In a transmission structure according to this invention, speed change ratios of input side first and second transmission mechanisms are set so that the rotational speed of a planetary second element is the same when an HST output is set to a second HST speed in either a first transmission state or a second transmission state, and the rotational speed of a planetary first element is the same when the HST output is set to the second HST speed in either the second transmission state or the first transmission state. The speed change ratios of an output side first and second transmission mechanisms are set so that the rotational speed developed in a speed change output shaft when the HST output is set to the second HST speed is the same in either the first or second transmission states.

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 propulsion system for an electric vehicle includes a first electric propulsion motor including a stator and a rotor that has a first and second output shafts that are axially opposed and define first and second torque outputs of the first electric motor. The system also includes a second electric propulsion motor including a stator and a rotor having a second output shaft with a torque output. Further, the system includes a first reduction gearbox to receive the torque supplied on the first torque output of the first electric motor where appropriate via a first selective or non-selective coupling system, a second reduction gearbox to receive the torque supplied by the second electric motor where appropriate via a second selective or non-selective coupling system, and a third coupling system for coupling the second torque output of the first electric motor to the torque output of the second electric motor.

A powertrain for a vehicle may include a main shaft; a transmission unit provided to selectively supply power of a motor to the main shaft with different gear ratios; a differential connected to the main shaft; two driveshafts provided to output power in opposed directions from the differential; a rotating ring rotatably mounted on the main shaft through a first clutch; and a second clutch provided to select either a state where the rotating ring is connected to the transmission unit or a state where the rotating ring is connected to a selected driveshaft of the two driveshafts.

A power transmission apparatus configured for a vehicle, may include a first input shaft selectively connectable to an engine output shaft, a second input shaft mounted coaxial with the first input shaft and selectively connectable to the engine output shaft, a third input shaft external to the second input shaft and selectively connectable to the engine output shaft, a torque mediating shaft mounted coaxial with the first input shaft, first and second intermediate shafts, an idle shaft, a first shifting section including five gear sets, the first and second intermediate shafts, the torque mediating shaft and the idle shaft, a second shifting section including a planetary gear set having a sun gear fixedly connected to the torque mediating shaft, and an output shaft mounted coaxial with and selectively connectable to the first intermediate shaft and outputting a torque from the first and second shifting sections.

A range-change transmission device, which is a splitter transmission, includes an input shaft, an output shaft, a countershaft, at least one planetary gear set, and a torque adjustment device. A first transmission element of the planetary gear set is arranged coaxially to the output shaft. A second transmission element of the planetary gear set is or can be directly coupled to the countershaft. A third transmission element of the planetary gear set is permanently coupled to the input shaft in a rotationally fixed manner. The countershaft is or can be coupled to the torque adjustment device. The range-change transmission device has a first switching unit, which is provided to couple the countershaft to the output shaft.

A transmission includes a first and a second shaft, a shift group arranged between the first and the second shafts, and a first and second power path. The shift group has at least two individually shiftable transmission units which differ from one another relative to the gear ratio thereof. A planetary stage is arranged between the shift group and the first shaft, and the planetary stage is configured such that a mechanical power introduced via the first shaft is transmittable to the second shaft via the second power path. At least one transmission unit of the shift group is assigned to each power path, and in at least one shifting state of the shift group, the flow of power runs via at least one respective transmission unit of the first and the second power path. The planetary stage includes at least three planetary units.

A gear mechanism includes at least a first and a second shaft, and at least a first and a second switching group arranged between the first and the second shafts. Each of the switching groups includes at least two transmission units which are individually switched and have a different transmission ratio. The first switching group is movable into active connection with the first shaft by a planetary stage which is constructed such that a mechanical power which is introduced via the first shaft is transmitted to the second shaft via a first or a second power path. At least one transmission unit of the first switching group is associated with each power path and in at least one switching state of the first switching group, the power flow extends over at least one transmission unit of the first and the second power path.

A shift group for a power shift transmission includes a branching unit having a planetary stage and a branching coupling assigned to the planetary stage. The branching unit is designed such that a mechanical power is transmitted from a first shaft to a second shaft. A first power path and a second power path are provided. In a first shifting state, the power is transmitted via the first or the second power path, and in a second shifting state, the power is transmitted via both the first and the second power paths. The shift group also includes individually shiftable transmission units each comprising a different transmission ratio, where a first transmission unit is disposed in the first power path and a second and a third transmission unit are disposed in the second power path.

A power transmission apparatus for a vehicle may include a first input shaft directly connected to a motor/generator, a second and third input shafts coaxial and selectively connectable to the first input shaft, a torque mediating shaft coaxial with the first input shaft, an intermediate shaft and output shaft disposed in parallel with the first input shaft, a first shifting section receiving torque from the third input shaft and outputting a modified torque to the torque mediating shaft, a second shifting section including first planetary gear set, shifting torque of the first input shaft to output the shifted torque to the torque mediating shaft, and selectively stopping the torque mediating shaft, and a third shifting section including second planetary gear set, forming an output torque in combination of torques from the first and second shifting sections and the second input shaft, and outputting the output torque to the output shaft.