This gear speed change device is provided with an input unit 13 in which an eccentric guide portion 14 is formed centered about an eccentric position x1, on an input shaft 11 having an axial center x, an internal/external gear 20 which has external teeth 18 and internal teeth 19 having the center of rotation at the eccentric position x1, and one side of which is rotatably held by the eccentric guide portion 14, an output unit 24 which has an output shaft 12 on the axis x and on one side of which are formed internal teeth 22 that mesh with the external teeth 18 and that are centered about the axis x, and a rotation control unit 25 for controlling the rotational speed of the output unit 24.

A transmission comprising at least one rim 1 and at least one wheel 2. An outside surface of the wheel 2 is adapted to engage with an inside surface of the rim 1. The wheel 2 is rotatable about a first axis B and the rim 2 is rotatable about a second axis A. The second axis A is at a distance from the first axis B. The inside surface of the rim 1 has a cyclic polygonal shape with an angle between each adjoining side 4 of the polygon being greater than 90°. The outer surface of the wheel 2 has a cyclic polygonal shape with an angle between each adjoining side 6 of the polygon being greater than 90°. Each side 6 of the wheel 2 engaging with a side 4 of the rim 1 of equal length during rotation of said transmission.

A transmission is described. The transmission employs a main input sprocket configured to be driven by a drive system of the apparatus implementing the transmission. The main input sprocket is disposed on and coupled to a main axle of the transmission. The transmission further includes an output gear that is configured to float on the main axle and is connected to a driven output component of the apparatus implementing the transmission. By floating on the main axle, the output gear can rotate at a rate that differs from a rotational rate of the main input sprocket. To control a rate at which the output gear rotates relative to the main input sprocket, the transmission employs a reference carrier floating on the main axle. A rotational rate of the reference carrier dictates an amount of torsional relief from the main input sprocket to the output gear. A rate at which the reference carrier rotates about the main axle is controlled by a control system of the transmission, which may be implemented as a computer-based control system, a mechanical feedback-based control system, and combinations thereof.

A transmission is described. The transmission employs a main input sprocket configured to be driven by a drive system of the apparatus implementing the transmission. The main input sprocket is disposed on and coupled to a main axle of the transmission. The transmission further includes an output gear that is configured to float on the main axle and is connected to a driven output component of the apparatus implementing the transmission. By floating on the main axle, the output gear can rotate at a rate that differs from a rotational rate of the main input sprocket. To control a rate at which the output gear rotates relative to the main input sprocket, the transmission employs a reference carrier floating on the main axle. A rotational rate of the reference carrier dictates an amount of torsional relief from the main input sprocket to the output gear. A rate at which the reference carrier rotates about the main axle is controlled by a control system of the transmission, which may be implemented as a computer-based control system, a mechanical feedback-based control system, and combinations thereof.

The present disclosure provides a power unit for a bionic robot, a robot joint and a robot. The power unit comprises: a shell, wherein a stator is embedded in the shell, a rotor is embedded in the stator, a rotor shaft is embedded in the rotor, bearings are disposed between the rotor shaft and the shell, a driving shaft is embedded in a central portion of the rotor shaft, a first driving wheel is disposed on the driving shaft, two transmission shafts are disposed in the rotor shaft, a first driven wheel and second driving wheels are disposed on each of the transmission shafts, the first driven wheel is engaged with the first driving wheel, a sun gear shaft is disposed in the rotor shaft, the sun gear shaft and the driving shaft are coaxially disposed, and a synchronizer and second driven wheels are disposed on the sun gear shaft.

The present disclosure provides a power unit for a bionic robot, a robot joint and a robot. The power unit comprises: a shell, wherein a stator is embedded in the shell, a rotor is embedded in the stator, a rotor shaft is embedded in the rotor, bearings are disposed between the rotor shaft and the shell, a driving shaft is embedded in a central portion of the rotor shaft, a first driving wheel is disposed on the driving shaft, two transmission shafts are disposed in the rotor shaft, a first driven wheel and second driving wheels are disposed on each of the transmission shafts, the first driven wheel is engaged with the first driving wheel, a sun gear shaft is disposed in the rotor shaft, the sun gear shaft and the driving shaft are coaxially disposed, and a synchronizer and second driven wheels are disposed on the sun gear shaft.

A multi-speed transmission (01) having a px and having a zx is described. The px is equipped with a sun wheel (84) and at least one planet wheel (08). The cycloidal gear stage equipped with a ring gear (02) with a ring gear axis (20), at least one cycloidal disk (05, 06) rolling in the ring gear, with at least one off-center opening and with a number, equivalent to the number of planet wheels (08), of shared off-center eccentric shafts (03), each connected nonrotatably with a planet wheel (08) and located jointly rotatably around the ring gear axis (20) and having a number of eccentric portions (31, 32), equivalent to the number of vbs (05, 06), which are each supported rotatably in a respective off-center opening of the at least one cycloidal disk (05, 06). The transmission (01) is distinguished by a support of its gear stages relative to the ring gear (02), also called and/or capable of being called a load-bearing body and being for instance at least a part of its machine frame, with bearing elements located exclusively on one side of the ring gear (02). First molding surfaces (33) are embodied on the eccentric shafts (03), and second molding surfaces (82) are embodied on the planet wheels (08), with which molding surfaces the planet wheels (08) mesh with the first molding surfaces (33) on the eccentric shafts (03).

A multi-speed transmission (01) having a px and having a zx is described. The px is equipped with a sun wheel (84) and at least one planet wheel (08). The cycloidal gear stage equipped with a ring gear (02) with a ring gear axis (20), at least one cycloidal disk (05, 06) rolling in the ring gear, with at least one off-center opening and with a number, equivalent to the number of planet wheels (08), of shared off-center eccentric shafts (03), each connected nonrotatably with a planet wheel (08) and located jointly rotatably around the ring gear axis (20) and having a number of eccentric portions (31, 32), equivalent to the number of vbs (05, 06), which are each supported rotatably in a respective off-center opening of the at least one cycloidal disk (05, 06). The transmission (01) is distinguished by a support of its gear stages relative to the ring gear (02), also called and/or capable of being called a load-bearing body and being for instance at least a part of its machine frame, with bearing elements located exclusively on one side of the ring gear (02). First molding surfaces (33) are embodied on the eccentric shafts (03), and second molding surfaces (82) are embodied on the planet wheels (08), with which molding surfaces the planet wheels (08) mesh with the first molding surfaces (33) on the eccentric shafts (03).

Reel devices, systems, and related methods are disclosed. The reel devices are modular and include an automatic shift assembly that shifts to provide a mechanical advantage when used to tighten a cord. For instance, the reel devices are configured to provide a first drive ratio and automatically transition to a second drive ratio in response to a torque force. The reel devices include a drive assembly and a shift assembly. The drive assembly includes a cycloidal gear.

Reel devices, systems, and related methods are disclosed. The reel devices are modular and include an automatic shift assembly that shifts to provide a mechanical advantage when used to tighten a cord. For instance, the reel devices are configured to provide a first drive ratio and automatically transition to a second drive ratio in response to a torque force. The reel devices include a drive assembly and a shift assembly. The drive assembly includes a cycloidal gear.