CN217328201U - Power transmission mechanism and mechanical equipment - Google Patents

Abstract

The utility model relates to a power transmission mechanism and mechanical equipment, power transmission mechanism include power input component, first clutch, second clutch and power take off subassembly. The power input assembly simultaneously drives the first driving piece of the first clutch and the second driving piece of the second clutch to rotate along different directions. When the output in the same direction as the rotation direction of the first driving part is needed, the first driving part is controlled to be connected with the first driven part, the first driving part can transmit the rotation torque to the first driven part, and the rotation torque is transmitted to the executing component through the matching of the first linkage part and the second linkage part of the power output component. And otherwise, the second driving part is controlled to be connected with the second driven part, and the rotation torque is transmitted to the executing component through the power output component. The power transmission mechanism only needs to control the first driven part to be jointed with the first driving part or the second driven part to be jointed with the second driving part when the rotating direction is switched, the conversion response speed is high, and the transmission efficiency is high.

Description

Power transmission mechanism and mechanical equipment

Technical Field

The utility model relates to a transmission technical field especially relates to power transmission mechanism and mechanical equipment.

Background

In a traditional mechanical device, a motor is generally used as a power component, and other components are driven to move by the motor. When the output rotation direction needs to be switched, the rotation direction is generally realized by controlling the motor to rotate forwards or backwards. However, this method is not only slow in response speed but also large in loss to the motor.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is desirable to provide a power transmission mechanism and a mechanical apparatus having a high response speed and a small loss.

A power transmission mechanism comprises a power input assembly, a first clutch, a second clutch and a power output assembly, wherein the first clutch comprises a first driving part and a first driven part, the first driving part is controlled to be capable of being jointed with the first driven part, the first driving part is connected with the power input assembly, and the power input assembly is used for driving the first driving part to rotate; the second clutch comprises a second driving part and a second driven part, the second driving part is controlled to be capable of being jointed with the second driven part, the second driving part is connected to the power input assembly, the power input assembly is used for driving the second driving part to rotate, and the rotating directions of the second driving part and the first driving part are opposite; the power output assembly comprises a first linkage piece and a second linkage piece, the first linkage piece is connected to the first driven piece, the second linkage piece is connected to the second driven piece, and the first linkage piece is in transmission fit with the second linkage piece.

In one embodiment, the first clutch is a magnetorheological clutch; the second clutch is a magnetorheological fluid clutch.

In one embodiment, the power transmission mechanism further comprises a controller, the first clutch and the second clutch are both electrically connected to the controller, and the controller is used for controlling the current of the first clutch and/or the second clutch.

In one embodiment, the power output assembly further includes an output shaft, the output shaft is disposed on the first linkage member, and the first linkage member can drive the output shaft to move synchronously.

In one embodiment, the power output assembly further includes a linkage belt, and the linkage belt is spanned over the first linkage member and the second linkage member to drive the first linkage member and the second linkage member to rotate synchronously.

In one embodiment, the power transmission mechanism further includes a housing, an output hole is formed in the housing, the power input assembly, the first clutch, the second clutch and the power output assembly are all disposed in the housing, and the output shaft extends out of the output hole.

In one embodiment, the power input assembly includes a power source, a first transmission member and a second transmission member, the first transmission member is connected to the first driving member, the second transmission member is connected to the second driving member, the power source is configured to drive the first transmission member to rotate, the first transmission member is in transmission fit with the second transmission member, and the rotation directions of the first transmission member and the second transmission member are opposite.

In one embodiment, the first transmission member and the second transmission member are both gears, and the first transmission member is meshed with the second transmission member; and/or

The first transmission piece is connected with the first driving piece through a coupler, and the second transmission piece is connected with the second driving piece through a coupler.

In one embodiment, the power transmission mechanism further includes an auxiliary output assembly and an auxiliary clutch, the auxiliary clutch includes an auxiliary driving member and an auxiliary driven member, the auxiliary driving member is controlled to be capable of engaging with the auxiliary driven member, the power input assembly is configured to drive the auxiliary driving member to rotate, the auxiliary driving member rotates in a direction opposite to that of one of the first driving member and the second driving member, and the auxiliary output assembly is connected to the auxiliary driven member.

A mechanical device comprises an actuating assembly and the power transmission mechanism, wherein the actuating assembly is connected to the first linkage member or the second linkage member.

According to the power transmission mechanism and the mechanical equipment, the power input assembly simultaneously drives the first driving piece of the first clutch and the second driving piece of the second clutch to rotate along different directions. When the output in the same rotating direction as that of the first driving part is needed, the first driving part is controlled to be connected with the first driven part, the first driving part can transmit the rotating torque to the first driven part, and the first driven part is matched with the second driven part through the first linkage part and the second linkage part of the power output assembly to realize the transmission of the rotating torque. On the contrary, when the output in the same rotating direction as the second driving part is needed, the second driving part is controlled to be jointed with the second driven part, the first linkage part and the second linkage part of the power output assembly are matched to realize the transmission of the rotating torque, and the rotating torque is further transmitted to the execution assembly to realize the driving of the execution assembly. In the process of switching the rotating direction of the power transmission mechanism, the rotating direction of the power input assembly does not need to be changed, only the first driven part needs to be controlled to be jointed with the first driving part or the second driven part needs to be controlled to be jointed with the second driving part, the switching response speed is high, the loss of the power input assembly is small, the transmission efficiency is high, the brake release time can be shortened, and the service life of the power input assembly is prolonged.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Furthermore, the drawings are not to scale of 1:1, and the relative dimensions of the various elements in the drawings are drawn only by way of example and not necessarily to true scale. In the drawings:

FIG. 1 is a schematic diagram of a power transmission mechanism in one embodiment;

FIG. 2 is a schematic structural view of the power transmission mechanism of FIG. 1 without the first and second mounting housings;

fig. 3 is a sectional view of the power transmission mechanism shown in fig. 1.

Description of reference numerals:

10. a power transmission mechanism; 100. a power input assembly; 110. a power source; 120. a first transmission member; 130. A second transmission member; 200. a first clutch; 210. a first driving member; 220. a first driven member; 230. A first coil; 300. a second clutch; 310. a second driving member; 320. a second driven member; 330. a second coil; 400. a power take-off assembly; 410. a first linkage member; 420. a second linkage member; 430. an output shaft; 440. a linkage belt; 450. a tension wheel; 500. a housing; 510. an output aperture; 520. a first assembly housing; 530. a second assembly housing; 540. the connecting shell.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

Referring to fig. 1 to 3, the power transmission mechanism 10 according to an embodiment of the present invention has a fast response speed and a small loss. The power transmission mechanism 10 includes a power input assembly 100, a first clutch 200, a second clutch 300 and a power output assembly 400, wherein the first clutch 200 includes a first driving member 210 and a first driven member 220, the first driving member 210 is controlled to be capable of engaging with the first driven member 220, the first driving member 210 is connected to the power input assembly 100, and the power input assembly 100 is used for driving the first driving member 210 to rotate; the second clutch 300 includes a second driving member 310 and a second driven member 320, the second driving member 310 is controlled to be able to engage with the second driven member 320, the second driving member 310 is connected to the power input assembly 100, the power input assembly 100 is used for driving the second driving member 310 to rotate, and the rotation direction of the second driving member 310 is opposite to that of the first driving member 210; the power output assembly 400 includes a first linkage member 410 and a second linkage member 420, the first linkage member 410 is connected to the first driven member 220, the second linkage member 420 is connected to the second driven member 320, and the first linkage member 410 is in transmission fit with the second linkage member 420.

In the power transmission mechanism 10, the power input assembly 100 simultaneously drives the first driving member 210 of the first clutch 200 and the second driving member 310 of the second clutch 300 to rotate in different directions. When the power output assembly 400 needs to output in the same direction as the rotation direction of the first driving member 210, the first driving member 210 is controlled to engage with the first driven member 220, so that the first driving member 210 can transmit the rotation torque to the first driven member 220, and the first driven member 220 realizes the transmission of the rotation torque through the cooperation of the first linkage member 410 and the second linkage member 420 of the power output assembly 400. On the contrary, when the output in the same direction as the rotation direction of the second driving member 310 is required, the second driving member 310 is controlled to be engaged with the second driven member 320, and the first linkage member 410 and the second linkage member 420 of the power output assembly 400 are matched to realize the transmission of the rotation torque. In the process of switching the rotation direction of the power transmission mechanism 10, the rotation direction of the power input assembly 100 does not need to be changed, and only the first driven member 220 needs to be controlled to be engaged with the first driving member 210 or the second driven member 320 needs to be controlled to be engaged with the second driving member 310, so that the conversion response speed is high, the loss to the power input assembly 100 is small, the transmission efficiency is high, the brake release time can be reduced, and the service life of the power input assembly 100 is prolonged.

In this embodiment, the first clutch 200 is a magnetorheological fluid clutch. The second clutch 300 is a magnetorheological fluid clutch. Specifically, the first clutch 200 further includes a first coil 230, and the space between the first driving member 210 and the first driven member 220 is filled with magnetorheological fluid. The second clutch 300 further includes a second coil 330, and the space between the second driving member 310 and the second driven member 320 is filled with magnetorheological fluid. When no current flows in the first coil 230, the magnetorheological fluid is in a liquid state, and the first clutch 200 is in a separated state; when current is introduced into the first coil 230, the magnetorheological fluid is subjected to a "curing" reaction, the torque transmitted between the first driving part 210 and the first driven part 220 is increased, and the first driving part 210 is driven by the magnetorheological fluid to rotate with the first driven part 220, so that the first clutch 200 is engaged. The second clutch 300 operates on the same principle as the first clutch 200.

In an embodiment, the power transmission mechanism 10 further includes a controller, and the first clutch 200 and the second clutch 300 are electrically connected to the controller, and the controller is configured to control the current of the first clutch 200 and/or the second clutch 300. In the present embodiment, the first coil 230 is electrically connected to the controller, and the second coil 330 is electrically connected to the controller.

In use, according to an embodiment, a controller may apply a current to only the first coil 230, so as to engage the first driving member 210 with the first driven member 220 and transmit the torque of the first driving member 210 by using the cooperation of the first linkage member 410 and the second linkage member 420. In another embodiment, the controller may apply current to only the second coil 330, so that the second driving member 310 is engaged with the second driven member 320, and the torque of the second driving member 310 is transmitted by the cooperation of the first linking member 410 and the second linking member 420. In other embodiments, when the controller simultaneously applies the currents to the first coil 230 and the second coil 330, and the magnitudes of the currents are equal or approximately equal, the torques output by the first driven member 220 of the first clutch 200 and the second driven member 320 of the second clutch 300 are the same. Since the rotation directions of the first driving member 210 and the second driving member 310 are opposite, the torques between the first driven member 220 and the second driven member 320 are offset, and the power output assembly 400 is in a stationary state. Specifically, when the controller controls to increase the current of the first coil 230, the torque output by the first driven member 220 is increased, so that the power output assembly 400 can output the torque of the first driving member 210; conversely, when the current of the second coil 330 is increased, the torque output by the second driven member 320 is increased, so that the power output assembly 400 can output the torque of the second driving member 310.

In the above embodiment, the first clutch 200 and the second clutch 300 are controlled by current to be combined, so that the response frequency of torque output is higher, the response speed is faster, and the purpose of instantaneous output can be achieved. Meanwhile, by controlling the current, the linearity of the finally output torque is higher, the stability is better, the error is smaller, and the characteristics of irregularity and delay of the traditional torque motor control are eliminated. When the first clutch 200 and the second clutch 300 apply the same or similar current to make the power output assembly 400 in a static state, the inertia of the power output assembly 400 is very small, and the power output assembly 400 can output a smaller torque and a smaller lower limit of the torque output as long as the current of one of the clutches is slightly increased, thereby eliminating the traditional dead zone directly driven by the motor.

In other embodiments, the first clutch 200 may also be a magnetic particle clutch. In another embodiment, the first clutch 200 may also be a friction clutch as long as the first driving member 210 and the first driven member 220 can be controllably engaged.

In other embodiments, the second clutch 300 may also be a magnetic particle clutch. In another embodiment, the second clutch 300 may also be a friction clutch as long as it can achieve the controlled and engageable of the second driving member 310 and the second driven member 320.

In an embodiment, the power output assembly 400 further includes an output shaft 430, the output shaft 430 is disposed on the first linking member 410, and the first linking member 410 can drive the output shaft 430 to move synchronously. Due to the linkage fit of the first linkage member 410 and the second linkage member 420, the rotation torque of the first driven member 220 or the second driven member 320 can be effectively transmitted to the output shaft 430, so as to achieve the purpose of rotating the output shaft 430 in different directions. In other embodiments, the output shaft 430 is disposed on the second linkage member 420, and the second linkage member 420 can drive the output shaft 430 to move synchronously.

In an embodiment, the power output assembly 400 further includes a linkage belt 440, and the linkage belt 440 is disposed across the first linkage member 410 and the second linkage member 420 to drive the first linkage member 410 and the second linkage member 420 to rotate synchronously. In this embodiment, the first linkage member 410 and the second linkage member 420 are wheel-shaped structures, and the synchronous rotation of the first linkage member 410 and the second linkage member 420 is further facilitated through the linkage belt 440. Specifically, the power output assembly 400 further includes a tension wheel 450, and the tension wheel 450 abuts against the linkage belt 440, so as to achieve the purpose of tensioning the linkage belt 440. In other embodiments, the tensioner 450 may also be omitted.

In other embodiments, the first linkage member 410 and the second linkage member 420 may also be in a gear structure, and the first linkage member 410 is engaged with the second linkage member 420 to achieve synchronous movement of the first linkage member 410 and the second linkage member 420. Alternatively, the first linkage member 410 and the second linkage member 420 are worm structures, the first linkage member 410 and the second linkage member 420 are connected through a worm wheel, and the output shaft 430 is disposed on a worm or a worm wheel. In another embodiment, the first linkage member 410 and the second linkage member 420 may be in transmission engagement in other manners, as long as a stable output of the torque of the first driven member 220 or the second driven member 320 can be ensured.

In one embodiment, the power transmission mechanism 10 further includes a housing 500, an output hole 510 is formed on the housing 500, the power input assembly 100, the first clutch 200, the second clutch 300 and the power output assembly 400 are all disposed in the housing 500, and the output shaft 430 extends from the output hole 510. The power input assembly 100, the first clutch 200, the second clutch 300 and the power output assembly 400 can be effectively protected by the housing 500, and the power input assembly 100, the first clutch 200, the second clutch 300 and the power output assembly 400 are formed into a module which can be used as a power source component for mechanical equipment requiring power.

In the present embodiment, the housing 500 includes a first assembly case 520, a second assembly case 530 and a connection case 540, the first assembly case 520 is connected to the second assembly case 530 through the connection case 540, wherein the power input assembly 100 is disposed in the first assembly case 520, the power output assembly 400 is disposed in the second assembly case 530, and the first clutch 200 and the second clutch 300 are disposed in the connection case 540. Specifically, there are two connecting cases 540, and the first clutch 200 and the second clutch 300 are disposed in the two connecting cases 540, respectively.

In other embodiments, the housing 500 may be a single integral casing, and the power input assembly 100, the first clutch 200, the second clutch 300 and the power output assembly 400 are all disposed in the housing 500.

In one embodiment, the power input assembly 100 includes a power source 110, a first transmission member 120 and a second transmission member 130, the first transmission member 120 is connected to the first driving member 210, the second transmission member 130 is connected to the second driving member 310, the power source 110 is configured to drive the first transmission member 120 to rotate, the first transmission member 120 is in transmission fit with the second transmission member 130, and the rotation directions of the first transmission member 120 and the second transmission member 130 are opposite. Since the first transmission member 120 is in transmission fit with the second transmission member 130, the first transmission member 120 and the second transmission member 130 are driven by the power source 110, so that the first driving member 210 and the second driving member 310 can be driven to rotate in different directions simultaneously.

In this embodiment, the first transmission member 120 and the second transmission member 130 are both gears, and the first transmission member 120 is engaged with the second transmission member 130. In other embodiments, the first transmission member 120 and the second transmission member 130 may also be a worm gear structure, or other structures that can achieve synchronous rotation of the first driving member 210 and the second driving member 310 in different rotation directions.

Specifically, the first transmission member 120 is connected to the first active member 210 through a coupling 140, and the second transmission member 130 is connected to the second active member 310 through a coupling 140. The coupling 140 further facilitates the connection between the first transmission member 120 and the first active member 210, and the connection between the second transmission member 130 and the second active member 310. In the present embodiment, the coupling 140 is a cross coupling. In other embodiments, the coupling 140 may be omitted, and the first driving member 120 may be directly connected to the first driving member 210. The second transmission member 130 may be directly connected to the second driving member 310.

In other embodiments, the power input assembly 100 may further include two power sources 110, and the two power sources 110 respectively drive the first driving member 210 and the second driving member 310 to rotate in different directions.

In the present embodiment, the power source 110 is a motor. In embodiments, power source 110 may also be other power components capable of achieving a rotational output.

In one embodiment, the power transmission mechanism 10 further includes an auxiliary output assembly and an auxiliary clutch, the auxiliary clutch includes an auxiliary driving member and an auxiliary driven member, the auxiliary driving member is controlled to be capable of engaging with the auxiliary driven member, the power input assembly 100 is configured to drive the auxiliary driving member to rotate, the auxiliary driving member is opposite to one of the first driving member 210 and the second driving member 310 in rotation direction, and the auxiliary output assembly is connected to the auxiliary driven member. Specifically, the auxiliary output assembly is in driving engagement with the first linkage 410 and the second linkage 420.

The provision of the auxiliary clutch can serve as a backup clutch, and prevents the clutch in accordance with the rotation direction of the auxiliary driving member from being damaged and affecting the output of the entire power transmission mechanism 10. For example, when the rotation directions of the auxiliary driving member and the second driving member 310 are the same and the second driving member 310 and the second driven member 320 cannot be effectively engaged, the auxiliary driving member and the auxiliary driven member are engaged, and the torque is effectively output to the output shaft 430 through the transmission cooperation of the auxiliary output assembly and the first linkage 410 and the second linkage 420. In other embodiments, there may be two auxiliary clutches, and the rotation directions of the two auxiliary clutches are respectively consistent with the rotation directions of the first clutch 200 and the second clutch 300. The two assist clutches may be respectively used as backup clutches for the first clutch 200 and the second clutch 300.

Specifically, the auxiliary output assembly includes an auxiliary output member and an auxiliary shaft, the auxiliary shaft is disposed on the auxiliary output member, and the auxiliary output member is in transmission fit with the first linkage member 410 or the second linkage member 420, so that the rotation direction of the auxiliary shaft is opposite to or the same as the rotation direction of the output shaft 430.

In other embodiments, by providing an auxiliary output assembly, an auxiliary shaft is conveniently added, and thus an output end is conveniently added. For example, when the rotation direction of the auxiliary shaft is opposite to the rotation direction of the output shaft 430 and the auxiliary driving member is identical to the rotation direction of the first driving member 210, the auxiliary driven member and the second driven member 320 are controlled to be engaged with the corresponding driving member, so that the output in two different directions can be realized.

In one embodiment, a mechanical apparatus includes an actuator assembly and the power transmission mechanism 10 in any of the above embodiments, wherein the actuator assembly is connected to the first linkage member 410 or the second linkage member 420. The first linkage member 410 and the second linkage member 420 of the power output assembly 400 are matched to further realize the transmission of the rotation torque, and further transmit the rotation torque to the actuating assembly, so as to realize the driving of the actuating assembly. For example, the mechanical device may be a robotic arm or other mechanical structure requiring power.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.

Claims (10)

1. A power transmission mechanism, characterized by comprising:

a power input assembly;

the first clutch comprises a first driving part and a first driven part, the first driving part is controlled to be capable of being jointed with the first driven part, the first driving part is connected to the power input assembly, and the power input assembly is used for driving the first driving part to rotate;

the second clutch comprises a second driving part and a second driven part, the second driving part is controlled to be capable of being jointed with the second driven part, the second driving part is connected to the power input assembly, the power input assembly is used for driving the second driving part to rotate, and the rotating directions of the second driving part and the first driving part are opposite; and

the power output assembly comprises a first linkage piece and a second linkage piece, the first linkage piece is connected to the first driven piece, the second linkage piece is connected to the second driven piece, and the first linkage piece is in transmission fit with the second linkage piece.

2. The power transmission mechanism of claim 1, wherein the first clutch is a magnetorheological fluid clutch; the second clutch is a magnetorheological fluid clutch.

3. The power transmission mechanism of claim 2, further comprising a controller, wherein the first clutch and the second clutch are both electrically connected to the controller, and the controller is configured to control the current of the first clutch and/or the second clutch.

4. The power transmission mechanism according to any one of claims 1 to 3, wherein the power output assembly further comprises an output shaft, the output shaft is disposed on the first linkage member, and the first linkage member can drive the output shaft to move synchronously.

5. The power transmission mechanism as claimed in claim 4, wherein the power output assembly further comprises a linkage belt, and the linkage belt is spanned over the first linkage member and the second linkage member to drive the first linkage member and the second linkage member to rotate synchronously.

6. The power transmission mechanism of claim 4, further comprising a housing, wherein an output hole is formed in the housing, the power input assembly, the first clutch, the second clutch and the power output assembly are disposed in the housing, and the output shaft extends from the output hole.

7. The power transmission mechanism according to any one of claims 1 to 3, wherein the power input assembly includes a power source, a first transmission member and a second transmission member, the first transmission member is connected to the first driving member, the second transmission member is connected to the second driving member, the power source is used for driving the first transmission member to rotate, the first transmission member is in transmission engagement with the second transmission member, and the rotation directions of the first transmission member and the second transmission member are opposite.

8. The power transmission mechanism according to claim 7, wherein the first transmission member and the second transmission member are both gears, and the first transmission member is engaged with the second transmission member; and/or

The first transmission piece is connected with the first driving piece through a coupler, and the second transmission piece is connected with the second driving piece through a coupler.

9. The power transmission mechanism according to any one of claims 1 to 3, further comprising an auxiliary output assembly and an auxiliary clutch, wherein the auxiliary clutch includes an auxiliary driving member and an auxiliary driven member, the auxiliary driving member is controlled to be capable of engaging with the auxiliary driven member, the power input assembly is configured to drive the auxiliary driving member to rotate, the auxiliary driving member rotates in an opposite direction to one of the first driving member and the second driving member, and the auxiliary output assembly is connected to the auxiliary driven member.

10. A machine comprising an actuator assembly and a power transmission mechanism as claimed in any one of claims 1 to 9, wherein the actuator assembly is connected to the first linkage member or the second linkage member.

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