coupling member 109; FIG. 4B is a front view of the first flange body 104 and the first coupling boss 402 shown in FIG. 4A; fig. 4C is a cross-sectional view of the first flange body 104 and the first coupling boss 402 shown in fig. 4B, taken along section line a-a of fig. 4B. The first flange body 104 shown in fig. 4A-4C is integrally formed with the first connection boss 402.

Specifically, the first flange body 104 includes a first flange body 401 and a first flange body projection 432. The first flange body 104 has a central axis F1. The first flange body 401 is substantially cylindrical, and the first flange body protruding portion 432 is substantially annular. The first flange body protrusion 432 extends axially leftward from the left surface of the first flange body 401. The outer wall 452 (i.e., the outer circumferential surface) of the first flange body projection 432 is for contacting the inner wall of the first outer bearing 812 (see fig. 8A). The first flange body 401 radially exceeds the first flange body projection 432 to restrict the first outer bearing 812 from moving axially to the right. The inner wall 454 (i.e., the inner circumferential surface) of the first flange body protrusion 432 is for contacting the outer wall of the first flange body bearing 822 (see fig. 8A). The first flange body 401 serves to restrict the first flange body bearing 822 from moving axially to the right.

Fourteen first transmission holes 406 are further formed in the first flange body 401. The first transfer hole 406 is a circular hole, and the diameter of the left portion of the circular hole is d 1. Wherein the diameter d1 of the first transfer hole 406 is slightly smaller than the diameter K of the transfer through holes 604 (see fig. 6B) on the first and second inner wheels 122, 124. Centers of the fourteen first transfer holes 406 are uniformly arranged on a circumference of a radius r. The first transfer aperture 406 is used to connect the first flange body 104 with the transfer member 108.

The first connection boss 402 is provided on the first flange body 104 and is formed integrally with the first flange body 104. Specifically, the first connection boss 402 extends in the axial direction from the left surface of the first flange body 401, and the first connection boss 402 is located inside the first flange body protruding portion 432. The dimensions of the first connection boss 402 are configured to: the outer diameter of the first coupling boss 402 is smaller than the inner diameter of the eccentric shaft 212 so that the first coupling boss 402 can protrude into the hollow portion 231 of the eccentric shaft 212.

The first coupling boss 402 is provided with an accommodating portion 409. The receiving portion 409 penetrates the first coupling boss 402 and the first flange body 104 in the axial direction. A stepped portion 424 is provided on the wall of the accommodating portion 409 for abutting against a second input shaft bearing 834 (see fig. 8A) and restricting the second input shaft bearing 834 from moving to the left in the radial direction.

Three support mounting holes (i.e., support mounting portions) 405 are provided on the first coupling boss 402. Each of the three support mounting holes 405 extends axially rightward from the left surface of the first coupling boss 402 for receiving a planetary gear support 852 (see fig. 8A-8B). The three support mounting holes 405 are uniformly arranged in the circumferential direction around the accommodating portion 409.

The first connecting boss 402 is further provided with three positioning holes 407 and three connecting holes 408. A positioning hole 407 extends axially rightward from the left surface of the first coupling boss 402 for receiving a positioning member 804 (see fig. 8A) to position the first flange body 104 and the second flange body 106 with respect to each other. A connection hole 408 extends through the first connection boss 402 and the first flange body 104 for receiving a fastener 802 (see fig. 8A) to rigidly connect the first flange body 104 and the second flange body 106 together. Specifically, the three positioning holes 407 are uniformly arranged in the circumferential direction, and are arranged at intervals in the circumferential direction from the three support mounting holes 405. The three positioning holes 407 are uniformly arranged in the circumferential direction around the accommodating portion 409 together with the three support mounting holes 405. The three connection holes 408 are uniformly arranged in the circumferential direction, and are arranged at intervals in the circumferential direction from the three support mounting holes 405. Each of the three connection holes 408 is arranged in the same radial direction as a corresponding one of the three positioning holes 407, and the three connection holes 408 are arranged farther from the center axis F1 than the positioning holes 407.

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

It should be noted that although three connecting holes 408 and three positioning holes 407 are used in the present embodiment, the number and the positions thereof may be changed, and any number and position changes may also fall within the protection scope of the present application.

Fig. 5A is a perspective view of the second flange body 106 of the internal gear transmission mechanism 100 shown in fig. 1C and the second coupling boss 502 of the coupling member 109; FIG. 5B is a front view of the second flange body 106 and the second attachment boss 502 shown in FIG. 5A; fig. 5C is a cross-sectional view of the second flange body 106 and the second coupling boss 502 shown in fig. 5B, taken along section line B-B of fig. 5B. The second flange body 106 shown in fig. 5A-5C is integrally formed with the second attachment boss 502.

Specifically, the second flange body 106 includes a second flange body 501 and a second flange body protrusion 532. The second flange body 106 has a central axis F2. The second flange body 501 is substantially cylindrical, and the second flange body protrusion 532 is substantially annular. The second flange body protrusion 532 extends axially rightward from the right surface of the second flange body 501. The outer circumferential surface 552 (i.e., the outer wall) of the second flange body projection 532 is for contacting the inner wall of the second outer wheel bearing 814 (see fig. 8A). The second flange body 501 radially exceeds the second flange body projection 532 to restrict the second outer wheel bearing 814 from moving axially leftward. An inner circumferential surface 554 (i.e., an inner wall) of the second flange body protrusion 532 is for contacting an outer wall of the second flange body bearing 824 (see fig. 8A). The second flange body 501 is used to restrict the second flange body bearing 824 from moving leftward in the axial direction.

Fourteen second transmission holes 506 are formed in the second flange body 501. The second transfer hole 506 is a circular hole having a diameter d2 and extends axially leftward from the right surface of the second flange body projection 532. Wherein the diameter d2 of the second transfer hole 506 is slightly smaller than the diameter K of the transfer through holes 604 (see FIG. 6B) on the first and second inner wheels 122 and 124, and the diameter d2 of the second transfer hole 506 is approximately equal to the diameter d1 of the first transfer hole 406. Centers of the fourteen second transfer holes 506 are uniformly arranged on a circumference of radius r. The second transfer port 506 is used to connect the second flange body 106 with the transfer member 108.

The second coupling boss 502 is provided on the second flange body 106 and is formed integrally with the second flange body 106. Specifically, the second connection boss 502 extends in the axial direction from the right surface of the second flange body 501, and the second connection boss 502 is located inside the second flange body protrusion 532. The dimensions of the second connection boss 502 are configured to: the outer diameter of the second coupling boss 502 is smaller than the inner diameter of the eccentric shaft 212 so that the second coupling boss 502 can protrude into the hollow portion 231 of the eccentric shaft 212.

The second connection boss 502 is provided with an accommodation part 509. The receiving portion 509 penetrates the second connection boss 502 and the second flange body 106 in the axial direction. At least a portion of the wall of the receptacle 509 forms a stop 524 for abutting the first input shaft bearing 832 (see fig. 8A) and limiting movement of the first input shaft bearing 832 to the left in the radial direction.

The second coupling boss 502 is also provided with three support mounting holes (i.e., support mounting portions) 505. Each of the three support mounting holes 505 extends axially leftward from the right surface of the second coupling boss 502 for receiving a planetary gear support 852 (see fig. 8A-8B). The three support mounting holes 505 are uniformly arranged in the circumferential direction around the receiving portion 509.

In addition, the second connection boss 502 further includes three extension bosses 512. Each of the three extension bosses 512 extends axially rightward from the right surface of the second connection boss 502. The three extension bosses 512 are uniformly arranged in the circumferential direction and are arranged at intervals in the circumferential direction from the three support mounting holes 505. Specifically, each of the three extension bosses 512 is provided with a positioning hole 507 and a connection hole 508. The positioning hole 507 and the coupling hole 508 are formed to extend leftward in the axial direction from the right surface of the second coupling boss 502. The positioning holes 507 are used for receiving positioning members 804 (see fig. 8B) so as to position the first flange body 104 and the second flange body 106 with respect to each other. The attachment holes 508 are configured to receive fasteners 802 (see fig. 8B) to rigidly attach the first and second flange bodies 104, 106 together. More specifically, the positioning hole 507 and the connection hole 508 on each extension boss 512 are arranged in the same radial direction, and the connection hole 508 is arranged farther from the central axis F2 than the positioning hole 507. The aperture wall of the connection aperture 508 is provided with threads 558 for mating with threads on the fastener 802 (see fig. 8B) to couple the first flange body 104 and the second flange body 106 together.

It should be noted that, although the second flange body 106 is integrally formed with the second connecting boss 502 in the present embodiment, it is also within the scope of the present application to connect the second connecting boss 502 to the second flange body 106 by using a connecting member or by using a welding method.

Although three connection holes 508 and three positioning holes 507 are used in the present embodiment, the number and positions thereof may be set to correspond to the number and positions of the connection holes 408 and the positioning holes 407.

Fig. 6A is a perspective view of the first inner wheel 122 of the internal gearing mechanism 100 shown in fig. 1C; fig. 6B is a front view of the first inner wheel 122 shown in fig. 6A. Since the second inner wheel 124 has substantially the same structure as the first inner wheel 122, the first inner wheel 122 will be described as an example.

As shown in fig. 6A-6B, the first inner wheel 122 is generally annular in shape and has a thickness with a central axis N1. The outer periphery of the first inner wheel 122 has first inner wheel outer teeth 611. The first inner wheel external teeth 611 can mesh with outer wheel internal teeth 702 (see fig. 7A-7C) of the outer wheel 102. More specifically, as the first inner wheel 122 moves, at least a portion of the first inner wheel external teeth 611 can mesh with the outer wheel internal teeth 702 of the outer wheel 102. The first inner wheel outer teeth 611 and the outer wheel inner teeth 702 have a difference in the number of teeth (i.e., the number of teeth of the outer wheel inner teeth 702 is greater than the number of teeth of the first inner wheel outer teeth 611), and the first inner wheel 122 and the outer wheel 102 are configured to: when the first inner wheel 122 moves in the outer wheel 102, the first inner wheel 122 can perform rotation and translation (i.e., revolution and rotation).

The first inner wheel 122 has a first receiving portion 601 penetrating the first inner wheel 122. The wall 608 of the first receiving portion 601 has a diameter substantially the same as the outer diameter of the first inner wheel bearing 842 (see fig. 8A) so that the first inner wheel 122 can be fitted over the first inner wheel bearing 842 provided around the first eccentric portion 304. When the eccentric shaft 212 rotates, the eccentric shaft 212 can rotate the first inner wheel 122 through the first inner wheel bearing 842. In other words, when the eccentric shaft 212 is rotated, the eccentric shaft 212 can rotate the first inner wheel central axis N1 of the first inner wheel 122 about the central axis X of the eccentric shaft 212 (i.e., the first inner wheel 122 can revolve about the central axis X of the eccentric shaft 212).

Similarly, the second inner wheel 124 has a second receiving portion 602 extending through the second inner wheel 124. The diameter of the wall 635 of the second receptacle 602 is substantially the same as the outer diameter of the second inner wheel bearing 844 (see fig. 8A) so that the second inner wheel 124 can be slipped over the second inner wheel bearing 844 disposed about the second eccentric portion 306. When the eccentric shaft 212 rotates, the eccentric shaft 212 can rotate the second inner wheel 124 through the second inner wheel bearing 844. In other words, when the eccentric shaft 212 is rotated, the eccentric shaft 212 can rotate the second inner wheel central axis N2 of the second inner wheel 124 about the central axis X of the eccentric shaft 212 (i.e., the second inner wheel 124 can revolve about the central axis X of the eccentric shaft 212).

Fourteen transmission through holes 604 are further respectively formed in the first inner wheel 122 and the second inner wheel 124, and the transmission through holes 604 are circular holes with the diameter K. The centers of the fourteen transmission through holes 604 are uniformly arranged on a circumference of radius r. The transmission via 604 is used to receive the transmission member 108. Wherein the diameter K of the transmission through hole 604 is larger than the size of the outer contour of the transmission member 108 (see fig. 5B), and the diameter K is configured to: as the first and second inner wheels 122, 124 move, at least a portion of the transmission member 108 contacts the wall 605 of the transmission through hole 604, thereby enabling torque on the first and second inner wheels 122, 124 to be transmitted through the transmission member 108 to the first and second flange bodies 104, 106.

It should be noted that, although the transmission mechanism 100 is shown to include fourteen transmission members 108 in the above embodiments, the application is not intended to limit the number of transmission members 108, and the transmission mechanism 100 including any number of transmission members 108 falls within the protection scope of the application. Accordingly, a corresponding number of transfer through holes may be provided in the first inner wheel 122 and the second inner wheel 124.

Fig. 7A is a perspective view of the outer wheel 102 of the internal gear transmission shown in fig. 1C; fig. 7B is a front view of the outer wheel 102 shown in fig. 7A; fig. 7C is an axial sectional view of the outer ring 102 shown in fig. 7A. As shown in fig. 7A-7C, the outer wheel 102 is substantially annular and has an outer wheel center axis O. Outer wheel 102 has an accommodating space 712, and accommodating space 712 is provided through outer wheel 102. The middle portion (i.e., the inner edge) of the wall of the receiving space 712 is provided with outer wheel inner teeth 702 capable of meshing with the first inner wheel outer teeth 611 on the first inner wheel 122 and the second inner wheel outer teeth 612 on the second inner wheel 124. As one example, the outer wheel internal teeth 702 are formed of the needle rollers 722. Specifically, the middle of the wall of the receiving space 712 is provided with a needle groove in which the needle roller 722 is disposed.

The outer wheel 102 also has a support portion 704 and a support portion 706, and the support portion 704 and the support portion 706 are provided on the left and right sides of the inner teeth 702 of the outer wheel, respectively. The support portion 704 is used to support a first outer wheel bearing 812 (see fig. 8A). The support portion 706 is used to support a second outer wheel bearing 814 (see fig. 8A).

Note that, in the present application, the outer wheel internal teeth 702, the first inner wheel external teeth 611, and the second inner wheel external teeth 612 that mesh with each other may be any type of tooth shape, such as cycloid teeth, circular arc teeth, involute teeth, plane teeth, or curved teeth.

Fig. 8A is an axial cross-sectional view of the internal gearing mechanism 100 shown in fig. 1C; fig. 8B is a radial cross-sectional view of the ring gear transmission mechanism 100 shown in fig. 8A, illustrating the structure of the components and the positional relationship between the components in the ring gear transmission mechanism 100. As shown in fig. 8A to 8B, the central axis X of the eccentric shaft 212, the central axis S of the input shaft 202, the central axis F1 of the first flange body 104, and the central axis F2 of the second flange body 106 are coaxially disposed with the outer wheel central axis O of the outer wheel 102.

The first eccentric portion 304 of the eccentric shaft 212 is provided with a first inner wheel bearing 842. The second eccentric portion 306 of the eccentric shaft 212 is provided with a second inner bearing 844. Specifically, an inner wall of the first inner wheel bearing 842 contacts the circumferential surface 322 (refer to fig. 3B) of the first eccentric portion 304, and an outer wall of the first inner wheel bearing 842 contacts the wall 634 (refer to fig. 6A to 6B) of the first receiving portion 601 of the first inner wheel 122, so that the first inner wheel 122 is fitted over the first eccentric portion 304 via the first inner wheel bearing 842. When the eccentric shaft 212 rotates about the outer wheel center axis O, the first inner wheel 122 revolves about the outer wheel center axis O, that is, the first inner wheel center axis N1 of the first inner wheel 122 rotates about the outer wheel center axis O (i.e., translates). An inner wall of the second inner wheel bearing 844 contacts the circumferential surface 324 (refer to fig. 3B) of the second eccentric portion 306, and an outer wall of the second inner wheel bearing 844 contacts the wall 635 of the second receiving portion 602 of the second inner wheel 124, so that the second inner wheel 124 is fitted over the second eccentric portion 306 through the second inner wheel bearing 844. When the eccentric shaft 212 rotates about the outer wheel center axis O, the second inner wheel 124 revolves about the outer wheel center axis O, that is, the second inner wheel center axis N2 of the second inner wheel 124 rotates (i.e., translates) about the outer wheel center axis O.

Because the first inner wheel 122 and the second inner wheel 124 have the same structure, and the first inner wheel 122 and the second inner wheel 124 are eccentrically and symmetrically arranged relative to the outer wheel central axis O, when the eccentric shaft 212 drives the first inner wheel 122 and the second inner wheel 124 to rotate, the phase difference between the first inner wheel 122 and the second inner wheel 124 is 180 °, so that the first inner wheel 122 and the second inner wheel 124 can be integrally kept in dynamic balance during movement.

In addition, the first inner wheel 122 and the second inner wheel 124 are simultaneously in meshing relationship with the outer wheel 102. Specifically, when the eccentric shaft 212 revolves the first inner wheel 122 and the second inner wheel 124, the first inner wheel 122 and the second inner wheel 124 can rotate about their respective central axes (i.e., the first inner wheel central axis N1 and the second inner wheel central axis N2) because there is a difference in the number of teeth between the first inner wheel outer teeth 611 and the outer wheel inner teeth 702 and between the second inner wheel outer teeth 612 and the outer wheel inner teeth 702, and the outer wheel 102 is fixed. That is, the first inner wheel 122 and the second inner wheel 124 rotate while revolving.

A first inner wheel 122 and a second inner wheel 124 are supported by the carrier 101 in the outer wheel 102. The carrier 101 includes a first flange body 104 and a second flange body 106. The first and second flange bodies 104 and 106 are disposed on either side of first and second inner wheels 122 and 124, respectively. Specifically, the inner wall of the first outer wheel bearing 812 contacts the outer wall 452 of the first flange body 104, and the outer wall of the first outer wheel bearing 812 contacts the support portion 704 of the outer wheel 102, so that the first flange body 104 is mounted on the outer wheel 102 via the first outer wheel bearing 812. The inner wall of the second outer wheel bearing 814 contacts the outer wall 552 of the second flange body 106 and the outer wall of the second outer wheel bearing 814 contacts the support 706 of the outer wheel 102, such that the second flange body 106 is mounted to the outer wheel 102 by the second outer wheel bearing 814. Since the outer wheel 102 is stationary, the above mounting allows the first and second flange bodies 104 and 106 to rotate about the outer wheel center axis O.

The eccentric shaft 212 is mounted on the first and second flange bodies 104 and 106 through first and second flange body bearings 822 and 824, respectively. Specifically, an inner wall of the first flange body bearing 822 contacts the first flange body bearing abutment 312 and an outer wall of the first flange body bearing 822 contacts an inner wall 454 of the first flange body projection 432. The inner wall of the second flange body bearing 824 contacts the second flange body bearing abutment 314, and the outer wall of the second flange body bearing 824 contacts the inner wall 554 of the second flange body projection 532.

The first flange body 104 and the second flange body 106 are connected to each other by a connecting member 109. The coupling member 109 is accommodated in a hollow portion 231 (see fig. 2A) of the eccentric shaft 212. Specifically, the connecting member 109 includes a first connecting boss 402 extending axially from the first flange body 104, a second connecting boss 502 extending axially from the second flange body 106, a fastener 802, and a positioning member 804. Wherein the fastener 802 is a bolt having threads at least at a left end thereof to mate with threads 558 (see fig. 5C) on the coupling hole 508 of the second coupling boss 502. The positioning member 804 is a pin that can be inserted into the positioning hole 407 (see fig. 4C) and the positioning hole 507 (see fig. 5C). The first coupling boss 402 and the second coupling boss 502 in the coupling member 109 pass through the hollow portion 231 of the eccentric shaft 212 and abut against each other.

More specifically, the connection holes 408 on the first connection boss 402 are aligned with the connection holes 508 on the second connection boss 502. The positioning holes 407 on the first connecting boss 402 are aligned with the positioning holes 507 on the second connecting boss 502. The two ends of the positioning element 804 are inserted into the positioning holes 407 and 507, respectively, to position the first connecting boss 402 and the second connecting boss 502 with each other, so that the first flange body 104 and the second flange body 106 are positioned with each other. The fastener 802 is inserted through the connection hole 408 on the first connection boss 402 into the connection hole 508 on the second connection boss 502. The threads on the fastener 802 mate with the threads 558 on the wall of the connection aperture 508, thereby rigidly connecting the first flange body 104 to the second flange body 106.

Further, a power input device 244 is also accommodated in the hollow portion 231 of the eccentric shaft 212. Specifically, each of the three support mounting holes 405 on the first connection boss 402 and a corresponding one of the three support mounting holes 505 on the second connection boss 502 are aligned for mounting the planetary gear support 852. After the extension bosses 512 of the first and second connection bosses 402, 502 abut against each other, three recesses 833 are formed between the first and second connection bosses 402, 502 for accommodating the three planetary gears 204,206,208, respectively. The three planetary gear supports 852 are inserted into the corresponding pair of support mounting holes 405 and 505 after penetrating through the hollow portions 264, 266, and 268 of the planetary gears 204,206, and 208, respectively. In this way, the three planet gears 204,206,208 are mounted between the first coupling boss 402 and the second coupling boss 502, and each of the three planet gears 204,206,208 is able to rotate (i.e., spin) about its respective central axis (i.e., central axis M1, central axis M2, and central axis M3). The outer ring gear on each of the three planet gears 204,206,208 is capable of meshing with the eccentric shaft internal teeth 233 of the eccentric shaft 212.

The input shaft 202 is mounted to the planet carrier 101 by a first input shaft bearing 832 and a second input shaft bearing 834. Specifically, the input shaft 202 passes through the receiving portion 409 of the first flange body 104 into the receiving portion 509 of the second flange body 106. The inner wall of the first input shaft bearing 832 contacts the input shaft first stepped portion 252 of the input shaft 202 and the outer wall of the first input shaft bearing 832 contacts the wall of the receptacle 509 in the second flange body 106 and contacts the stop 524 so that the first input shaft bearing 832 does not move radially to the left. An inner wall of the second input shaft bearing 834 contacts the input shaft second stepped portion 254 of the input shaft 202, and an outer wall of the second input shaft bearing 834 contacts a wall of the receiving portion 409 of the first flange body 104 and contacts the stepped portion 424, so that the second input shaft bearing 834 does not move to the left in the radial direction. The input shaft outer teeth 272 of the input shaft 202 are capable of meshing with an outer ring gear on each of the three planet gears 204,206, 208.

The transmission member 108 of the internal gear mechanism 100 will be described. The transmission member 108 includes a cylindrical pin 854 and a pin sleeve 855. The pin sleeves 855 fit over the pins 854 to protect the pins 854 to reduce friction between the pins 854 and the first and second inner wheels 122, 124. The length of the pin 854 is configured to be longer than the length of the pin sleeve 855, so that both ends of the pin 854 can protrude out of the pin sleeve 855 and be inserted into the first transmission hole 406 of the first flange body 104 and the second transmission hole 506 of the second flange body 106, respectively, to be connected with the first flange body 104 and the second flange body 106. The pin sleeve 855 has a length slightly shorter than the distance between the first flange body 104 and the second flange body 106. In other words, the walls 605 (see fig. 6A-6B) of the transfer through holes 604 on the first and second inner wheels 122, 124 can contact the pin sleeves 855 but not the pin sleeves 854 when the first and second inner wheels 122, 124 are in place.

More specifically, the diameter of the pin 854 is slightly larger than the diameter d1 of the first transfer hole 406 and the diameter d2 of the second transfer hole 506, thereby enabling the pin 854 to be secured in the first transfer hole 406 and the second transfer hole 506 by an interference fit.

In the present application, the diameter K of the transmission through hole 604, the outer diameter L of the pin sleeve 855, and the eccentricity e satisfy:

K-L＝2e。

it should be noted that although the transmission member 108 includes the cylindrical pin 854 and the pin sleeve 855 in the embodiment of the present application, in other embodiments, the transmission member 108 may not include the pin sleeve 855.

It should also be noted that although the transmission member 108 includes the cylindrical pin 854 and the pin sleeve 855 in the embodiment of the present application, in other embodiments, the transmission member 108 may be composed of other members (for example, the transmission member 108 may be a bolt, a stud, etc. connected to the first flange body 104 and the second flange body 106), which also falls within the protection scope of the present application.

The pins 854 and sleeves 855 in the transmission member 108 pass through the transmission through holes 604 of the first inner wheel 122 and the second inner wheel 124. The two ends of the pin 854 in the transmission member 108 are connected with the first flange body 104 and the second flange body 106 by interference fit, respectively, so that the first flange body 104 and the second flange body 106 are connected together. At least a portion of the pin sleeves 855 can contact the inner wall of the transfer through-hole 604 such that the first and second inner wheels 122, 124 can urge the pin sleeves 855 and the pins 854 to rotate about the central axis O, thereby rotating the first and second flange bodies 104, 106 about the central axis O.

The torque transfer process during operation of internal gear 100 is described in detail below with outer wheel 102 being fixed (i.e., outer wheel 102 does not translate and rotate):

a drive mechanism (e.g., a motor, not shown) drives the input shaft 202 in rotation about the outer wheel central axis O. The input shaft outer teeth 272 of the input shaft 202 mesh with the outer ring gears 284,286,288 of the three pinion gears 204,206,208, thereby enabling the three pinion gears 204,206,208 to rotate (i.e., spin) about their respective center axes (i.e., center axis M1, center axis M2, and center axis M3). The outer ring gears 284,286,288 of the three planet gears 204,206,208 engage the eccentric shaft inner teeth 233 of the eccentric shaft 212 to rotate the eccentric shaft 212 about the outer wheel center axis O. The eccentric shaft 212 translates the first inner wheel 122 and the second inner wheel 124 (i.e., the first inner wheel central axis N1 and the second inner wheel central axis N2 rotate around the outer wheel central axis O) via the first inner wheel bearing 842 and the second inner wheel bearing 844. The first inner wheel outer teeth 611 of the first inner wheel 122 and the second inner wheel outer teeth 612 of the second inner wheel 124 mesh with the outer wheel inner teeth 702 of the outer wheel 102, thereby causing the first inner wheel 122 and the second inner wheel 124 to rotate (i.e., the first inner wheel 122 and the second inner wheel 124 can rotate about their respective first inner wheel central axis N1 and second inner wheel central axis N2). In this way, the first inner wheel 122 and the second inner wheel 124 can rotate while revolving.

When the first inner wheel 122 and the second inner wheel 124 revolve and rotate, the transmission member 108 (including the pin 854 and the pin sleeve 855) transmits the rotation of the first inner wheel 122 and the second inner wheel 124 to the first flange body 104 and the second flange body 106 by the cooperation of the transmission member 108 and the transmission through hole 604, so that the first flange body 104 and the second flange body 106 rotate around the central axis O. The first flange body 104 and/or the second flange body 106 may be coupled to a driven device (not shown). Thereby, the torque of the drive mechanism can be output to the driven device through the internal gear transmission mechanism 100.

It should be noted that, since the first flange body 104 and the second flange body 106 are mounted on the outer wheel 102 by the first outer wheel bearing 812 and the second outer wheel bearing 814, the first flange body 104 and the second flange body 106 can only rotate about the central axis O. The transmission member 108 is connected to the first flange body 104 and the second flange body 106, so that the transmission member 108 can only rotate about the central axis O. This enables the transmission member 108 to transmit only the rotation (i.e., rotation) of the first and second inner wheels 122 and 124 to the first and second flange bodies 104 and 106 without transmitting the translation (i.e., revolution) of the first and second inner wheels 122 and 124 to the first and second flange bodies 104 and 106 during the transmission of power from the first and second inner wheels 122 and 124 to the transmission member 108.

It should be noted that, since the first flange body 104 and the second flange body 106 are rigidly connected by the connecting member 109, the first flange body 104, the second flange body 106, and the connecting member 109 collectively rotate about the outer wheel central axis O. Since the three planetary gears 204,206,208 are each mounted on the connecting member 109 via the three planetary gear supports 852, the central axes M1, M2, M3 of the respective three planetary gears 204,206,208 are able to rotate (i.e., revolve) around the outer wheel central axis O. Thus, when the input shaft 202 rotates about the outer wheel center axis O, the three planetary gears 204,206,208 can rotate while revolving.

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

It will be further understood by those skilled in the art that although the positioning member 804 and the fastening member 802 are disposed on the same connecting boss in the embodiments of the present application, it is within the scope of the present application that the positioning member 804 and the fastening member 802 are disposed on different connecting bosses independently.

Those skilled in the art will also appreciate that while the three planet gears 204,206,208 are shown as being fixed to the connecting member 109, the three planet gears 204,206,208 may be fixed directly to at least one of the first and second flange bodies 104, 106.

Those skilled in the art will also appreciate that the number of inner wheels and the number of eccentric portions may be any number of two or more, and is not limited to the two shown in the embodiments of the present application. The phase angle between the eccentric portions may be different from 180 °, as long as the whole is kept in dynamic balance when the inner wheel is eccentrically rotated.

The internal gearing transmission mechanism 100 of the present application has at least the following advantages over conventional internal gearing transmission mechanisms:

first, the internal gear transmission 100 of the present application can reduce the stress on the inner wheel bearings (i.e., the first inner wheel bearing 842 and the second inner wheel bearing 844) between the first inner wheel 122 and the second inner wheel 124 and the eccentric shaft 212 without increasing the diameter of the outer wheel 102, while increasing the size of the inner wheel bearings. Therefore, the service life of the inner wheel bearing can be greatly prolonged.

Specifically, in conventional transmissions, the pin serves both to connect the flanges at the two ends and to transmit torque. The pin must ensure the rigidity of the planet carrier (the connection of the flanges at the two ends) and also must play a torque output function. The radial force generated by the pressure angle when the inner wheel is meshed with the outer wheel teeth and the acting force transmitted to the inner wheel when the pin sleeve outputs torque are synthesized to generate the comprehensive radial force born by the inner wheel bearing. The size (e.g., diameter) of the pins in the transmission needs to be set large to transmit torque while ensuring the rigidity of the carrier. Thus, the through holes in the inner wheel to which the pins correspond are correspondingly larger. In order to ensure the strength of the inner wheel, the larger through hole on the inner wheel corresponding to the pin cannot be arranged near the edge of the inner wheel. This makes it impossible to arrange the pin in the conventional transmission far from the central axis of the eccentric shaft.

In contrast, in the internal gear transmission 100 of the present application, a connecting member 109 for mainly assuming a rigid connection between the first flange body 104 and the second flange body 106, and a transmission member 108 for mainly transmitting torque of the first inner wheel 122 and the second inner wheel 124 to the first flange body 104 and the second flange body 106 are provided. Since the transmission member 108 serves only to transmit torque, the transmission member 108 can be sized smaller than a pin in a conventional transmission mechanism. The transmission member 108 can be disposed farther from the central axis O. When equal torque is transmitted from the first inner wheel 122 and the second inner wheel 124 to the first flange body 104 and the second flange body 106, the farther each transmission member 108 is from the central axis O, the larger the moment arm radius on each transmission member 108, and the smaller the force transmitted to the first inner wheel 122 and the second inner wheel 124, the longer the useful life of the inner wheel bearing is.

Viewed from another perspective, as the transmission member 108 is subjected to less force, the size (e.g., diameter) of the transmission member 108 may be set smaller. Since the transmission member 108 is small, the second set of through holes 604 for receiving the transmission member 108 is also small, so that the transmission through holes 604 can be arranged closer to the edges of the first and second inner wheels 122 and 124 with securing the strength of the first and second inner wheels 122 and 124. Therefore, the distance between the connecting member 109 and the eccentric shaft 212 is larger than the pin-to-eccentric shaft distance in the conventional transmission mechanism. In this way, the size of the inboard wheel bearing can be made larger without changing the size of the outboard wheel 102 and with equal torque transfer from the first and second inboard wheels 122, 124 to the first and second flange bodies 104, 106. The larger-size inner wheel bearing can bear larger basic rated dynamic load, so that the service life of the larger-size inner wheel bearing is longer.

Second, the internal gear transmission 100 of the present application is connected to each other by the connecting member 109, and the connecting member 109 is accommodated in the hollow portion 231 of the eccentric shaft 212, which arrangement also enables an increase in the size of the inner wheel bearing. This can enhance the service life of the inner wheel bearing and thus the service life of the internal gearing mechanism 100.

Specifically, in the present application, the transmission member 108 is used to transmit torque, and the connection member 109 is used to rigidly connect the first flange body 104 and the second flange body 106. Therefore, the position of the connecting member 109 is not limited, and it may be disposed outside the eccentric shaft 212 or disposed inside the eccentric shaft 212. The coupling member 109 of the present application is provided in the hollow portion 231 of the eccentric shaft 212, which allows the inner wheel bearing to be made larger in size. The larger-size inner wheel bearing can bear larger basic rated dynamic load, so that the service life of the larger-size inner wheel bearing is longer.

In addition, in the present application, the first flange body 104 and the second flange body 106 abut against each other through the connecting boss of the connecting part 109, and are fixed through the fastener 802 and the positioning part 804, which greatly enhances the torsional rigidity of the carrier 101. Specifically, the first flange body 104 and the second flange body 106 abutted by the connecting bosses are much more rigid after being connected than the first flange body 104 and the second flange body 106 which are only connected together but not abutted against each other. This is because the first flange body 104 and the second flange body 106 abutting against each other form a contact area therebetween, have a force acting on each other in the axial direction, and are more easily integrated by the connecting member 109. When the first flange body 104 and/or the second flange body 106 output torque to the outside (for example, connected to a driven device), the first flange body 104 and the second flange body 106 need to be twisted, and the first flange body 104 and the second flange body 106 abutting against each other can block the twisting between the first flange body 104 and the second flange body 106, so that the torsional rigidity of the planet carrier 101 is increased. This can improve not only the output torque of the internal gear transmission mechanism 100 but also the angular transmission error accuracy. For the field of robots in units of micrometers, improving the accuracy of angular transfer errors can greatly improve the positioning accuracy of the robot itself.

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

Specifically, in the conventional internal gear transmission mechanism, the eccentric shaft is usually directly connected to the driving mechanism, so that the driving mechanism can drive the eccentric shaft to rotate. However, in the embodiment shown in the present application, since the connecting members 109 of the first flange body 104 and the second flange body 106 are disposed in the eccentric shaft 212, and the first flange body 104 and the second flange body 106 are engaged with the outer wheel 102, both ends of the eccentric shaft 212 are blocked by the first flange body 104 and the second flange body 106, respectively, and cannot be connected to the driving mechanism.

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

Fourth, the internal gearing mechanism 100 of the present application can provide an internal gearing mechanism with a large speed ratio.

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

In contrast, the internal gear transmission mechanism 100 of the present application is capable of at least two-stage speed change. With the first stage of the transmission being achieved by the input transmission 132 (i.e., input shaft 202, planetary gears and eccentric shaft 212) in this application, with a speed ratio of i 1. The second gear shift is achieved by the first and second inner wheels 122 and 124 transmitting to the first and second flange bodies 104 and 106 at a speed ratio of i 2.

In more detail, the number of teeth of the input shaft external teeth 272 of the input shaft 202 is C1, the number of teeth of the eccentric shaft internal teeth 233 of the eccentric shaft 212 is C2, and the first-stage speed ratio i1 satisfies:

thus, the total speed ratio i of the internal gear transmission mechanism 100 satisfies:

i＝i1×i2。

as one example, when C1 is 15 and C2 is 75, the first speed ratio i1 is 5 and the total speed ratio i is 5i 2.

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

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

Claims (10)

1. An internal gearing transmission (100), characterized by comprising:

an outer wheel (102), the outer wheel (102) having outer wheel internal teeth (702), the outer wheel (102) having an outer wheel central axis (O);

a first inner wheel (122) and a second inner wheel (124), wherein the second inner wheel (124) and the first inner wheel (122) are arranged side by side, first inner wheel external teeth (611) are arranged on the first inner wheel (122), the first inner wheel external teeth (611) can be meshed with the outer wheel internal teeth (702), second inner wheel external teeth (612) are arranged on the second inner wheel (124), the second inner wheel external teeth (612) can be meshed with the outer wheel internal teeth (702), and at least two transmission through holes are respectively arranged on the first inner wheel (122) and the second inner wheel (124);

the eccentric shaft (212) is a hollow shaft, the eccentric shaft (212) is provided with eccentric shaft internal teeth (233), the outer periphery of the eccentric shaft (212) is provided with a first eccentric part (304) and a second eccentric part (306), the first inner wheel (122) is arranged around the first eccentric part (304), and the second inner wheel (124) is arranged around the second eccentric part (306), so that the eccentric shaft (212) can drive the first inner wheel (122) and the second inner wheel (124) to rotate eccentrically;

an input shaft (202), the input shaft (202) having input shaft external teeth (272);

a planetary gear (204,206,208), the planetary gear (204,206,208) is meshed with the external teeth (272) of the input shaft, the planetary gear (204,206,208) is meshed with the internal teeth (233) of the eccentric shaft, so that the input shaft (202) can drive the eccentric shaft (212) to rotate through the planetary gear (204,206, 208);

a first flange body (104) and a second flange body (106), the first flange body (104) and the second flange body (106) being disposed on opposite sides of the first inner wheel (122) and the second inner wheel (124), respectively; and

at least two transmission members (108), each of the at least two transmission members (108) penetrating through at least two transmission through holes on the first inner wheel (122) and the second inner wheel (124) and being connected with at least one of the first flange body (104) and the second flange body (106) so that the first inner wheel (122) and the second inner wheel (124) and the first flange body (104) and the second flange body (106) can transmit power through the at least two transmission members (108).

2. An internal gearing mechanism (100) according to claim 1, wherein:

the first inner wheel (122) comprises a first housing portion (601) for housing the first eccentric portion (304), the second inner wheel (124) comprises a second housing portion (602) for housing the second eccentric portion (306);

wherein the at least two transfer through holes provided on the first inner wheel (122) are provided around the first receiving portion (601), and the at least two transfer through holes provided on the second inner wheel (124) are provided around the second receiving portion (602).

3. An internal gearing mechanism (100) according to claim 1, wherein:

an inner edge of the outer wheel (102) forms a receiving space (712), the outer wheel inner teeth (702) are disposed on the inner edge, and the first flange body (104) and the second flange body (106) are disposed within the receiving space (712).

4. An internal gearing mechanism (100) according to claim 1, further comprising:

a connecting member (109), wherein the connecting member (109) is rigidly connected with the first flange body (104) and the second flange body (106), and the connecting member (109) passes through the hollow part of the eccentric shaft (212) to rigidly connect the first flange body (104) and the second flange body (106) together.

5. An internal gearing mechanism (100) according to claim 1, wherein:

the planet gears (204,206,208) are supported by at least one of the first flange body (104) and the second flange body (106).

6. An internal gearing mechanism (100) according to claim 1, wherein:

each of the at least two transmission members (108) may interconnect the first flange body (104) and the second flange body (106).

7. An internal gearing mechanism (100) according to claim 2, wherein:

the attachment member (109) includes an attachment boss and a fastener (802) extending from at least one of the first flange body (104) and the second flange body (106);

the connecting boss extends into a hollow portion of the eccentric shaft (212), and the first flange body (104) and the second flange body (106) are rigidly connected together by the fastener (802).

8. An internal gearing mechanism (100) according to claim 7, wherein:

the connection boss comprises a first connection boss (402) extending from the first flange body (104) and a second connection boss (502) extending from the second flange body (106);

the fastener (802) is capable of connecting the first connection boss (402) and the second connection boss (502) to each other.

9. An internal gearing mechanism (100) according to claim 8, wherein:

the first connecting boss (402) and the second connecting boss (502) are provided with connecting holes, and the fastener (802) is inserted into the connecting holes.

10. An internal gearing mechanism (100) according to claim 8, wherein:

the first flange body (104) and the second flange body (106) are disposed within the outer wheel (102), and eccentric rotation of the first inner wheel (122) and the second inner wheel (124) may cause the first flange body (104) and the second flange body (106) to rotate about the outer wheel central axis (O).

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