CN107477151A - Inside gear drive mechanism - Google Patents

Abstract

The present invention provides an internal meshing transmission mechanism, comprising: an outer wheel, the inner edge of the outer wheel is provided with a first number of arc teeth, and the first number of arc teeth is arranged around the inner edge of the outer wheel; the inner wheel , the outer edge of the inner wheel is provided with a second number of teeth, the second number of teeth are arranged around the outer edge of the inner wheel, the m>n; the eccentric rotation device, the eccentric rotation device can make the The eccentric arrangement of the inner wheel; wherein, any one of the outer wheel, the inner wheel and the eccentric rotation device is connected to the power input end, and any other of the outer wheel, the inner wheel and the eccentric rotation device is connected to the power output end, so that Power is transmitted by meshing transmission between the outer wheel and the inner wheel; and wherein the tooth profile on the inner wheel is designed such that at any time the inner wheel and the outer wheel are meshing, a portion of the second number of teeth is aligned with the A portion of the first number of arcuate teeth engages or contacts, and the rest of the second number of teeth disengages from the first number of arcuate teeth.

Description

internal gearing mechanism

technical field

The present invention generally relates to internal gear transmissions.

Background technique

This is done in part to provide a background or context to the invention that is recited in the claims. The description herein may include concepts that might be pursued, but not necessarily concepts that have been previously thought of or pursued. Therefore, unless otherwise indicated herein, what is described in this section is not prior art to the description and claims in this application and is not admitted to be prior art by inclusion in this section.

Compared with the external meshing transmission mechanism, the internal meshing transmission mechanism has a smaller volume, a larger single-stage transmission speed ratio, and it is easy to realize multi-teeth meshing. For the internal meshing transmission mechanism, when the tooth difference between the inner and outer wheels is 1, the transmission speed ratio is the largest, but such a tooth difference adopts traditional involute gears, and there is interference between the inner and outer wheels, resulting in the teeth of the outer wheel and The teeth of the inner gear are stuck, so that the outer wheel and the inner wheel cannot rotate. Therefore, for the internal meshing transmission mechanism, it is necessary to solve the interference problem between the inner and outer wheels when realizing a large transmission speed ratio.

At present, the internal meshing transmission mechanisms that are widely used mainly include harmonic transmission mechanisms and cycloidal pinwheel transmission mechanisms. The harmonic transmission mechanism uses a flexspline as an external gear for transmission, and the deformation of the external gear solves the interference of the inner and outer gears. However, the manufacturing of the flexspline is difficult and the output torque is small, which makes it difficult for the harmonic transmission mechanism to be widely used.

The cycloidal pinwheel transmission mechanism uses the cycloidal wheel as the inner wheel, and the cycloidal profile on the cycloidal wheel meshes with the needle roller on the outer wheel for transmission. The cycloidal profile is a cycloid (that is, a circle rolls on a fixed line. , the trajectory of a fixed point on the circumference) or the cycloid after modification. Adopting the cycloidal profile can realize non-interference in meshing of the inner and outer wheels, but in the process of relative rotation of the inner and outer wheels, the profile on the cycloidal wheel always meshes with the needle roller on the outer wheel. Such an engagement mode results in greater friction between the inner and outer wheels. In order to reduce the frictional force, needle sleeves are usually used on the needle rollers on the outer wheel of the cycloidal pinwheel transmission mechanism to change the sliding friction of the needle rollers into the rolling friction of the needle sleeves, but the two ends of the needle rollers support the arrangement of the middle force The needle roller is easily bent and deformed when it is stressed, so that the volume of the cycloidal pinwheel reducer is increased and the bearing capacity is small.

Due to the above problems, neither the harmonic transmission mechanism nor the cycloidal pinwheel transmission mechanism can meet the application fields that require small volume, high speed ratio, high power or high torque output.

Contents of the invention

The purpose of the present invention is to provide an internal meshing transmission mechanism, which can solve the problems existing in the existing internal meshing transmission mechanism.

According to the first aspect of the present invention, the present invention provides an internal meshing transmission mechanism, which includes an outer wheel and an inner wheel. The inner edge of the outer wheel is provided with a first number of arc teeth, and the first number of arc teeth is arranged around the inner edge of the outer wheel. A second number of teeth is provided on the outer edge of the inner wheel, and the second number of teeth are arranged around the outer edge of the inner wheel, where m>n. Each tooth on the inner wheel includes: a tooth top whose shape is designed so that when the inner wheel meshes with the outer wheel, the tooth top does not touch the arc teeth on the outer wheel at any time; and two tooth waists, They are respectively connected on both sides of the top of the tooth, and the shape of the tooth waist is designed so that when the inner wheel and the outer wheel are meshed for transmission, the tooth waist and the circular arc teeth on the outer wheel will periodically contact and separate, so that the teeth on the inner wheel and the outer wheel are in contact with each other. The circular arc teeth on the outer wheel realize multi-teeth meshing at the same time without interference. The outer edge of the inner wheel also includes several dedendums, connecting two adjacent teeth.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, the dedendum is a section of curve or straight line, the tooth top is a section of curve or line, and the tooth waist is a smooth compound curve, which consists of curves, straight lines, arcs and splines One or more components in a line.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, a part of the tooth waist is a curve, which is the curve between the inner gear teeth and the circular arc teeth on the outer wheel in the set meshing area when the inner wheel and the outer wheel are meshed for transmission. An envelope formed by a series of meshing points, so that within the set meshing area, multiple teeth mesh simultaneously without interference, and outside the set meshing area, the inner gear teeth do not contact or mesh with the arc teeth on the outer wheel .

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, the length of the envelope and the position on the tooth waist depend on the desired number and meshing interval of the teeth on the inner wheel and the arc teeth on the outer wheel.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, the curve or straight line forming the addendum and the envelope of the tooth waist are smoothly connected by a transition curve.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, the curve or straight line forming the dedendum can be smoothly connected with the envelope of the tooth waist through a transition curve and/or straight line, so that the dedendum can be connected at any It is not in contact with the arc teeth on the outer wheel at all times; it is also possible to make the curve forming the dedendum and the envelope of the tooth waist the same envelope.

The above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention further includes an eccentric rotation device, and the eccentric rotation device can drive the inner wheel so that the inner wheel performs eccentric translation and / or turn.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, at any time when the inner wheel and the outer wheel are engaged in transmission, a part of the second number of teeth and a part of the first number of arc teeth engage or contact, and the remainder of said second number of teeth disengage from said first number of arcuate teeth.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, the m-n=a a∈(1,2,3...natural number), when the eccentric rotating device rotates one cycle, the inner wheel rotates a number of teeth angle, and the rotation direction of the inner wheel is opposite to that of the eccentric rotation device.

In the aforementioned internal meshing transmission mechanism according to the first aspect of the present invention, the first number of arc teeth on the outer wheel are needle rollers.

In the aforementioned internal meshing transmission mechanism according to the first aspect of the present invention, the eccentricity d of the eccentric rotation device is greater than r/2, where r is the radius of the needle roller.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, the first number of arc teeth on the outer wheel are needle rollers; at all meshing positions between the teeth of the inner wheel and the needle rollers, the needle roller center to the corresponding The distance of any point on the tooth root is greater than or equal to the radius of the needle roller.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, the inner edge of the outer wheel is provided with a needle roller installation groove, and the radius of the needle roller groove is the same as that of the needle roller.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, both ends of the needle rollers are supported by needle roller positioning rings, and the needle rollers are positioned in the needle roller grooves of the outer wheel, and the needle rollers can rotate in the needle roller grooves.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, when the inner wheel and the outer wheel are meshed for transmission, each addendum on the inner wheel does not contact the circular arc teeth.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, when the inner wheel and the outer wheel are meshed for transmission, each addendum and each tooth root on the inner wheel does not contact the circular arc teeth.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, each tooth of the inner wheel disengages from the circular arc tooth on the outer wheel at least once during one cycle of rotation of the eccentric rotating device.

In the aforementioned internal meshing transmission mechanism according to the first aspect of the present invention, the internal meshing transmission mechanism is provided with at least four inner wheels arranged in parallel.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, at any time when the inner wheel is engaged with the outer wheel, the number of the first number of arc teeth meshing with the second number of teeth is less than the 60% of the total number of arc teeth.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, the internal meshing transmission mechanism further includes a planet carrier, and the inner wheel is mounted on the planet carrier to transmit power between the inner wheel and the planet carrier.

In the above-mentioned internal meshing transmission mechanism according to the first aspect of the present invention, the planet carrier is mounted inside the outer wheel and mounted on the eccentric rotation device.

According to the second aspect of the present invention, the present invention provides an internal meshing transmission mechanism, comprising: an outer wheel, the inner edge of the outer wheel is provided with a first number of arc teeth, and the first number of arc teeth surrounds the The inner edge of the outer wheel is set; the inner wheel is provided with a second number of teeth on the outer edge of the inner wheel, and the second number of teeth is arranged around the outer edge of the inner wheel, and the m>n; the eccentric rotation device, The eccentric rotation device can make the inner wheel arranged eccentrically; wherein, any one of the outer wheel, the inner wheel and the eccentric rotation device is connected to the power input end, and any other of the outer wheel, the inner wheel and the eccentric rotation device One is connected to the power output end to transmit power through the meshing transmission between the outer wheel and the inner wheel; and wherein, the tooth profile on the inner wheel is designed so that the second A part of the number of teeth meshes with or contacts a part of the first number of arcuate teeth, and the remainder of the second number of teeth disengages from the first number of arcuate teeth.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, each tooth on the inner wheel includes: a tooth top, and the shape of the tooth top is designed so that when the inner wheel and the outer wheel are meshed for transmission, the tooth top will be connected to the outer wheel at any time. The circular-arc teeth of the two tooth waists are connected on both sides of the top of the tooth respectively. The shape of the tooth waist is designed so that when the inner wheel and the outer wheel mesh and drive, the tooth waist and the arc teeth on the outer wheel periodically contact and separation, so as to realize simultaneous meshing of multiple teeth without interference between the teeth on the inner wheel and the arc teeth on the outer wheel; the outer edge of the inner wheel also includes several dedendums, which will Two adjacent teeth are connected.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, the dedendum is a section of curve or straight line; the tooth top is a section of curve or line; One or more components in a line.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, a part of the tooth waist is a curve, and the curve is the circular arc on the inner wheel teeth and the outer wheel in the set meshing area when the inner wheel and the outer wheel are meshed for transmission. An envelope formed by a series of meshing points of the teeth, so that multiple teeth mesh simultaneously without interference within the set meshing area, and outside the set meshing area, the inner gear teeth and the arc teeth on the outer wheel have no contact or mesh.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, the length of the envelope and the position on the tooth waist depend on the desired number and meshing interval of the teeth on the inner wheel and the arc teeth on the outer wheel.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, the curve or straight line forming the addendum and the envelope of the tooth waist are smoothly connected by a transition curve.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, the curve or straight line forming the dedendum can be smoothly connected with the envelope of the tooth waist through a transition curve and/or straight line, so that the dedendum can be connected at any It is not in contact with the arc teeth on the outer wheel at all times; it is also possible to make the curve forming the dedendum and the envelope of the tooth waist the same envelope.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, the m-n=a a∈(1,2,3...natural number); when the eccentric rotating device rotates one cycle (360 degrees), the inner wheel rotates The angle of a tooth, and the rotation direction of the inner wheel is opposite to the rotation direction of the eccentric rotation device.

In the aforementioned internal meshing transmission mechanism according to the second aspect of the present invention, the first number of arc teeth on the outer wheel are needle rollers.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, the first number of arc teeth on the outer wheel are needle rollers, and at all meshing positions between the teeth of the inner wheel and the needle rollers, the center of the needle rollers reaches the corresponding The distance of any point on the tooth root is greater than or equal to the radius of the needle roller.

In the aforementioned internal meshing transmission mechanism according to the second aspect of the present invention, the eccentricity d of the eccentric rotation device is greater than r/2, where r is the radius of the needle roller.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, the inner edge of the outer wheel is provided with a needle roller installation groove, and the radius of the needle roller groove is the same as that of the needle roller.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, both ends of the needle rollers are supported by needle roller positioning rings, and the needle rollers are positioned in the needle roller installation grooves of the outer wheel, and the needle rollers can be positioned in the needle roller installation grooves. rotate.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, when the circular arc teeth on the inner wheel and the outer wheel engage and drive, each addendum on the inner wheel does not contact the circular arc teeth.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, when the inner wheel and the outer wheel are meshed for transmission, each addendum and each tooth root on the inner wheel do not contact the circular arc teeth.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, each tooth of the inner wheel disengages from the circular arc teeth of the outer wheel at least once during the rotation of the eccentric rotating device for one cycle.

In the aforementioned internal meshing transmission mechanism according to the second aspect of the present invention, the internal meshing transmission mechanism is provided with at least four inner wheels arranged in parallel.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, at any time when the inner wheel and the outer wheel are engaged in transmission, the number of the first plurality of arc teeth meshing with the second plurality of teeth is less than the 60% of the total number of arc teeth.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, the internal meshing transmission mechanism further includes a planet carrier, and the inner wheel is mounted on the planet carrier to transmit power between the inner wheel and the planet carrier.

In the above-mentioned internal meshing transmission mechanism according to the second aspect of the present invention, the planet carrier is mounted inside the outer wheel and mounted on the eccentric rotation device.

According to the third aspect of the present invention, the present invention provides an inner wheel for meshing transmission with the outer wheel in an internal meshing transmission mechanism, the outer edge of the inner wheel is provided with a second number of teeth for contacting with the The first number of arc teeth set on the inner edge of the outer wheel engages with the transmission, and the second number of teeth are arranged around the outer edge of the inner wheel, wherein each tooth includes: a crest, the shape of the crest It is designed so that when the inner wheel and the outer wheel are meshed for transmission, the tooth top does not touch the arc teeth on the outer wheel at any time; and two tooth waists are respectively connected to the two sides of the tooth top, and the shape of the tooth waist is designed to be inside When the wheel and the outer wheel are meshed for transmission, the tooth waist and the outer wheel periodically contact and separate, so that the multi-teeth meshing can be realized without interference between the inner wheel and the outer wheel; the outer edge of the inner wheel also includes Several tooth roots connect two adjacent teeth.

In the above-mentioned inner wheel according to the third aspect of the present invention, the dedendum is a section of curve or straight line, the addendum is a section of curve or line, and the tooth waist is a smooth compound curve, which consists of curves, straight lines, arcs and splines. one or more components.

In the above-mentioned inner wheel according to the third aspect of the present invention, a part of the tooth waist is a curve, which is the curve between the inner wheel teeth and the arc teeth on the outer wheel in the set meshing area when the inner wheel meshes with the outer wheel. An envelope formed by a series of meshing points, so that within the set meshing area, multiple teeth mesh simultaneously without interference, and outside the set meshing area, the inner gear teeth do not contact or mesh with the arc teeth on the outer wheel .

In the above-mentioned inner wheel according to the third aspect of the present invention, the length of the envelope and the position on the tooth waist depend on the desired number and meshing interval of the teeth on the inner wheel and the arc teeth on the outer wheel.

In the above inner wheel according to the third aspect of the present invention, the curve or straight line forming the addendum and the envelope of the tooth waist are smoothly connected by a transition curve.

In the above-mentioned inner wheel according to the third aspect of the present invention, the curve or straight line forming the dedendum can be smoothly connected with the envelope of the tooth waist through a transition curve and/or straight line, so that the dedendum can be connected with the The arc teeth on the outer wheel are not in contact; the curve forming the tooth root and the envelope of the tooth waist can also be made to be the same envelope.

Compared with the existing internal meshing transmission mechanism, the internal meshing transmission mechanism according to the invention can well solve the interference problem of the inner and outer wheels, and the friction between the inner and outer wheels is extremely small, so it has the advantages of small size and high speed ratio of the transmission mechanism. Large and output torque, and long service life, high transmission efficiency and other advantages.

Description of drawings

The present invention will be more fully understood from the following detailed description when taken in conjunction with the accompanying drawings, in which like reference numerals indicate like elements, in which:

Fig. 1 is the axial schematic view of the internal meshing transmission mechanism of the present invention;

Fig. 2 is the structural representation of inner wheel of the present invention;

Fig. 3A is a schematic diagram of the tooth profile on the inner wheel of the present invention;

Fig. 3B is a schematic diagram of meshing between the teeth on the inner wheel and the needle rollers on the outer wheel of the present invention;

4A-4F are simplified meshing schematic diagrams according to the internal meshing transmission mechanism of the present invention, these figures have shown in the process that the eccentric rotating device of the internal meshing transmission structure according to the present invention rotates a circle, the teeth of the inner wheel and the outer wheel How the needle rollers engage and separate;

Fig. 5 is a simplified meshing structure diagram of the internal meshing transmission mechanism according to the present invention, which shows a comparison of the corresponding positions of the inner wheel in two different rotational positions of the eccentric rotating device;

Fig. 6 is a partial view of the outer wheel according to the present invention, which shows the structure for installing needle rollers on the outer wheel;

Fig. 7A is a schematic perspective view of the three-dimensional structure of the internal meshing transmission mechanism according to the present invention;

Fig. 7B is a cross-sectional view of the internal meshing transmission mechanism according to the present invention.

detailed description

Various embodiments of the invention will be described below with reference to the accompanying drawings, which form a part hereof. It should be understood that although directional terms such as "front", "rear", "upper", "lower", "left", "right", etc. are used herein to describe various exemplary structural parts of the invention and elements, but these terms are used herein for explanatory purposes only, based on the example orientations shown in the figures. Since the disclosed embodiments of the present invention may be arranged in different orientations, these directional terms are for illustration only and should not be viewed as limiting. Where possible, the same or similar reference numerals used in the present invention refer to the same components.

The internal meshing transmission mechanism according to the present invention includes an outer wheel 102 , an inner wheel 108 and an eccentric rotation device 116 as shown in FIG. 1 . The eccentric rotation device 116 is arranged inside the inner wheel 108 and the outer wheel 102 is arranged outside the inner wheel 108 . The internal meshing transmission mechanism also includes a planetary carrier 400 (not shown in FIG. 1 , please refer to FIGS. 7A and 7B ), through which the inner wheel 108 achieves transmission engagement, and is integrally arranged inside the outer wheel 102 with the planetary carrier 400 . Through the interaction of these components, the meshing transmission of the outer wheel 102 and the inner wheel 108 can be realized, so that the purpose of deceleration or speed-up can be realized. When it is necessary to realize deceleration, the eccentric rotation device 116 is used as a high-speed input mechanism, and the outer wheel 102 or the planet carrier 400 is used to output at a low speed, wherein when it is necessary to realize the output of the outer wheel 102 at a low speed, the planet carrier 400 must be fixed; , the outer wheel 102 must be fixed. When speed-up is required, the outer wheel 102 or the planet carrier 400 serves as a low-speed input mechanism, and the eccentric rotating device 116 serves as a high-speed output mechanism. The internal meshing transmission mechanism of the present invention can realize multiple deceleration and speed-up modes. In order to better introduce the internal meshing transmission mechanism of the present invention, the deceleration mode in which the eccentric rotating device 116 is used as a high-speed input and the planet carrier 400 is used as a low-speed output will be described below. In this deceleration mode, the eccentric rotating device 116 is connected to an external high-speed power source, the planet carrier 400 realizes low-speed power output, and the outer wheel 102 is fixed.

As shown in FIG. 1, in the internal meshing transmission mechanism according to the present invention, the outer wheel 102 has an inner edge 103, and the inner edge 103 is provided with a first number of arc teeth 104 (i) (i=1, 2, . . . , m,). The inner wheel 108 has an outer edge 109 provided with a second number of teeth 110(j) (j=1, 2, . . . , n). The inner edge 103 of the outer wheel 102 forms an accommodating space, so that the inner wheel 108 can be arranged eccentrically therein, and the outer wheel 102 and the inner wheel 108 can pass through the first number of arc teeth 104 (i) (i=1) on the outer wheel 102 , 2, . . . , m,) mesh with a second number of teeth 110 (j) (j=1, 2, .

The first number of arc teeth 104(i) (i=1, 2, . The tooth can also be a part with a needle roller shape installed on the inner edge of the outer wheel. At this time, the shape of the needle roller protruding from the inner edge of the outer wheel 102 is also an arc tooth shape. In addition, no matter which method is used to set the arc teeth, it is all possible, as long as the shape of the arc teeth can mesh with the teeth on the inner wheel 108, so that pin teeth are formed between the inner wheel 108 and the outer wheel 102 Just engage the transmission. According to an embodiment of the present invention, the first number of arc teeth 104(i) (i=1, 2, ..., m,) adopts the form of needle rollers, and the needle rollers are installed on the inner edge 103 of the outer wheel 102. corresponding needle groove. The specific installation form of the needle roller will be introduced in detail later in conjunction with accompanying drawing 6. According to an example of the present invention, what is shown in Fig. 1 is a circular arc tooth in the form of a needle roller. For the convenience of description, "needle roller" is used instead of "circular arc tooth" to describe the embodiment of the present invention.

Still as shown in FIG. 1 , an accommodation space is provided at the center of the inner wheel 108 for accommodating the eccentric rotation device 116 therein, and the eccentric rotation device 116 can bias the inner wheel 108 . The inner wheel 108 is arranged on the eccentric rotating device 116 through an eccentric bearing (see FIG. 7B for details), and several holes 126 are provided on the inner wheel 108 for mounting the inner wheel on the planet carrier 400 (not shown).

When the eccentric rotating device 116 rotates at a high speed, the inner wheel 108 realizes translation through the eccentric rotating device 116. Low-speed rotation (autorotation), and then realize low-speed power output through the planet carrier. The number m of needle rollers (that is, arc teeth) on the outer wheel is greater than the number n of teeth on the inner wheel, thus forming a differential mesh with few teeth. Among them, m-n=a. According to an example of the present invention, a=1. Of course, it is also possible to select other natural numbers for a.

The internal meshing transmission mechanism of the present invention is designed through the tooth profile on the inner wheel 108, so that even when the difference between the number m of the needle rollers on the outer wheel and the number n of the teeth of the inner wheel is 1 (i.e. a tooth difference), it can Realize no interference between inner wheel and needle roller. That is, make the teeth on the inner wheel 108 and the needle rollers on the outer wheel 102 realize multi-teeth meshing at the same time without interference, so that the teeth on the inner wheel 108 and the needle rollers on the outer wheel 102 realize inner Mesh transmission between the wheel and the outer wheel. And the design of the tooth profile of the present invention makes the inner wheel 108 and the outer wheel 102 rotate relative to each other, the second number of teeth 110 (j) (j=1, 2, . The needle rollers on the outer wheel 102 are engaged, and the rest are disengaged from the needle rollers on the outer wheel 102. The tooth profile on the inner wheel 108 of the present invention will be described in detail below with reference to FIG. 2 and FIG. 3A .

As shown in FIG. 2 , the structure diagram of the inner wheel 108 of the present invention, the second number of teeth 110 (j) (j=1, 2, . . . , n) on the inner wheel 108 are arranged around the outer edge 109 of the inner wheel. Fig. 3A is a schematic diagram of the tooth profile of the inner wheel according to the present invention, which shows the tooth profile on the inner wheel of the present invention. As shown in FIG. 3A , each tooth has a crest 202 and two flanks 203 connected to opposite sides of the crest 202 . Two adjacent teeth are connected by tooth roots 201 . The dedendum 201 , the dedendum 202 and the tooth waist 203 together constitute the tooth profile of the inner wheel according to the present invention.

Fig. 3B is a schematic diagram of the meshing of inner gear teeth and needle rollers according to the present invention, which shows a needle roller and its adjacent left tooth in meshing state.

The shape of the tooth top 202 of the present invention is designed so that when the inner wheel 108 and the outer wheel 102 are meshed for transmission, the tooth top 202 does not contact the needle roller at any time (this point will be described in detail later in conjunction with accompanying drawings 4A-4G). For this reason, as shown in FIG. 3A and FIG. 3B , the addendum 202 is designed as a section of curve or straight line. As an example, as shown in FIG. 2 , the addendum 202 is designed as a circular arc concentric with the center of the inner wheel 108 , that is to say, the addendum 202 of all the teeth on the inner wheel 108 is located at the center of the inner wheel 108 . on a circle.

The shape of the tooth waist 203 is designed so that when the inner wheel 108 and the outer wheel 102 rotate relatively, the tooth waist 203 and the needle rollers periodically contact and separate, so that the teeth on the inner wheel 108 and the needle rollers on the outer wheel 102 The simultaneous meshing of multiple teeth is realized without interference, so that power is transmitted between the inner wheel 108 and the outer wheel 102 . Therefore, the tooth waist 203 is designed as a smooth compound curve, which is composed of one or more combinations of curves, straight lines, arcs and splines. Wherein, a part of the tooth waist 203 is an engagement curve 210 for engaging with the needle roller. According to one embodiment of the present invention, when the needle roller engages with the inner wheel 108, the needle roller only contacts the meshing curve 210 on the tooth waist 203, and does not contact with other parts of the tooth waist 203 (this point will be described in It will be described in detail later in conjunction with accompanying drawings 4A-4G). As an example, the meshing curve 210 is an envelope curve, which is a series of meshing points of the inner gear teeth and the needle roller in the set meshing area (that is, the meshing curve area) when the inner wheel 108 is translated and rotated. A continuous curve is formed so that within the set meshing area, multiple teeth mesh simultaneously without interference, while outside the set meshing area, the inner gear teeth do not contact or mesh with the needle roller. The length of the envelope and the position on the tooth waist depend on the desired number and engagement interval of the inner gear teeth and the needle roller.

The dedendum 201 of the present invention is also designed as a section of arc curve or straight line. When the inner wheel 108 meshes with the outer wheel 102 for transmission, the dedendum 201 of the present invention may or may not be in contact with the needle rollers on the outer wheel 102, depending on the number and meshing interval of the needle rollers meshing with the teeth of the inner wheel at the same time . When the meshing interval covers the dedendum position, the meshing curve 210 of the tooth root 201 and the tooth waist 203 is the same envelope. At this time, the meshing curves 210 of the tooth root 201 and the tooth waist 203 are in contact with the needle rollers on the outer wheel 102 . When the meshing interval does not cover the dedendum position, the dedendum 201 is smoothly connected with the envelope curve (meshing curve 210 ) of the adjacent tooth waist 203 through a transition curve and/or straight line 214. At this time, the dedendum 201 and the outer wheel 102 The needle rollers do not touch, which can reduce the friction between the inner and outer wheels to a certain extent.

According to the embodiment of the present invention shown in FIG. 3B , the dedendum 201 is designed so that when the inner wheel 108 and the outer wheel 102 rotate relative to each other, the tooth root 201 does not contact the needle roller at any time. It can be clearly seen from Fig. 3B that in the meshing state between the needle roller designed in this way and its two adjacent teeth, the needle roller only contacts (engages) with the tooth waist 203, but not with the tooth root 201, that is, , the needle roller is disengaged from the dedendum 201. It can be seen from Figure 3B that the distance d from the center of the needle roller to any point on the dedendum is greater than the radius r of the needle roller. To this end, as shown in FIG. 3A , the tooth flank 203 further includes a section of transition straight line and/or curve 214 that smoothly connects the meshing curve 210 with the dedendum 201 .

In addition, as an example, as shown in FIG. 3A , in addition to the meshing curve 210 , the tooth waist 203 also includes a section of transition curve 212 that smoothly connects the tooth waist 203 and the tooth top 202 . That is to say, in the embodiment shown in FIG. 3A , the tooth waist 203 sequentially includes a section of transition curve 212 , a section of meshing curve 210 and a section of transition straight line and/or curve 214 from top to bottom.

Of course, besides the example shown in FIG. 3A , the tooth waist 203 may also have other shapes, as long as the needle roller and the inner wheel 108 can be continuously meshed on the tooth waist 203 .

Due to the above-mentioned tooth profile design, when the internal meshing transmission mechanism of the present invention rotates relative to the inner wheel 108 and the outer wheel 102, the second number of teeth 110 (j) (j=1, 2, . . . , n) Only a part of the teeth meshes with the needle rollers on the outer wheel 102 , while the rest of the teeth disengage from the needle rollers on the outer wheel 102 . Moreover, only a part of the tooth waist, or only a part of the tooth waist and the tooth root are engaged with the needle rollers, and the tooth tops are not in contact with the needle rollers. Therefore, compared with traditional cycloidal pinwheel transmission, the friction generated by the meshing is greatly reduced.

This meshing method can realize no interference between the inner wheel and the needle roller when the difference between the number m of needle rollers on the outer wheel and the number n of teeth of the inner wheel is 1 (that is, a tooth difference). According to an example of the present invention, at any time when the inner wheel 108 and the outer wheel 102 rotate relative to each other, the number of inner gear teeth meshing with the needle rollers is less than 60% of the total number m of needle rollers.

However, for the case where the difference between the number m of needle rollers on the outer wheel and the number n of teeth on the inner wheel is greater than 1, the tooth profile of the present invention can also achieve the purpose of reducing the meshing number of teeth and thereby reducing friction.

In addition, the tooth profile design of the inner wheel 108 of the present invention is realized based on large eccentric translation (as opposed to traditional cycloid transmission) (that is, the eccentricity is greater than that of traditional cycloid transmission). The eccentricity of the eccentric rotation device 116 will be described below with reference to FIG. 4H .

In order to better understand the partially meshed state of the teeth on the inner wheel 108 and the needle rollers on the outer wheel 102, Figs. 4A-4G show a simplified meshing diagram in which the eccentric rotating device 116 of the inner meshing transmission mechanism of the present invention rotates once (That is, the rotation angle T=360 °) process, how the teeth of the inner wheel and the needle roller on the outer wheel mesh and separate. In these simplified meshing diagrams, for the convenience of description and understanding, it is assumed that the outer wheel 102 has only 16 needle rollers, while the inner wheel has 15 teeth, and the number of teeth is one less than the number of needle rollers. The numbers 1-16 corresponding to these 16 rollers are marked in each figure to facilitate the illustration of the partial engagement of the teeth with the needles. In addition, arrows 116A, 108A and 104A are respectively added on or beside the eccentric rotating device 116, the inner wheel 108 and the needle roller to show the relative position changes of these three components in each drawing. Note that each drawing The position of the arrow on its corresponding part is fixed.

Wherein, FIG. 4A shows the meshing state of the inner wheel and the outer wheel in the initial rotational position (ie T=0°) of the eccentric rotating device 116 . In this position, the eight needle rollers numbered 2, 3, 4, 5, 13, 14, 15 and 16 are engaged with the corresponding eight teeth on the inner wheel 108, and the rest of the needle rollers are disengaged from the inner wheel 108. At this time, the directions of the arrows 116A, 108A and 104A corresponding to the eccentric rotating device 116, the inner wheel 108 and the needle rollers are on a straight line.

What Fig. 4 B shows is the engagement state of inner wheel and outer wheel when eccentric rotating device 116 rotates clockwise 67.5 ° (that is T=67.5 °), at this position, numbering is 5,6,7,8 and 1,2,3, 16 These eight needle rollers are engaged with the corresponding eight teeth on the inner wheel 108, and the rest of the needle rollers are all disengaged from the inner wheel 108. Comparing the arrows in Figure 4B with the arrows in Figure 4A, it can be seen that the eccentric rotating device 116 rotates clockwise, while the inner wheel 108 rotates 4.5° counterclockwise while eccentrically moving (the principle of less tooth difference) .

What Fig. 4 C shows is the engagement state of inner wheel and outer wheel when eccentric rotating device 116 rotates 135 ° (that is T=135 °), at this position, numbering is 3, 4, 5, 6 and 8, 9, 10, 11 this Eight needle rollers are engaged with corresponding eight teeth on the inner wheel 108, and the rest of the needle rollers are disengaged from the inner wheel.

What Fig. 4 D shows is the engagement state of inner wheel and outer wheel when eccentric rotating device 116 rotates 180 ° (that is T=180 °), at this position, numbering is 5,6,7,8 and 10,11,12,13 this Eight needle rollers are engaged with corresponding eight teeth on the inner wheel 108, and the rest of the needle rollers are disengaged from the inner wheel.

What Fig. 4 E shows is the engagement state of inner wheel and outer wheel when eccentric rotating device 116 rotates 247.5 ° (that is T=247.5 °), at this position, numbering is 8, 9, 10, 11 and 13, 14, 15, 16 this Eight needle rollers are engaged with corresponding eight teeth on the inner wheel 108, and the rest of the needle rollers are disengaged from the inner wheel.

And what Fig. 4 F shows is the engagement state of inner wheel and outer wheel when eccentric rotating device 116 rotates 360 ° (that is T=360 °), at this position, numbering is 13,14,15,16 and 2,3,4,5 These eight needle rollers mesh with the corresponding eight teeth on the inner wheel 108, and the rest of the needle rollers are disengaged from the inner wheel, but the sign 108A on the inner wheel 108 shows that the inner wheel 108 has rotated 24° counterclockwise, that is, one tooth Angle.

It can be seen from FIGS. 4A-4F that at any time when the inner wheel 108 and the outer wheel 102 rotate relative to each other, only a part of the teeth of the inner wheel mesh with the needle rollers, while the rest of the inner wheel teeth are completely disengaged from the needle rollers. In the example shown in Figures 4A-4F, at any one time, 50% of the total number of needle rollers are engaged with the teeth. Moreover, during the rotation of the eccentric rotating device 116 for one cycle (360°), each tooth of the inner wheel 108 disengages from the needle roller on the outer wheel 102 at least once.

In addition, comparing FIG. 4A with FIG. 4F , it can be seen that during the clockwise rotation of the eccentric rotation device 116 for one revolution, the inner wheel 108 rotates counterclockwise by an angle of one tooth. That is to say, when the eccentric rotating device 116 rotates once, the inner wheel 108 will rotate in the opposite direction by an angle of a teeth, where a=the number of needle rollers (m)−the number of teeth of the inner gear (n).

Fig. 5 is the figure that merges Fig. 4D to form on the basis of Fig. 4A, wherein, shows the position of inner wheel in Fig. 4D with dotted line, thereby Fig. 5 has shown that when eccentric rotating device 116 rotates 180 °, inner wheel is relative to The resulting change from the initial position (ie T=0°). It can be seen intuitively from Fig. 5 that during the rotation of the eccentric rotating device 116, the inner wheel 108 performs eccentric translation and rotates counterclockwise.

In addition, as shown in FIG. 5 , the amount of eccentricity generated by the eccentric rotation device 116 on the inner wheel 108 is d. According to an example of the present invention, the eccentricity d is greater than half of the radius r of the needle roller, that is, d>r/2.

Since the internal meshing transmission mechanism of the present invention can realize part of the inner gear teeth meshing with the needle rollers, the friction between the inner and outer wheels is relatively small. Therefore, the present invention does not need to use needle sleeves installed on the needle rollers to reduce friction. The needles are mounted directly on the outer wheel, i.e. the needle rollers are stressed as a whole. In addition, the needle roller of the present invention only rotates in the needle roller groove, without displacement to solve the interference problem. For details, please refer to the installation structure shown in FIG. 6 .

Fig. 6 shows the structure for installing needle rollers on the outer wheel. For clarity of illustration, only a small part of the outer wheel is shown in FIG. 6 . As shown in FIG. 6 , the inner edge 103 of the outer wheel 102 is provided with the same number of needle roller mounting grooves 301 along the axial direction of the outer wheel, and the radius of the needle roller grooves 301 is the same as that of the needle rollers. Needle roller positioning rings 302 and 304 are respectively provided at both ends of the groove for supporting the two ends of the needle roller after the needle roller is installed in the groove 301, so as to realize needle roller positioning. The needle roller can rotate in the needle roller groove 301 . The needle roller can be supported by the needle roller groove when it is stressed in the entire length direction, and the needle roller is stressed as a whole, and it will not bend when it is stressed, so that it can transmit large torque.

In addition to the components and structures mentioned above, the internal meshing transmission mechanism of the present invention also has other mounting parts. Fig. 7A and Fig. 7B show the detailed structure of the internal meshing transmission mechanism according to an example. Wherein, FIG. 7A shows a schematic perspective view of the three-dimensional structure of the internal meshing transmission mechanism, and FIG. 7B shows a cross-sectional view of the internal meshing transmission mechanism.

According to an example of the present invention, the internal meshing transmission mechanism may adopt a plurality of inner wheels 108 arranged in parallel and symmetrically, wherein the eccentric directions of the inner wheels may differ by 180°, of course, may also differ by 90°, 120°, and so on. By adopting a plurality of inner wheels, not only dynamic balance can be realized, but also the bearing force at both ends of the input shaft can be symmetrically offset (zero force), so that the input shaft runs smoothly. Of course, it would also work with only one inner wheel. No matter how many inner wheels are used, it is within the protection scope of the present application.

The internal gear transmission shown in FIG. 7B has four inner wheels 108.1, 108.2, 108.3 and 108.4 arranged side by side. For this reason, as shown in Figure 7B, the eccentric rotating device is an eccentric rotating shaft 116, and the eccentric rotating shaft 116 is a crankshaft with four symmetrical eccentric eccentric sections, and the eccentric sections of the crankshaft are respectively 115.1, 115.2, 115.3 and 115.4, wherein, The two eccentric sections 115.2 and 115.3 in the middle are a group of eccentric sections with the same eccentric direction, and the two eccentric sections 115.1 and 115.4 next to them are a group of eccentric sections with the same eccentric direction, and the eccentric directions of these two groups of eccentric sections differ by 180° . Each inner wheel 108.1, 108.2, 108.3, and 108.4 is installed on its corresponding eccentric section 115.1, 115.2, 115.3, and 115.4 through an eccentric bearing 114, forming four inner wheels arranged in parallel. Inner wheel spacer ring.

The planet carrier 400 of the internal meshing transmission mechanism of the present invention includes a first output end 402 , a second output end 401 , a planet carrier bolt 403 , a nut 404 and an output pin 125 . The eccentric shaft 116 is arranged in the planet carrier 400 , and the two ends of the eccentric shaft 116 are respectively arranged in the central holes in the first output end 402 and the second output end 401 through bearings. The first output end 402 and the second output end 401 are two flanges, and the two output ends are fastened by planet carrier bolts 403 and nuts 404 to form a hollow planet carrier 400, and the four parallel Arranged inner wheels 108.1, 108.2, 108.3 and 108.4, multiple output pins 125 pass through the pin holes on the four inner wheels 108.1, 108.2, 108.3 and 108.4 arranged in parallel, and the two ends of the output pins 125 are respectively arranged at the first output end 402 and the second output end 401, the pin sleeve 127 is arranged on the output pin 125; the first output end 402 and the second output end 401 on the planet carrier 400 are arranged on the outer wheel 102 (or called "housing") through the main bearing Oil seals are arranged between the inner two ends and the outer wheel 102 to prevent the lubricating oil in the internal meshing transmission mechanism from leaking.

In the following, how the mechanism shown in FIGS. 7A and 7B works will be specifically described in conjunction with the deceleration mode in which power is input through the eccentric rotating device 116 (ie, the eccentric shaft) and power is output through the inner wheel 108 .

In this deceleration mode, the eccentric shaft 116 is connected to a power source (such as a motor), the planetary carrier 400 is connected to an external power receiving device, and the outer wheel 102 is fixed to the base (that is, the outer wheel is fixed). When the motor starts to work, the eccentric shaft 116 rotates at the same speed as the motor, and during the rotation, its eccentric section 115 drives the inner wheel 108 to perform eccentric translation through the eccentric bearing. The frequency of the eccentric translation of the inner wheel 108 is the same as the rotational speed of the eccentric shaft 116 . At the same time, the teeth on the inner wheel 108 mesh with the needle rollers on the outer wheel 102, so that the inner wheel 108 rotates (rotates). Specifically, since the difference between the number of teeth of the inner wheel 108 and the number of needle rollers is a, according to the principle of less tooth difference in internal meshing, the inner wheel 108 will rotate a teeth, and the direction of rotation is opposite to that of the eccentric shaft 116. This is very intuitively illustrated in the diagrams of Figures 4A-4H. With the rotation of the inner wheel 108, the power of the inner wheel 108 is transmitted to the planet carrier 400 through the pin 125 installed in the inner wheel, thereby driving the planet carrier 400 to rotate simultaneously, and through the first output end 401 of the planet carrier 400 and/or The second output terminal 402 outputs power to an external device. Thus, reduction transmission between the input and the output is realized by the device shown in Figs. 7A and 7B.

As mentioned above, in addition to the deceleration mode described in detail above, the internal meshing transmission mechanism of the present invention can also fix the first output end 402 and the second output end 401, that is, the planet carrier 400, when the eccentric When the rotating device 116 rotates with the motor, since the planet carrier 400 is fixed, the inner wheel 108 can only produce eccentric translation. During the translation process, the outer wheel 102 is driven to rotate at a low speed and output torque through meshing, and the rotation direction of the outer wheel 102 is consistent with the eccentric rotation. The direction of rotation of the device 116 is the same. In addition, the internal meshing transmission mechanism of the present invention can also realize the speed-up effect, if the first output end 402 or the second output end 401 is used for low-speed input, the outer wheel 102 is fixed to the base (or the first output end 402 or the second output end 401 is fixed to the base) The second output end 401 is fixed, the outer wheel 102 is used for low-speed input), and the eccentric shaft 116 will rotate at a high speed to achieve the speed-up effect.

The two typical applications and working process of the internal meshing transmission mechanism of the present invention have been described in detail above. Any one of the outer wheel, the inner wheel and the eccentric rotation device can be connected to the power input end, and any other of the outer wheel, the inner wheel and the eccentric rotation device can be connected to the power output end to pass between the outer wheel and the inner wheel. The meshing transmission transmits power. The above contents are only illustrative descriptions, rather than limiting the application of the present invention. Those skilled in the art can apply the internal meshing transmission mechanism of the present invention to various desired modes according to actual needs.

Although the present invention will be described with reference to the specific embodiments shown in the accompanying drawings, it should be understood that, without departing from the scope and background of the teaching of the present invention, the present invention can realize various forms of inner wheels and deceleration or acceleration through structural adjustments. speed form. Those of ordinary skill in the art will also recognize that there are different ways to vary parameters of the disclosed embodiments of the invention, such as size, shape, type of elements or materials, all falling within the spirit and scope of the claims of the invention .

Claims (53)

1. An internal meshing transmission mechanism, comprising: The outer wheel (102), the inner edge (103) of the outer wheel (102) is provided with a first number of arc teeth (104(i), i=1, 2, ..., m), the first number of Arc teeth (104(i), i=1, 2, ..., m) are arranged around the inner edge (103) of the outer wheel; The inner wheel (108), the outer edge (109) of the inner wheel (108) is provided with a second number of teeth (110(j), j=1, 2, ..., n), the second number of teeth teeth (110(j), j=1, 2, ..., n) arranged around the outer edge (109) of said inner wheel, said m>n; It is characterized by: Each tooth (110(j), (j=1, 2, . . . , n) includes: A tooth top (202), the shape of the tooth top (202) is designed so that when the inner wheel (108) and the outer wheel (102) are meshed for transmission, the tooth top (202) and the circular arc teeth on the outer wheel (102) at any time no contact; and The two tooth waists (203) are respectively connected to the two sides of the tooth top (202). The arc teeth on the outer wheel (102) periodically contact and separate, so that the teeth on the inner wheel (108) and the arc teeth on the outer wheel (102) can realize multiple teeth at the same time without interference. Engage; The outer edge (109) of the inner wheel (108) also includes several tooth roots (201), connecting two adjacent teeth. 2. The internal meshing transmission mechanism according to claim 1, characterized in that: The tooth root (201) is a section of curve or straight line; the crest (202) is a curve or a straight line; and The tooth waist (203) is a smooth compound curve, which is composed of one or more of curves, straight lines, arcs and splines. 3. The internal meshing transmission mechanism according to claim 2, characterized in that: A part of the tooth waist (203) is a curve, which is a series of engagements between the inner gear teeth and the arc teeth on the outer gear in the set meshing area when the inner gear (108) and the outer gear (102) are meshed for transmission. Points form an envelope, so that within the set meshing area, multiple teeth mesh simultaneously without interference, and outside the set meshing area, the inner gear teeth do not contact or mesh with the arc teeth on the outer wheel. 4. The internal meshing transmission mechanism according to claim 3, characterized in that: The length of the envelope and the position on the tooth waist (203) depend on the desired meshing quantity and meshing interval between the teeth on the inner wheel (108) and the arc teeth on the outer wheel (102). 5. The internal meshing transmission mechanism according to claim 3, characterized in that: The curve or straight line forming the tooth crest (202) is smoothly connected with the envelope of the tooth waist (203) through a transition curve (212). 6. The internal meshing transmission mechanism according to claim 3, characterized in that: The curve or straight line forming the dedendum (201) is smoothly connected with the envelope of the tooth waist (203) through a transition curve and/or straight line (214), and the dedendum (201) is connected to the outer wheel (102) at any time The arc teeth on the top are not in contact. 7. The internal meshing transmission mechanism according to claim 3, characterized in that: The curve forming the dedendum (201) is the same envelope as the envelope of the tooth waist (203). 8. The internal meshing transmission mechanism according to claim 1, further comprising: an eccentric rotation device (116), the eccentric rotation device (116) is capable of driving the inner wheel (108), so that the inner wheel (108) performs eccentric translation and/or or turn. 9. The internal meshing transmission mechanism according to claim 1, characterized in that: At any time when the inner wheel (108) is meshed with the outer wheel (102), a part of the second number of teeth (110(j), j=1, 2, . . . , n) is in contact with the first A part of the number of circular arc teeth (104(i), i=1, 2, ..., m) engages or contacts, and said second number of teeth (110(j), j = 1, 2, ..., The rest of n) are disengaged from said first number of circular arc teeth (104(i), i=1, 2, . . . , m). 10. The internal meshing transmission mechanism according to claim 8, characterized in that: The m-n=a a∈(1,2,3...natural number); When the eccentric rotating device (116) rotates one cycle (360 degrees), the inner wheel (108) rotates the angle of a teeth, and the rotating direction of the inner wheel (108) is opposite to the rotating direction of the eccentric rotating device (116). 11. The internal meshing transmission mechanism according to claim 1, characterized in that: The first number of arc teeth (104(i), i=1, 2, . . . , m) on the outer wheel (102) are needle rollers. 12. The internal meshing transmission mechanism according to claim 9, further comprising: an eccentric rotation device (116), the eccentric rotation device (116) is capable of driving the inner wheel (108), so that the inner wheel (108) performs eccentric translation and/or or turn; The eccentricity d of the eccentric rotating device (116) is greater than r/2, where r is the radius of the needle roller. 13. The internal meshing transmission mechanism according to claim 1, characterized in that: The first number of arc teeth (104(i), i=1, 2, ..., m) on the outer wheel (102) are needle rollers; At all meshing positions between the teeth of the inner wheel (108) and the needle roller, the distance from the center of the needle roller to any point on the corresponding dedendum (201) is greater than or equal to the radius of the needle roller. 14. The internal meshing transmission mechanism according to claim 11, characterized in that: The inner edge (103) of the outer wheel (102) is provided with a needle roller installation groove (301), and the radius of the needle roller groove (301) is the same as that of the needle roller. 15. The internal meshing transmission mechanism according to claim 14, characterized in that: The two ends of the needle roller are supported by the needle roller positioning rings (302, 304), and the needle roller is positioned in the needle roller groove (301) of the outer wheel, and the needle roller can rotate in the needle roller groove (301). 16. The internal meshing transmission mechanism according to claim 1, characterized in that: When the inner wheel (108) is engaged with the outer wheel (102) for transmission, each tooth crest (202) on the inner wheel (108) does not contact the circular arc teeth. 17. The internal meshing transmission mechanism according to claim 6, characterized in that: When the inner wheel (108) meshes with the outer wheel (102) for transmission, each tooth crest (202) and each tooth root (201) on the inner wheel (108) has no contact with the circular arc teeth. 18. The internal meshing transmission mechanism according to claim 1, characterized in that: During one cycle of rotation of the eccentric rotating device (116), each tooth of the inner wheel (108) disengages from the arc teeth of the outer wheel (102) at least once. 19. The internal meshing transmission mechanism according to claim 1, characterized in that: The internal meshing transmission mechanism is provided with at least four parallel inner wheels (108.1, 108.2, 108.3, 108.4). 20. The internal meshing transmission mechanism according to claim 1, characterized in that: At any time when the inner wheel (108) is meshed with the outer wheel (102), the first number of arc teeth (104(i), i=1, 2, ..., m) and the second number The number of meshing teeth (110(j), j=1, 2, . . . , n) is less than 60% of the total number of arc teeth. 21. The internal meshing transmission mechanism according to claim 1, characterized in that: The internal meshing transmission mechanism also includes a planet carrier (400), on which the inner wheel (108) is mounted to transmit power between the inner wheel (108) and the planet carrier (400). 22. The internal meshing transmission mechanism according to claim 21, characterized in that: The planet carrier (400) is mounted inside the outer wheel (102) and mounted on the eccentric rotation device (116). 23. An internal meshing transmission mechanism, characterized by comprising: The outer wheel (102), the inner edge (103) of the outer wheel is provided with a first number of arc teeth (104(i), i=1, 2, ..., m), and the first number of arc teeth ( 104(i), i=1, 2, ..., m) arranged around the outer wheel inner edge (103); The inner wheel (108), the outer edge (109) of the inner wheel is provided with a second number of teeth (110(j), j=1, 2, ..., n), and the second number of teeth (110( j), j=1, 2, ..., n) are arranged around the outer edge (109) of the inner wheel, and the m>n; eccentric rotation means (116) enabling said inner wheel (108) to be arranged eccentrically; Wherein, any one of the outer wheel (102), the inner wheel (108) and the eccentric rotation device (116) is connected to the power input end, and the outer wheel (102), the inner wheel (108) and the eccentric rotation device (116) Any other of them is connected to the power output end, so as to transmit power through the meshing transmission between the outer wheel (102) and the inner wheel (108); And wherein, the design of the tooth profile on the inner wheel (108) makes the second number of teeth (110(j), j=1 , 2,..., n) are in mesh or contact with a part of the first number of arc teeth (104(i), i=1, 2,..., m), and the second number of The rest of the teeth (110(j), j = 1, 2, ..., n) are disengaged from said first number of arcuate teeth (104(i), i = 1, 2, ..., m). 24. The gear internal meshing transmission mechanism according to claim 23, characterized in that: Each tooth (110(j), (j=1, 2, . . . , n) on the inner wheel includes: A tooth top (202), the shape of the tooth top (202) is designed so that when the inner wheel (108) and the outer wheel (102) are meshed for transmission, the tooth top (202) and the circular arc teeth on the outer wheel (102) at any time no contact; and The two tooth waists (203) are respectively connected to the two sides of the tooth top (202). The circular arc teeth on the outer wheel periodically contact and separate, so as to realize multi-teeth simultaneous meshing without interference between the teeth on the inner wheel (108) and the arc teeth on the outer wheel (102); The outer edge (109) of the inner wheel (108) also includes several tooth roots (201), connecting two adjacent teeth. 25. The internal meshing transmission mechanism according to claim 24, characterized in that: The tooth root (201) is a section of curve or straight line; the crest (202) is a curve or a straight line; and The tooth waist (203) is a smooth compound curve, which is composed of one or more of curves, straight lines, arcs and splines. 26. The internal meshing transmission mechanism according to claim 25, characterized in that: A part of the tooth waist (203) is a curve, which is a series of engagements between the inner gear teeth and the arc teeth on the outer gear in the set meshing area when the inner gear (108) and the outer gear (102) are meshed for transmission. Points form an envelope, so that within the set meshing area, multiple teeth mesh simultaneously without interference, and outside the set meshing area, the inner gear teeth do not contact or mesh with the arc teeth on the outer wheel. 27. The internal meshing transmission mechanism of claim 26, wherein: The length of the envelope and the position on the tooth waist (203) depend on the desired meshing quantity and meshing interval between the teeth on the inner wheel (108) and the arc teeth on the outer wheel (102). 28. The internal meshing transmission mechanism of claim 26, wherein: The curve or straight line forming the tooth crest (202) is smoothly connected with the envelope of the tooth waist (203) through a transition curve (212). 29. The internal meshing transmission mechanism of claim 26, wherein: The curve or straight line forming the dedendum (201) is smoothly connected with the envelope of the tooth waist (203) through a transition curve and/or straight line (214), and the dedendum (201) is connected to the outer wheel (102) at any time The arc teeth on the top are not in contact. 30. The internal meshing transmission mechanism of claim 26, wherein: The curve forming the dedendum (201) is the same envelope as the envelope of the tooth waist (203). 31. The internal meshing transmission mechanism of claim 23, wherein: The m-n=a a∈(1,2,3...natural number); When the eccentric rotating device (116) rotates one cycle (360 degrees), the inner wheel (108) rotates the angle of a teeth, and the rotating direction of the inner wheel (108) is opposite to the rotating direction of the eccentric rotating device (116). 32. The internal meshing transmission mechanism of claim 23, wherein: The first number of arc teeth (104(i), i=1, 2, . . . , m) on the outer wheel (102) are needle rollers. 33. The internal meshing transmission mechanism of claim 24, wherein: The first number of arc teeth (104(i), i=1, 2, ..., m) on the outer wheel (102) are needle rollers; At all meshing positions between the teeth of the inner wheel (108) and the needle roller, the distance from the center of the needle roller to any point on the corresponding dedendum (201) is greater than or equal to the radius of the needle roller. 34. The internal meshing transmission mechanism of claim 23, wherein: The eccentricity d of the eccentric rotating device (116) is greater than r/2, where r is the radius of the needle roller. 35. The internal meshing transmission mechanism of claim 32, wherein: The inner edge (103) of the outer wheel (102) is provided with a needle roller installation groove (301), and the radius of the needle roller groove (301) is the same as that of the needle roller. 36. The internal meshing transmission mechanism of claim 35, wherein: Both ends of the needle rollers (104(i), i=1, 2, ..., m) are supported by needle roller positioning rings (302, 304), and the needle rollers are positioned in the needle roller installation grooves ( 301), the needle roller can rotate in the needle roller mounting groove (301). 37. The internal meshing transmission mechanism of claim 24, wherein: When the inner wheel (108) meshes with the arc teeth on the outer wheel (102), each tooth crest (202) on the inner wheel (108) has no contact with the arc teeth. 38. The internal meshing transmission mechanism of claim 29, wherein: When the inner wheel (108) meshes with the outer wheel (102) for transmission, each tooth crest (202) and each tooth root (201) on the inner wheel (108) has no contact with the circular arc teeth. 39. The internal meshing transmission mechanism of claim 23, wherein: During one cycle of rotation of the eccentric rotating device (116), each tooth of the inner wheel (108) disengages from the arc teeth of the outer wheel (102) at least once. 40. The internal meshing transmission mechanism of claim 23, wherein: The internal meshing transmission mechanism is provided with at least four parallel inner wheels (108.1, 108.2, 108.3, 108.4). 41. The internal meshing transmission mechanism of claim 23, wherein: At any time when the inner wheel (108) and the outer wheel (102) are engaged in transmission, the first plurality of arc teeth (104(i), i=1, 2, ..., m) and the second plurality The number of meshing teeth (110(j), j=1, 2, . . . , n) is less than 60% of the total number of said circular arc teeth. 42. The internal meshing transmission mechanism of claim 23, wherein: The internal meshing transmission mechanism also includes a planet carrier (400), on which the inner wheel (108) is mounted to transmit power between the inner wheel (108) and the planet carrier (400). 43. The internal meshing transmission mechanism of claim 42, wherein: The planet carrier (400) is mounted inside the outer wheel (102) and mounted on the eccentric rotation device (116). 44. An inner wheel (108) for meshing transmission with an outer wheel (102) in an internal gearing mechanism, the outer edge (109) of said inner wheel being provided with a second number of teeth (110(j), j=1, 2,..., n), used for the first number of arc teeth (104(i), i=1, 2,..., m) arranged on the inner edge (103) of the outer wheel meshing transmission, said second number of teeth (110(j), j=1, 2, ..., n) are arranged around the outer edge (109) of said inner wheel, wherein each tooth (110(j), ( j=1, 2,..., n) include: A tooth top (202), the shape of the tooth top (202) is designed so that when the inner wheel (108) and the outer wheel (102) are meshed for transmission, the tooth top (202) and the circular arc teeth on the outer wheel (102) at any time no contact; and The two tooth waists (203) are respectively connected to the two sides of the tooth top (202). The outer wheel (102) periodically contacts and separates, so that the multi-teeth meshing can be realized without interference between the inner wheel (108) and the outer wheel (102); The outer edge (109) of the inner wheel (108) also includes several tooth roots (201), connecting two adjacent teeth. 45. The inner wheel of claim 44 wherein: The tooth root (201) is a section of curve or straight line; the crest (202) is a curve or a straight line; and The tooth waist (203) is a smooth compound curve, which is composed of one or more of curves, straight lines, arcs and splines. 46. The internal meshing transmission mechanism of claim 44, wherein: A part of the tooth waist (203) is a curve, which is a series of engagements between the inner gear teeth and the arc teeth on the outer gear in the set meshing area when the inner gear (108) and the outer gear (102) are meshed for transmission. Points form an envelope, so that within the set meshing area, multiple teeth mesh simultaneously without interference, and outside the set meshing area, the inner gear teeth do not contact or mesh with the arc teeth on the outer wheel. 47. The internal meshing transmission mechanism of claim 46, wherein: The length of the envelope and the position on the tooth waist (203) depend on the desired meshing quantity and meshing interval between the teeth on the inner wheel (108) and the arc teeth on the outer wheel (102). 48. The internal meshing transmission mechanism of claim 46, wherein: The curve or straight line forming the tooth crest (202) is smoothly connected with the envelope of the tooth waist (203) through a transition curve (212). 49. The internal meshing transmission mechanism of claim 46, wherein: The curve or straight line forming the dedendum (201) is smoothly connected with the envelope of the tooth waist (203) through a transition curve and/or straight line (214), and the dedendum (201) is connected to the outer wheel (102) at any time The arc teeth on the top are not in contact. 50. The internal gear transmission of claim 46, wherein: The curve forming the dedendum (201) is the same envelope as the envelope of the tooth waist (203). 51. An internal meshing transmission mechanism, comprising any one or any combination of technical features in claims 1-22. 52. An internal meshing transmission mechanism, comprising any one or any combination of technical features in claims 23-43. 53. An inner wheel, comprising any one or any combination of technical features in claims 44-50.