A power transmission apparatus of a hybrid electric vehicle includes a first input shaft mounted along an axis of an engine shaft and selectively connectable to the engine shaft, a second input shaft formed as a hollow shaft, coaxially mounted with the first input shaft, and fixedly connected to a rotor of the first motor-generator, a third input shaft formed as a hollow shaft, coaxially mounted with the first input shaft, and selectively connectable to the first input shaft, an intermediate shaft mounted in parallel with the first input shaft, an output shaft mounted in parallel to the first input shaft and outputting a shifted toque, a planetary gear set mounted on the output shaft, having an element fixed to the output shaft and forming a shifted torque, and a plurality of gear sets mounted over the first, second, and third input shafts, the intermediate shaft, and the output shaft.

A hydrostatic transmission mechanism of the power split transmission system is in driving connection to the sun gear of the first planetary gear train and the sun gear of the second planetary gear train. The planetary carrier of the first planetary gear train is connected to the planetary carrier of the second planetary gear train. The planetary carrier of the first planetary gear train is connected to the sun gear of a third planetary gear train. The driving plate of a third clutch is in transmission connection to the gear ring of the third planetary gear train. The driving plate of a fourth clutch is in transmission connection to the sun gear of the third planetary gear train. Each of the driven plate of the third clutch and the driven plate of the fourth clutch is connected to an output main shaft.

A power transmission apparatus may include a first input shaft fixedly connected to an engine output shaft, a second input shaft mounted external to the first input shaft, a third input shaft mounted and external to the second input shaft, an intermediate shaft and first and second output shafts, an idle shaft mounted in parallel with the second output shaft, a planetary gear mounted on an axis of the intermediate shaft, a plurality of gear sets the first, and second output shafts, the idle shaft, and the planetary gear set, a first synchronizer mounted on the first output shaft, a second synchronizer mounted on the second output shaft, selectively receiving a torque from the third input shaft through two paths, and transmitting the received torque to the second output shaft, and four clutches each of which facilitating selective connection.

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 transmission may include a first input shaft, a second input shaft external and selectively connectable to the first input shaft, a third input shaft external to the second input shaft and selectively connectable to the first input shaft, an intermediate shaft, an idle shaft, and an output shaft, a planetary gear set mounted on the intermediate shaft and having first to third elements where the third element and one the first and second elements are selectively connectable to the intermediate shaft and the first and second elements are connected to the third and second input shafts, a plurality of gear sets allowing torque flows between the various shafts and the planetary gear set, first and second synchronizers on the output shaft, receiving torques from the input shafts, and selectively transmitting the received torque to the output shaft, and four clutches.

A power transmission apparatus may include a first input shaft, a second input shaft external and selectively connectable to the first input shaft, a third input shaft external to the second input shaft and selectively connectable to the first input shaft, an intermediate shaft, first and second output shafts, first and second idle shafts, a planetary gear set mounted on the intermediate shaft and having first to elements and where two elements are selectively connectable to the intermediate shaft, a plurality of gear sets allowing torque flows between the various shafts and the planetary gear set, first and second synchronizers respectively mounted on the first and second output shafts, selectively receiving a torque from the second and third input shafts through two paths, and transmitting the received torque to the first and second output shaft, and four clutches.

A power transmission apparatus may include a first input shaft fixedly connected to an engine output shaft, a second input shaft mounted external to the first input shaft, a third input shaft mounted and external to the second input shaft, an intermediate shaft and first and second output shafts, an idle shaft mounted in parallel with the second output shaft, a planetary gear mounted on an axis of the intermediate shaft, a plurality of gear sets the first, and second output shafts, the idle shaft, and the planetary gear set, a first synchronizer mounted on the first output shaft, a second synchronizer mounted on the second output shaft, selectively receiving a torque from the third input shaft through two paths, and transmitting the received torque to the second output shaft, and four clutches each of which facilitating selective connection.

A power transmission apparatus may include a first input shaft fixedly connected to an engine output shaft, a second input shaft and selectively connectable to the first input shaft, a third input selectively connectable to the first input shaft, an intermediate shaft and first and second output shafts, an idle shaft mounted, a planetary gear set, the second rotation element and one of the first and third rotation elements selectively connectable to the intermediate shaft, the first and third rotation elements connected to the third and second input shafts, a plurality of gear sets, a first synchronizer selectively receiving a torque from the second input shaft and transmitting the received first torque to the first output shaft, a second synchronizer selectively receiving a torque from the third input shaft and transmitting the received second torque to the second output shaft, and four clutches.

Provided is a driving apparatus that can be miniaturized while maintaining necessary output. A driving apparatus (1) comprises a motor (10), an intermediate gear train (20) including at least one gear that transmits power generated by the motor (10), and an output shaft (30) to output driving power to outside. Furthermore, the driving apparatus (1) comprises a torque limiter (40) provided between the intermediate gear train (20) and the output shaft (30), to enable cutoff of the transmission of the power between the intermediate gear train (20) and the output shaft (30), and a planetary gear mechanism (50) provided between the torque limiter (40) and the output shaft (30). The planetary gear mechanism (50) is disposed in parallel with the motor (10).

A transmission may include a first input shaft, a second input shaft external and selectively connectable to the first input shaft, a third input shaft external to the second input shaft and selectively connectable to the first input shaft, an intermediate shaft, an idle shaft, and an output shaft, a planetary gear set mounted on the intermediate shaft and having first to third elements where the third element and one the first and second elements are selectively connectable to the intermediate shaft and the first and second elements are connected to the third and second input shafts, a plurality of gear sets allowing torque flows between the various shafts and the planetary gear set, first and second synchronizers on the output shaft, receiving torques from the input shafts, and selectively transmitting the received torque to the output shaft, and four clutches.