A shifting manipulation-assisting device and a hub-embedded transmission, wherein in controlling pawls that restrain rotation of sun gears to perform shifting in a planetary gear set, shifting control is properly performed even with a small manipulation force. The shifting manipulation-assisting device includes a pawl control ring having an inner peripheral surface to control laying-down of control pawls, and an outer peripheral surface formed with rotation restricting protrusions; an angle control member positioned on an inner periphery side of a driver; pressing members supported on the angle control member, and positioned between the unidirectionally inclined recesses and an inner peripheral surface of the driver; an elastic connecting body connected to resiliently support the pawl control ring; a fixed support member non-rotatably fixed to the shaft and rotatably supporting the driver; and a return spring connected to reversely rotate and accordingly return the angle control member.

The present invention relates to an electric vehicle transmission system employing a planetary gear type speed reducer so as to implement first-gear shifting, second-gear shifting, or reverse shifting, thereby enabling reduced manufacturing costs of an electric vehicle while increasing the fuel efficiency of the electric vehicle, and also employing the planetary gear type speed reducer so as to implement forward and reverse shifting, thereby enabling reduced manufacturing costs of the electric vehicle while increasing the fuel efficiency of the electric vehicle.

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.

In a strain wave gearing, the addendum tooth profile of an inner gear is defined by a formula and that of an outer gear is by another formula at a principal cross-section located at a tooth-trace-direction center of the outer gear, on the basis of a movement locus (Mc) of =1 by the teeth of the outer gear with respect to those of the inner gear. The tooth profiles of the dedenda of each of the inner gear and the outer gear are set to any shape that does not interfere with the tooth profile of the addendum of the other gear. It is possible to avoid superimposed flexion-induced bending stresses and tensile stresses caused by load torque arising at the long-axis locations of the outer gear, and the transmission torque capacity of a strain wave gearing can be improved.

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 shifting manipulation-assisting device and a hub-embedded transmission, wherein in controlling pawls that restrain rotation of sun gears to perform shifting in a planetary gear set, shifting control is properly performed even with a small manipulation force. The shifting manipulation-assisting device includes a pawl control ring having an inner peripheral surface to control laying-down of control pawls, and an outer peripheral surface formed with rotation restricting protrusions; an angle control member positioned on an inner periphery side of a driver; pressing members supported on the angle control member, and positioned between the unidirectionally inclined recesses and an inner peripheral surface of the driver; an elastic connecting body connected to resiliently support the pawl control ring; a fixed support member non-rotatably fixed to the shaft and rotatably supporting the driver; and a return spring connected to reversely rotate and accordingly return the angle control member.

A planetary transmission device with a small tooth number difference for implementing smart workload self-adaptation comprises a left planetary gear, a right planetary gear, a left-end disk, a right-end disk, a housing and a connection member. One end of the connection member axially run through the left planetary gear and the right planetary gear. End parts of both ends of the connection member are fixedly connected to the left-end disk and the right-end disk respectively. By means of a force closure mechanism, the transmission device can automatically and steplessly adjust a transmission ratio and an output rotation speed according to a change in load without depending on a measurement md control system, md has a simple structure and low costs.

A planetary transmission device with a small tooth number difference for implementing smart workload self-adaptation comprises a left planetary gear, a right planetary gear, a left-end disk, a right-end disk, a housing and a connection member. One end of the connection member axially run through the left planetary gear and the right planetary gear. End parts of both ends of the connection member are fixedly connected to the left-end disk and the right-end disk respectively. By means of a force closure mechanism, the transmission device can automatically and steplessly adjust a transmission ratio and an output rotation speed according to a change in load without depending on a measurement md control system, md has a simple structure and low costs.