CN110259900B

CN110259900B - Slewing device for transmission, transmission equipment comprising slewing device and transmission method

Info

Publication number: CN110259900B
Application number: CN201910535454.1A
Authority: CN
Inventors: 邓星桥
Original assignee: Chengdu Zhongliangchuangong Technology Co ltd
Current assignee: Chengdu Zhongliangchuangong Technology Co ltd
Priority date: 2019-06-20
Filing date: 2019-06-20
Publication date: 2021-04-06
Anticipated expiration: 2039-06-20
Also published as: CN113090726B; CN110259900A; CN113090725A; CN113090725B; CN113090726A

Abstract

The invention relates to a rotating device for transmission, transmission equipment comprising the rotating device and a transmission method. The slewing device comprises a base body, a first roller and a second roller, wherein the base body is provided with a roller path which is connected end to end and used for accommodating a plurality of first rollers; under the condition that two adjacent first rollers are partially contacted with each other, the plurality of rollers fill the raceway in a manner of being partially contacted with the raceway, so that under the condition that at least one of the plurality of first rollers rotates around the axis of the first roller and moves along the raceway, the base body can rotate around the axis of the first roller on the basis of a dynamic friction pair formed by the first rollers and the raceway in a non-pure rolling manner; or, in the case that the base body rotates around its own axis, at least one of the first rollers can rotate around its own axis and roll along the raceway based on a rolling friction pair formed by the first rollers and the raceway in non-pure rolling.

Description

Slewing device for transmission, transmission equipment comprising slewing device and transmission method

Technical Field

The invention relates to the technical field of mechanical transmission, in particular to a rotating device for transmission, transmission equipment comprising the rotating device and a method.

Background

A transmission device is an intermediate device that transmits a power unit to a working mechanism and the like, interposed between a power source and an actuator, for changing the speed of movement, the manner of movement, the magnitude and direction of force, and the magnitude and direction of torque. In the technical field of industrial robots, commonly used transmission devices include worm and gear speed reducers, harmonic speed reducers, planetary speed reducers and the like. However, the worm gear speed reducer has heavy structure, low transmission efficiency, poor precision, non-coaxial input and output and poor operation stability; the flexible gear of the core component of the harmonic speed reducer generates periodic deformation during running, fatigue damage is easy to occur, the impact resistance and rigidity of the whole machine are poor, and the input rotating speed is limited; although the planetary reducer has excellent overall performance and can meet the operation requirement of equipment, the requirements on component raw material selection, manufacturing process, machining precision and the like are very high, and the equipment is expensive. In order to effectively overcome the technical problems, scientific researchers do a great deal of scientific research work and obtain the following scientific research achievements.

For example, PCT publication No. WO/2018/120541 discloses a transmission speed reducer, which comprises a worm assembly, a worm wheel assembly and an output shaft, wherein the worm assembly is arranged in a box body, and is also provided with a third rotating shaft; and the worm wheel assembly and the output shaft realize second-stage meshing transmission through a middle revolving body arranged on the worm wheel assembly and a turntable assembly fixed on the output shaft. The transmission speed reducer provided by the invention has the advantages of compact structure, large transmission ratio, high precision, small friction and wear, easiness in industrial production and manufacturing, low price and suitability for precise heavy-load transmission occasions with large transmission ratio requirements and volume limitations, such as joints of industrial robots and the like.

For example, PCT publication No. WO/2018/120542 discloses a worm assembly provided with a third shaft, a worm wheel assembly and an output shaft, which are disposed in a housing. And a plurality of worm gear teeth on the worm gear assembly are embedded in the grooves, and can move in the grooves along the direction of the grooves under the driving of the worm gear assembly and drive the worm gear assembly to rotate. The transmission speed reducer provided by the invention has the advantages of compact structure, large transmission ratio, high precision, small friction and wear, easiness in industrial production and manufacturing, low price and suitability for precise heavy-load transmission occasions with large transmission ratio requirements and volume limitations, such as joints of industrial robots and the like.

For example, chinese patent publication No. CN206419433U discloses a transmission speed reducer, which includes a worm assembly, a worm wheel assembly, and an output shaft, the worm assembly being disposed in a casing, and the worm assembly further having a third rotating shaft. And a plurality of worm gear teeth on the worm gear assembly are embedded in the grooves, and can move in the grooves along the direction of the grooves under the driving of the worm gear assembly and drive the worm gear assembly to rotate. The utility model discloses a transmission decelerator that provides, compact structure, drive ratio are big, the precision is high, frictional wear is little, easily develop the industrial production manufacturing, and the low price is applicable to the accurate heavy load transmission occasion that industrial robot joint etc. has big drive ratio requirement and volume restriction simultaneously.

For example, chinese patent publication No. CN206816755U discloses a transmission speed reducer, which includes a worm assembly, a worm wheel assembly, and an output shaft, the worm assembly being disposed in a casing, and the worm assembly further having a third rotating shaft. The whole worm gear component is approximately spherical and is formed by combining an approximately hemispherical lower worm gear body and an approximately hemispherical upper worm gear body; a disc-shaped middle revolving body is arranged between the lower worm wheel body and the upper worm wheel body, a revolving shaft is arranged along the axial direction, and the lower end and the upper end of the revolving shaft respectively extend out from the lower part of the lower worm wheel body and the upper part of the upper worm wheel body along the axial direction. The utility model discloses a transmission decelerator that provides, compact structure, drive ratio are big, the precision is high, frictional wear is little, easily develop the industrial production manufacturing, and the low price is applicable to the accurate heavy load transmission occasion that industrial robot joint etc. has big drive ratio requirement and volume restriction simultaneously.

For example, chinese patent publication No. CN206929330U discloses a transmission speed reducer, which includes a worm assembly, a worm wheel assembly, and an output shaft, the worm assembly being disposed in a casing, and the worm assembly further having a third rotating shaft. The box body is approximately cylindrical and is formed by enclosing a disc-shaped lower base, an upper base and a cylindrical middle base. The utility model discloses a transmission decelerator that provides, compact structure, drive ratio are big, the precision is high, frictional wear is little, easily develop the industrial production manufacturing, and the low price is applicable to the accurate heavy load transmission occasion that industrial robot joint etc. has big drive ratio requirement and volume restriction simultaneously.

For example, chinese patent publication No. CN106499775A discloses a transmission speed reducer, which includes a worm assembly, a worm wheel assembly, and an output shaft, the worm assembly being disposed in a casing, and the worm assembly further having a third rotating shaft. And a plurality of worm gear teeth on the worm gear assembly are embedded in the grooves, and can move in the grooves along the direction of the grooves under the driving of the worm gear assembly and drive the worm gear assembly to rotate. The transmission speed reducer provided by the invention has the advantages of compact structure, large transmission ratio, high precision, small friction and wear, easiness in industrial production and manufacturing, low price and suitability for precise heavy-load transmission occasions with large transmission ratio requirements and volume limitations, such as joints of industrial robots and the like.

For example, chinese patent publication No. CN206929280U discloses a transmission reduction gear including a worm assembly, a worm wheel assembly, and an output shaft provided in a case. And a chassis assembly and an output shaft mounting assembly are further arranged between the worm assembly and the output shaft, and the axes of the worm assembly, the chassis assembly, the output shaft mounting assembly and the output shaft are overlapped. The utility model discloses a transmission decelerator that provides, compact structure, drive ratio are big, the precision is high, frictional wear is little, easily develop the industrial production manufacturing, and the low price is applicable to the accurate heavy load transmission occasion that industrial robot joint etc. has big drive ratio requirement and volume restriction simultaneously.

For example, chinese patent publication No. CN106499774B discloses a transmission reduction gear, which includes a worm assembly, a worm wheel assembly and an output shaft, the worm assembly is disposed in a box, and the worm assembly is further provided with a third rotating shaft; and the worm wheel assembly and the output shaft realize second-stage meshing transmission through a middle revolving body arranged on the worm wheel assembly and a turntable assembly fixed on the output shaft. The transmission speed reducer provided by the invention has the advantages of compact structure, large transmission ratio, high precision, small friction and wear, easiness in industrial production and manufacturing, low price and suitability for precise heavy-load transmission occasions with large transmission ratio requirements and volume limitations, such as joints of industrial robots and the like.

Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.

Disclosure of Invention

Aiming at the defects of the prior art, the invention also discloses a rotating device for transmission, which comprises: the base body is provided with a raceway for accommodating a plurality of first rollers, and the first rollers can circularly move in the raceway in a mutually-sequential constant manner and at least partially contact with the raceway, so that in the case that at least one of the plurality of first rollers rotates around the axis of the base body, the base body can rotate around the axis of the base body based on a dynamic friction pair formed by the first rollers and the raceway in a non-pure rolling manner.

According to a preferred embodiment, the slewing device comprises a first transmission turntable which is connected with the base body and is provided with a plurality of rolling holes in the circumferential direction, the rolling holes are arranged in a manner of being capable of rolling and rubbing with second rolling bodies which are arranged on the first transmission body in the circumferential direction, so that the slewing device can drive the first transmission body to rotate around the axis of the first transmission body based on a rolling friction pair formed by the rolling holes and the second rolling bodies under the condition that at least one of the first rolling bodies can rotate around the axis of the first transmission body and roll along the roller path; or the first transmission piece can rotate around the axis of the slewing device based on the rolling friction pairs formed by the rolling holes and the second rolling bodies under the condition of rotating around the axis of the first transmission piece.

According to a preferred embodiment, the swivel device comprises at least two raceways which are arranged at different axial positions of the swivel device in such a way that they accommodate the first rollers independently of one another.

According to a preferred embodiment, the swivel device comprises a first base body and a second base body, which are arranged in such a way that the axial forces to which the first rollers on the first base body are subjected and the axial forces to which the first rollers on the second base body are subjected are in dynamic balance with each other in the event of a rotation of the swivel device about itself.

According to a preferred embodiment, the axis of the swiveling device and the axis of the first transmission turntable can be arranged in a non-coincident but co-directional manner, so that the first transmission piece can realize intermittent transmission based on the intermittent rolling friction formed by the plurality of rolling holes and the second rolling bodies when the swiveling device rotates around its own axis.

According to a preferred embodiment, the invention further discloses a transmission apparatus, comprising the slewing device according to one of the preceding claims, wherein the transmission apparatus comprises a second transmission member, and a plurality of driving bodies capable of driving the plurality of first rollers to rotate around the axes of the first rollers and roll along the raceways are arranged on the second transmission member, wherein the plurality of driving bodies are circumferentially arranged on the second transmission member, so that when the second transmission member rotates around the axes of the second transmission member, at least one of the plurality of driving bodies can be in contact with at least one of the plurality of first rollers to drive the slewing device to rotate around the axes of the first transmission member.

According to a preferred embodiment, the transmission device comprises at least two of the turning means, which are arranged in such a way that portions of the respective first rollers can be brought into simultaneous contact with the drive body at different radial positions of the second transmission member, so that the radial forces generated between the drive body and the first rollers on different turning means can be balanced with respect to each other, so that the transmission device can be transmitted in a dynamically balanced manner.

According to a preferred embodiment, the drive body is detachably arranged on the second transmission element in such a way that the swiveling device can perform a transmission on the basis of the sliding friction formed between the drive body and the first roller and the second transmission element.

According to a preferred embodiment, in the case where the axis of the second transmission member and the axis of the swiveling device are parallel to each other, or in the case where the axis of the first transmission member and the axis of the swiveling device are parallel to each other, the first transmission member may be disposed such that the axis thereof coincides with the axis of the second transmission member, so that the first transmission member can realize coaxial transmission with the second transmission member based on the intermediate transmission of the swiveling device.

According to a preferred embodiment, in the case of a rotation of the base body about its own axis, at least one of the first rollers is able to rotate about its own axis and to move along the raceway on the basis of a rolling friction pair formed by the first rollers with the raceway in a non-pure rolling manner.

According to a preferred embodiment, the invention also discloses a transmission method, which can be realized by the rotating device or the transmission device.

The invention provides a slewing device for transmission, a transmission apparatus comprising the slewing device and a transmission method based on the slewing device, and at least the following advantages are provided:

(1) under the condition that the abrasion between the first roller body and the roller path and the friction heat generation quantity between the first roller body and the roller path can be reduced, the friction force between the first roller body and the roller path can drive the base body to rotate;

(2) in the case where two adjacent first rollers roll relative to each other, the contact form of the raceway and the first rollers may be point contact or line contact to enable the two to slide relative to each other, which can limit the rotational speed of the first rollers, so that external energy is more transmitted through the raceway and the first rollers, and less depended on the transmission between the first rollers, contributing to the improvement of the transmission efficiency.

(3) The raceway is only required to be processed on the wall body of the base body without opening a channel in the base body, the processing of the raceway is greatly reduced, and the raceway can be formed only by a simple processing technology;

(4) the inside of the matrix does not need to be opened, so that the bearing capacity of the matrix is improved;

(5) the arrangement number of the first rollers can be reduced, the purchase cost is reduced, the replaceability is high, and the maintenance is easy;

(6) the position relation between the roller path and the base body is invariable in the rotation process of the base body, so that the complexity of the arrangement position of the driving body on the second transmission piece can be reduced;

(7) the distance that first roller body moved the round greatly reduced, can greatly reduced its removal resistance to the external load that applies first roller body is used for driving the base member to rotate under reducing first roller body and the themogenesis's of raceway friction more, can improve transmission efficiency effectively.

Drawings

FIG. 1 is a preferred schematic operating diagram of a transmission provided by the present invention;

FIG. 2 is a partial schematic view of a preferred swivel device provided by the present invention;

FIG. 3 is a schematic diagram of the operation of a preferred swivel device provided by the present invention;

FIG. 4 is a schematic view of a preferred construction of a second transmission member provided by the present invention; and

fig. 5 is a schematic diagram of a preferred structure of a first transmission turntable provided by the invention.

List of reference numerals

1: turning device 3 b-2: second transmission turntable II

2: second transmission member 3 b-3: second roller

3: first transmission 2 a: third rotating shaft

1 a: first shaft 2 b: shell body

1 b: first transmission turntable 2 b-1: first shell

1 c: substrate 2 b-2: second shell

1 b-1: roll hole 2 c: first bolt

1 c-1: the raceway 2 d: driving body

1 c-2: first roller body 2 e: accommodating cavity

1 c-3: first substrate 2 f: base seat

1 c-4: second substrate 3 a: second rotating shaft

3 b-1: second transmission turntable I3 b: second transmission turntable

Detailed Description

This is described in detail below with reference to fig. 1-5.

Example 1

This embodiment provides a swing device 1 that can be used as a main component of an intermediate transmission in a multi-speed transmission.

As shown in fig. 2, the swing device 1 includes a base 1 c. The base body 1c is provided with end-to-end raceways 1 c-1. The raceway 1c-1 is for accommodating a plurality of first rollers 1 c-2. Preferably, the first roller 1c-2 is a rotatably formed rollable member capable of revolving on the raceway 1c-1 about the axis of the base 1c in such a manner as to rotate on its own axis. For example, the first roller 1c-2 may be a sphere, an ellipsoid, a cylinder, or a cone. The adjacent two first rollers 1c-2 are partially in contact with each other. The first roller body 1c-2 is also in partial contact with the raceway 1 c-1. In the case where two adjacent first rollers 1c-2 are partially in contact with each other, the plurality of rollers 1c-2 fill the raceway 1c-1 in such a manner as to be partially in contact with the raceway 1c-1, so that the base 1c can rotate about its own axis based on the dynamic friction pair formed by the first rollers 1c-2 with the raceway 1c-1 in a non-pure rolling manner in the case where at least one of the plurality of first rollers 1c-2 rotates about its own axis and moves along the raceway 1 c-1. In the case where the base body 1c rotates about its own axis, at least one of the plurality of first rollers 1c-2 can rotate about its own axis and roll along the raceway 1c-1 based on the rolling friction pair formed by the first rollers 1c-2 with the raceway 1c-1 with non-pure rolling. Therefore, in the case where at least one of the plurality of first rollers 1c-2 rotates about its own axis and moves along the raceway 1c-1, a dynamic friction pair is formed between the first roller 1c-2 and the raceway 1 c-1. The mechanism of formation of the dynamic friction pair is as follows: first, since the first roller body 1c-2 is in partial contact with the raceway 1c-2, the two are at least capable of sliding contact in its movement along the raceway 1 c-1; secondly, because the adjacent first rollers 1c-2 are partially contacted with each other, the adjacent first rollers 1c-2 are driven to rotate while one of the first rollers rotates, so that the first rollers 1c-2 rotate while sliding along the raceway 1c-1, and the first rollers 1c-2 and the raceway 1c-1 have relative sliding and relative rolling, thereby sequentially forming a dynamic friction pair of the first rollers and the raceway 1 c-1. As per the definition of pure scrolling: the first roller body 1c-2 forms a dynamic friction pair with the roller path 1c-1 in a non-pure rolling motion mode. Pure rolling: the term belongs to the technical term of mechanical dynamics, and means that the contact point of a rigid body and a plane is relatively static at the moment of contact, and rolling without any relative sliding is not carried out, namely the relative speed is zero. Compared with the existing transmission device based on pure sliding friction, the invention has at least the following advantages by virtue of the dynamic friction pair formed between the first roller body 1c-2 and the roller path 1c in a non-pure rolling way: 1. under the condition that the abrasion between the first roller body 1c-2 and the roller path 1c and the friction heat generation quantity between the two can be reduced, the friction force between the two can also drive the base body 1c to rotate; 2. in the case where two adjacent first rollers 1c-2 roll relative to each other, the contact form of the raceway 1c-1 and the first rollers 1c-2 may be point contact or line contact so that the two can slide relative to each other, which can restrict the rotational speed of the first rollers 1c-2, so that external energy is more transmitted through between the raceway 1c-1 and the first rollers 1c-2, and less transmission between the first rollers 1c-2 is relied on, contributing to improvement of transmission efficiency; 3. lubrication between the first rollers 1c-2 and the raceway 1c-1 is facilitated, and when one of the first rollers serves as a main force transmission member, the rotation speed thereof is higher than that of the adjacent first roller, so that excess lubricating oil adhered thereto is thrown against the adjacent first roller based on centrifugal force; the lubricating oil flows to the contact part of the adjacent force transmission component and the roller path 1c-1 along with the rotation of the adjacent force transmission component, and when the adjacent first roller body is used as a main force transmission component, the lubricating oil forms an oil film on the surface of the lubricating oil, so that the roller path 1c-1 and the adjacent first roller body are fully lubricated during the force transmission of the lubricating oil, and the lubricating effect of the whole device is improved by virtue of a virtuous cycle; 4. the service life of the raceway 1c-1 is improved due to the reduction of frictional wear and the improvement of the lubricating effect, so that the durability of the slewing device 1 is improved; 5. the first roller body 1c-2 is used as a main force transmission part, the manufacturing process is simple, the first roller body is manufactured into a rotary body, so that the replaceability is strong, and the first roller body can be made of a material softer than the roller path 1c-1, so that the abrasion of the roller path 1c-1 is further reduced, and the durability of the rotary device 1 is improved; 6. during transmission, the tangential force formed by the first roller body 1c-2 and the other two adjacent first roller bodies can drive the other two first roller bodies to rotate, and the first roller body 1c-2 and the other two adjacent first roller bodies are in flexible contact, so that the first roller body 1c-2 and the other two adjacent first roller bodies cannot generate impact during transmission, impact sound caused by rigid contact in traditional transmission is reduced, and the effect of reducing noise is achieved.

As shown in fig. 3, during the transmission, the friction force formed between the first roller 1c-2 and the raceway 1c-1 can be decomposed into a tangential force perpendicular to the diameter of the base 1c, which can drive the base 1c to rotate, another tangential force perpendicular to the diameter of the first roller 1c-2, which drives the first roller 1c-2 to rotate, and an urging force that urges the first roller 1c-2 to move along the raceway 1 c-1. Namely: when the first roller 1c-2 moves in the raceway 1c-1, the first roller 1c-2 rotates at a rotational speed ω_1c-2Rotating around its own axis while having a moving speed V. The speed of movement V can be decomposed into tangential speeds V perpendicular to the diameter of the substrate 1, i.e. tangential to the trajectory of the raceway 1c-1_1c-2. While at the same time the base body 1c is at ω about its axis₁And (4) rotating.

Preferably, the turning device 1 serves as an intermediate transmission member, which further comprises a first transmission turntable 1 b. The first transmission turntable 1b is provided with a plurality of rolling holes 1b-1 along the circumferential direction thereof. At least one of the rolling holes 1b-1 is capable of being in rolling frictional contact with a second rolling body 3b-3 arranged circumferentially on the first transmission member 3. For example, the second roller body 3b-3 is in line contact with the portion of the roll hole 1b-1 in such a manner that it rotates about its own axis. When the connecting line of the geometric center of the second roller body 3b-3 and the geometric center of the rolling hole 1b-1 is coincident with one diameter of the first transmission turntable 1b, the contact line formed by the second roller body 3b-3 and the rolling hole 1b-1 is coincident with the contour line of the rolling hole 1 b-1. Preferably, when the slewing device 1 is used as a driving part, the friction force formed between the rolling hole 1b-1 and the second rolling body 3b-3 can be decomposed into a tangential force for driving the first transmission part 3 to rotate and another tangential force for driving the second rolling body 3b-3 to rotate. Namely: under the condition that at least one of the first rolling bodies 1c-2 can rotate around the axis of the rolling body and roll along the rolling path 1c-1, the rotating device 1 can drive the first transmission piece 3 to rotate around the axis of the first transmission piece 3 based on a rolling friction pair formed by the rolling holes 1b-1 and the second rolling bodies 3b-3, and the rotating device 1 can transmit power to the first transmission piece 3. As shown in fig. 1, the swing device 1 is used as a driving member at ω₁When rotating, the first transmission member 3 acts as a driven member with omega₃And rotating to realize speed reduction. When the first transmission piece 3 serves as an active piece, the first transmission piece 3 can rotate around the axis of the slewing device 1 based on a rolling friction pair formed by the rolling holes 1b-1 and the second rolling bodies 3b-3 under the condition of rotating around the axis of the first transmission piece 3, so that the first transmission piece 3 transmits power to the slewing device 1. As shown in FIG. 1, the first transmission member 3 serves as an active member and has a value ω₃Rotating, slewing gear 1 acting as a driven member with omega₁And rotating to realize acceleration.

Preferably, as shown in fig. 1, the first carousel 1b is arranged coaxially to the roundabout 1. In this case, the first transmission dial 1b can be in continuous contact with the first transmission member 3 to achieve continuous transmission.

Preferably, the swivel device 1 comprises at least two raceways 1 c-1. Preferably, the geometric center of the raceway 1c-1 or the center of gravity thereof is located on the axis of the base 1 c. For example, the raceway 1c-1 is an annular raceway, such as the raceway shown in FIG. 2. At least two roller paths 1c-1 are uniformly distributed at different axial positions of the rotating device 1. At least two raceways 1c-1 each accommodate a first roller body 1c-2 independently of each other. The raceway 1c-1 may be three as shown in fig. 2, or may be two or even more than three. In comparison to the disadvantages of a single spiral first-connected raceway: 1. the raceway 1c-1 is provided inside the base 1c, which first of all increases the manufacturing yield and reduces the load-bearing capacity of the base 1 c; 2. the power source of the first roller 1c-2 in the raceway 1c needs to be more consumed in the movement of the first roller 1c-2 than in the transmission, and the transmission efficiency is low. Based on this, the invention has at least the following advantages compared with the prior art by being arranged in this way: 1. the raceway 1c-1 is only required to be processed on the wall body of the base body 1c without opening a channel in the base body 1c, the processing of the raceway 1c-1 is greatly reduced, and the raceway can be formed only by a simple processing technology; 2. the inner part of the matrix 1c does not need to be opened, so that the bearing capacity of the matrix 1c is improved; 3. the arrangement number of the first roller bodies 1c-2 can be reduced, and the purchase cost, the replaceability and the maintenance are reduced; 4. since the positional relationship between the raceway 1c-1 and the base body 1c is not changed during the rotation of the base body 1c, it is possible to reduce the complexity of the arrangement position of the driving body 2d on the second transmission member 2; 5. the distance of the first roller body 1c-2 moving for one circle is greatly reduced, and the moving resistance can be greatly reduced, so that the external load applied to the first roller body 1c-2 is more used for driving the base body 1c to rotate under the condition of reducing the heat generated by the friction between the first roller body 1c-2 and the roller path 1c, and the transmission efficiency can be effectively improved.

Preferably, as shown in FIG. 2, the turning device 1 includes a first base 1c-3 and a second base 1 c-4. A first transmission turntable 1b is arranged between the first base body 1c-3 and the second base body 1 c-4. The first base 1c-3 and the second base 1c-4 are arranged as mirror images of the neutral plane of the first carousel 1 b. The first base 1c-3 is provided with a raceway 1 c-1. The raceway 1c-1 may be an existing endless circulating raceway that enables penetration into the interior of the body 1 c. The raceway 1c-1 may also be three mutually independent end-to-end raceways as shown in fig. 2. Therefore, in the case where the turning device 1 is rotated about itself, the axial force received by the first rollers 1c-2 on the first base body 1c-3 and the axial force received by the first rollers 1c-2 on the second base body 1c-4 can be equal in magnitude and opposite in direction to each other at a certain time, so that the dynamic balance between the first rollers 1c-2 and the base body 1c can be achieved based on the balance of the axial forces. The direction of the axial force between the first roller body 1c-2 and the first base body 1c-3 coincides with the axial direction of the first base body 1 c-3. Arranged in this way, the invention can have at least the following advantages: 1. because the base body 1c and the first roller body 1c-2 are in axial dynamic balance, the up-and-down movement of the base body 1c can be effectively prevented, and the stability of transmission can be effectively improved; 2. the service life of a bearing system matched with the first rotating shaft 1a on the rotating device 1 can be effectively prolonged; 3. the rigid impact force of the first roller body 1c-2 and the roller path 1c-1 can be effectively reduced, so that the abrasion of the first roller body 1c-2 and the roller path 1c-1 can be reduced respectively; 4. when the driving body 2d is engaged with the first roller 1c-2, since the vertical play of the base body 1c is effectively prevented or eliminated, the rigid impact force between the first roller 1c-2 and the driving body 2d can be reduced, so that the degree of engagement between the driving body 2d for driving the first roller 1c-2 and the driving body can be improved, and the transmission stability and the transmission efficiency can be effectively improved.

Example 2

This embodiment may be a further improvement and/or a supplement to embodiment 1, and repeated contents are not described again. The preferred embodiments of the present invention are described in whole and/or in part in the context of other embodiments, which can supplement the present embodiment, without resulting in conflict or inconsistency.

Preferably, the axis of the swiveling device 1 and the axis of the first carousel 1b can be arranged in a manner that are not coincident with each other but are co-directional. Due to the eccentric arrangement of the first transmission turntable 1b, under the condition that the rotating device 1 rotates around the axis of the rotating device 1, the first transmission turntable 1b rotates eccentrically around the axis of the rotating device 1, so that the rolling hole 1b-1 on the first transmission turntable 1b and the second rolling body 3b-3 on the first transmission piece 3 form a dynamic friction pair in a discontinuous contact mode, and the first transmission piece 3 rotates intermittently under the condition that the rotating device 1 rotates continuously. In this case, the rolling hole 1b-1 of the first transmission disk 1b may be provided not with one turn on the circumferential surface of the first transmission disk 1b but with only a part of the circumferential surface thereof to engage with the second rolling bodies 3b-3 on the first transmission member 3. For example, a half turn, or a quarter turn, may be provided. In this way, the invention also has the following advantages: 1. the gap transmission can be realized; 2. in the gap drive process, the slewing device 1 is subjected to periodical load change, which easily affects the fatigue life of the first raceway 1c-1, but in the present invention, it is mentioned that the driving force of the slewing device 1 is derived from the friction force between the first rolling body 1c-2 and the first raceway 1c-1 when moving in a non-pure rolling motion; when the slewing device 1 drives the first transmission piece 3 to rotate, the slewing device 1 is loaded, the friction force between the first roller body 1c-2 and the first roller path 1c-1 is improved, and the first roller body 1c-2 can improve the rolling friction force of the first roller body 1c-2 and the first roller path based on the self-adaptive improved self-rotation speed of the friction force, so that the sliding friction force of the first roller body and the first roller path is not changed greatly; when the slewing device 1 drives the non-first transmission piece 3 to rotate, the slewing device 1 is not loaded, the friction force between the first roller body 1c-2 and the first roller path 1c-1 is reduced, the first roller body 1c-2 reduces the rolling friction force of the first roller body 1c-2 and the first roller path based on the self-adaptive reduced self-rotation speed of the friction force, so that the sliding friction force of the first roller body 1c-1 and the first roller path is not changed greatly, and compared with the traditional equipment which only has sliding friction to realize intermittent rotation, the invention can prolong the fatigue life of the first roller path 1c-1 so as to prolong the service life of the slewing device 1.

Example 3

This embodiment may be a further improvement and/or a supplement to embodiment 1, and repeated contents are not described again. The preferred embodiments of the present invention are described in whole and/or in part in the context of other embodiments, which can supplement the present embodiment, without resulting in conflict or inconsistency. This embodiment discloses a transmission apparatus.

Preferably, the transmission device comprises a rotating device 1 and a second transmission piece 2, and primary transmission is realized.

Or, preferably, the transmission device comprises a rotating device 1 and a first transmission piece 3, realizing a primary transmission.

Or, preferably, the transmission equipment comprises a rotating device 1, a first transmission piece 3 and a second transmission piece 2, and realizes two-stage transmission. The specific operation diagram is shown in fig. 1. The second transmission member 2 as the driving member is driven by external power by ω₂Rotating, the slewing device 1 acts as a driven member for the first stage transmission and as a driving member for the second stage transmission by ω₁Rotating the first transmission member 3 by ω₃The rotation mode is used as a driven part to output power so as to realize secondary transmission. Conversely, in another embodiment, the first transmission member 3, as the active member, is driven by external power by ω₃Rotating, the slewing device 1 acts as a driven member for the first stage transmission and as a driving member for the second stage transmission by ω₁Rotating the second transmission member 2 by omega₂The rotation mode is used as a driven part to output power so as to realize secondary transmission.

Or, this embodiment also discloses: external power can also be input through the rotating device 1 and output from the first transmission piece 3 and the second transmission piece 2 respectively.

Preferably, a driving body 2d is arranged on the second transmission piece 2. The dial body 2d has at least two functions: firstly, when the second transmission piece 2 is used as a driving piece to rotate, the second transmission piece is used for driving the plurality of first rolling bodies 1c-2 to rotate around the axis of the first rolling bodies and roll along the roller path 1 c-1; secondly, when the rotating device 1 rotates as a driving part, the first rolling body 1c-2 rotates around the axis of the first rolling body and generates contact force with the toggle body 2d in the process of rolling along the raceway 1c-1 to drive the second transmission part 2 to rotate. Preferably, a plurality of driving bodies 2d are circumferentially arranged on the second transmission member 2 at positions corresponding to the positions of the raceways 1c-1 so that the driving bodies and the first rolling bodies 1c-2 can contact each other and generate frictional force. Based on this, when the second transmission member 2 rotates around its own axis, at least one of the plurality of driving bodies 2d can contact with at least one of the plurality of first rollers 1c-2, and the friction force generated by the two can drive the rotation device 1 to rotate around its own axis. Preferably, or, in the case of a rotation of the gyroscopic device 1 around its own axis, at least one of the first plurality of rollers 1c-2 can be in contact with at least one of the drive bodies 2d, the friction generated between them driving the second transmission member 2 in rotation around its own axis.

Preferably, the transmission arrangement comprises at least two turning devices 1. At least two turning devices 1 are provided in such a way that portions of the respective first rollers 1c-2 can simultaneously contact the drive bodies 2d at different radial positions of the second transmission member 2. For example, as shown in fig. 1, two slewing devices 1 are provided in total, and the two slewing devices 1 are arranged in mirror symmetry with respect to the axis of the second transmission member 2. In this case, the radial forces generated between the drive body 2d and the first rollers 1c-2 on the different turning devices 1 can be balanced with each other, so that the transmission device can transmit in a dynamic balance manner. At a certain moment, the contact force between the driving body 2d and the first roller bodies 1c-2 is decomposed into a force along the diameter direction of the rotating device 1, the two rotating devices 1 are arranged in mirror symmetry with the axis of the second transmission piece 2, so that the first roller bodies 1c-2 of the two rotating devices form a radial force on the driving body 2d contacted with the first roller bodies 1c-2 of the two rotating devices, and the directions of the radial forces are equal and opposite, thereby realizing the dynamic balance of transmission. The individual radial forces are perpendicular to the axial direction of the second transmission piece 2/the first transmission piece 3, and can produce bending moments on the second transmission piece 2/the first transmission piece 3, so that the second transmission piece 2/the first transmission piece 3 can be easily bent. In this way, at least the following advantages are achieved: 1. based on the dynamic balance of the radial force, the bending damage of the second transmission piece 2 or the complete damage of the first transmission piece 3 can be effectively avoided; 2. because the radial forces are equal in magnitude, the rotating speeds of the two rotating devices 1 are consistent, so that continuous contact between the rolling hole 1b-1 and the second roller body 3b-3 and dislocation of contact between the rolling hole and the second roller body are guaranteed, continuous contact between the first roller body 1b-1 and the driving body 2d is guaranteed, dislocation of contact between the first roller body 1b-1 and the driving body 2d is avoided, and transmission stability is improved.

The invention also discloses that at least one of the drive bodies 2d is arranged on the second transmission element 2 in a manner such that it can rotate about its own axis. In this way, at least one drive body 2d can be swiveled about the axis of the second transmission member 2, while being swiveled about its own axis due to its contact with the first roller 1c-2, so that the swiveling device 1 can realize transmission based on the rolling friction formed between the drive body 2d and the first roller 1c-2 and the second transmission member 2. Arranged in this way, the transmission device provided by the invention also has the following advantages: 1. the contact between the second transmission piece 2 and the driving body 2d can have reduced wear and reduced noise; 2) under the condition that wearing and tearing have reduced, rolling friction contact between second driving medium 2 and drive body 2d is based on in the transmission process, and the heat generation volume greatly reduced that rubs between second driving medium 2 and the drive body 2d has reduced the clearance that produces because the heat expansion that the heat generation of friction leads to between second driving medium 2 and the drive body 2d in the transmission process, can further improve driven stationarity and precision.

Preferably, as shown in fig. 1, in the case where the axis of the second transmission member 2 and the axis of the swiveling device 1 are parallel to each other, or in the case where the axis of the first transmission member 3 and the axis of the swiveling device 1 are parallel to each other, the first transmission member 3 may be disposed in such a manner that the axis thereof coincides with the axis of the second transmission member 2. At this time, the first transmission member 3 can realize coaxial transmission with the second transmission member 2 based on the intermediate transmission of the swiveling device 1. In this way, the invention also has the following advantages: 1. the compactness of the transmission equipment can be improved; 2. the coaxial variable-speed motion can be realized; 3. the transmission precision can be improved.

Example 4

This embodiment may be a further improvement and/or a supplement to embodiments 1 and/or 2 and/or 3, and repeated details are not repeated. The preferred embodiments of the present invention are described in whole and/or in part in the context of other embodiments, which can supplement the present embodiment, without resulting in conflict or inconsistency.

This embodiment discloses a preferred transmission arrangement for a two-stage transmission reduction. It comprises three

rotating devices

1, 1

first transmission piece

3 and 1 second transmission piece 2. Preferably, the transmission device further comprises a case.

As shown in fig. 4, the second transmission member 2 includes a third rotating shaft 2a, a first housing 2b-1, a second housing 2b-2, and a driving body 2 d. The first and second housings 2b-1 and 2b-2 are each formed in an approximately hemispherical shape, and are joined together (e.g., welded) to form an integral housing 2b, forming an approximately spherical accommodation cavity 2e capable of accommodating the three turning devices 1. The upper part of the accommodation cavity 2e is open, and the lower part is closed by a disc-shaped base 2 f. A third rotating shaft 2a is integrally connected to the lower part of the base 2 f. The axes of the first casing 2b-1, the second casing 2b-2, the accommodating cavity 2e, the base 2f and the third rotating shaft 2a coincide. The inner sides of the first casing 2b-1 and the second casing 2b-2 are provided with a driving body 2d used in cooperation with the swiveling device 1. The driving body 2d is a rotary body or a spiral body. Preferably, the first and second housings 2b-1 and 2b-2 fix the driving body 2d inside the first and second housings 2b-1 and 2b-2 by a plurality of first bolts 2 c. Alternatively, in another preferred embodiment, the first and second housings 2b-1 and 2b-2 rotatably dispose the driving body 2d inside the first and second housings 2b-1 and 2b-2 through bearings. According to this arrangement, after the driving body 2d is independently processed, the driving body 2d is mounted on the second housing 2b-2 and the first housing 2b-1 by means of the mounting member, so that the problem of difficulty in integrally forming the driving body 2d in the accommodating cavity 2e can be solved, and the replacement of the driving body 2d is facilitated.

The box body is approximately cylindrical, consists of a disc-shaped first base, a disc-shaped second base and a disc-shaped third base, and is fixedly connected through a plurality of second bolts. The first base is provided with a downward-concave round table in the middle, and a first thrust bearing is arranged inside the round table and used for supporting a base 2f of the second transmission piece 2. The circular truncated cone is also provided with a first angular contact ball bearing in the middle and used for supporting a third rotating shaft 2a of the second transmission piece 2. The second base is centrally provided with a first upper bearing for supporting the first transmission piece 3; and the second base is also provided with 3 second upper bearings which are uniformly distributed in the circumferential direction and used for supporting the upper ends of the first rotating shafts 1a of the 3 rotating devices 1. After the whole assembly of the device is completed, only the second rotating shaft 3a (output shaft) of the first transmission piece 3 and the third rotating shaft 2a of the second transmission piece 2 vertically extend out from the upper part and the lower part of the box body respectively, and other parts are installed in the box body. Through adopting the columniform box to with the coincidence of the geometric axis direction of power input, output direction and device, and with the design of geometric axis and focus coincidence, be favorable to device overall structure compactness small and exquisite, operate steadily.

Referring to fig. 2, the swing device 1 is formed by combining a first base 1c-3 and a second base 1c-4 having an approximately hemispherical shape to form an approximately spherical shape. A first transmission turntable 1b in a disc shape is arranged between the first substrate 1c-3 and the second substrate 1 c-4. And the first base body 1c-3 and the second base body 1c-4 are provided with a first rotation shaft 1a in the axial direction, and the lower end and the upper end of the first rotation shaft 1a extend from the lower portion and the upper portion of the approximate sphere in the axial direction, respectively. The first substrate 1c-3 and the second substrate 1c-4 each have three raceways 1 c-1. The ball-shaped first rolling bodies 1c-2 are distributed in the raceway 1c-1, and the first rolling bodies 1c-2 can circularly reciprocate in the raceway 1 c-1. The raceway 1c-1 of the second base 1c-4 is similar in structure to the first base 1 c-3. In a specific embodiment, the second base body 1c-4 is connected with the first transmission turntable 1b through a hexagon socket head cap screw, and the first transmission turntable 1b is connected with the first base body 1c-3 through a fifth screw. The upper part of the first rotating shaft 1a is mounted above the second base 1c-4 by a plurality of third bolts, and the lower part of the first rotating shaft 1a may be formed in the same manner as the upper part or may be formed integrally with the first base 1 c-3. The first transmission turntable 1b is evenly distributed with rolling holes 1b-1 matched with the second transmission turntable 3b for use.

The invention adopts 3 rotating devices 1 and a second transmission piece 2 to realize large transmission ratio output in a similar small tooth difference meshing mode. The tooth surface of the driving body 2d is enveloped by the balls and adopts an inner meshing mode, the first rolling body 1c-2 is in a rotary ball shape and performs a circular reciprocating rolling meshing motion along the roller paths 1c-1 of the first base body 1c-3 and the second base body 1c-4, so that the sliding friction between transmission parts is converted into a dynamic friction pair in a non-pure rolling mode, and the running resistance is reduced.

Preferably, the second transmission turntable 3b is disc-shaped and is composed of a circular second transmission turntable II3b-2 and a second transmission turntable I3 b-1. Second rollers 3b-3 are uniformly arranged between the second transmission turntable II3b-2 and the second transmission turntable I3b-1 along the outer circumferential direction. The second rolling bodies 3b-3 are contacted with rolling holes 1b-1 on a first transmission turntable 1b of the rotating device 1 to realize transmission. Preferably, the second roller 3b-3 is also of a rotatable spherical structure. The middle part of the second transmission turntable 3b is provided with a through hole for connecting and fixing a second rotating shaft 3a (as an output shaft) of the first transmission member 3. Specifically, the second transmission turntable II3b-2 and the second transmission turntable I3b-1 are fixedly connected through a plurality of sixth bolts.

The embodiment also discloses: the transmission also comprises an output shaft mounting assembly, preferably in the form of a disc, centrally provided with a downwardly projecting cylindrical output mounting disc, and a second angular contact ball bearing for mounting the first transmission member 3. The output shaft mounting assembly is also provided with 3 deep groove ball bearings which are uniformly distributed in the circumferential direction and used for supporting the lower end of the first rotating shaft 1 a. The deep groove ball bearing is matched with a second upper bearing of a second base of the box body, so that the axial positioning of the rotary device 1 is realized. Meanwhile, the mode that the 3 rotating devices 1 and the second transmission piece 2 are meshed to work is adopted, so that the gear backlash and the dynamic balance problem derived from the gear backlash can be effectively eliminated, and the stable operation of the device is ensured.

The embodiment also discloses: the transmission apparatus further comprises a chassis assembly, preferably disc-shaped. The thrust bearing comprises a disc-shaped chassis and a second thrust bearing arranged in the middle of the chassis. The second thrust bearing is for supporting the output mounting disk. The chassis component is fixed on the base 2f of the second transmission member 2 through a seventh bolt.

Preferably, the second rotating shaft 3a of the first transmission member 3 is a variable diameter cylinder, and is connected to the first upper bearing on the base of the case, the through hole in the middle of the second transmission turntable, and the second angular contact ball bearing on the output shaft mounting assembly from top to bottom. Specifically, the first transmission piece can be fixedly connected with the second transmission turntable through a key. Preferably, first transmission piece and third pivot all can set up to hollow structure, are convenient for lay the electric wire on the one hand, and on the other hand can also make device overall structure compacter, reasonable.

The invention also discloses an assembling mode of the transmission speed reducer. The second transmission piece 2 is installed and positioned on a first base of the box body through a first angular contact ball bearing and a first thrust bearing, a chassis assembly is fixedly connected to a base 2f of the second transmission piece 2 through a seventh bolt, an output shaft installation assembly is installed on the chassis through a second thrust bearing, 3 rotation devices 1 are arranged, the lower ends of the rotation devices are connected with an output shaft installation disc through deep groove ball bearings, the upper end of each rotation device 1 is connected with the second base through a second upper bearing, a first rolling body 1c-2 of each rotation device 1 and a driving body 2d on the second transmission piece 2 form a contact relation, the lower end of each first transmission piece 3 is installed on the output shaft installation disc through a second angular contact ball bearing, the upper end of each first transmission piece 3 is installed on the second base through a second upper bearing, and a second rolling body 3b-3 on the second transmission rotary disc 3b and a rolling hole 1b-1 of the first transmission rotary disc 1b form a contact relation.

Example 5

The embodiment discloses a transmission method based on a rotating device 1. The method may be implemented by the system of the present invention and/or other alternative components. For example, the method of the present invention may be implemented using various components of the system of the present invention. The transmission method is realized by the slewing device 1 in

embodiment

1 or 2. Alternatively, the transmission method can be implemented by the transmission device in embodiment 3.

Compared with the method in the prior art, the method has at least the following advantages:

(1) the arrangement mode of the roller path 1c-1 on the rotating device 1 can greatly reduce the distance of the first roller body 1c-2 moving for one circle, and greatly reduce the moving resistance of the first roller body, so that the external load applied to the first roller body 1c-2 is more used for driving the base body 1c to rotate under the condition of reducing the frictional heat generation of the first roller body 1c-2 and the roller path 1c, and the transmission efficiency can be effectively improved.

(2) Because the base body 1c and the first roller body 1c-2 are in axial dynamic balance, the up-and-down movement of the base body 1c can be effectively prevented, and the stability of transmission can be effectively improved; and, when the driving body 2d is engaged with the first roller 1c-2, since the up-and-down movement of the base body 1c is effectively prevented or eliminated, the rigid impact force between the first roller 1c-2 and the driving body 2d can be reduced, so that the engaging degree of the driving body 2d for driving the first roller 1c-2 with it can be improved, and the transmission stability and the transmission efficiency can be effectively improved.

(3) The transmission method can realize intermittent transmission in two-stage transmission;

(4) due to the symmetrical arrangement of the rotating devices 1, the radial force between the driving body 2d and the first roller bodies 1c-2 is equal, so that the rotating speeds of the two rotating devices 1 are consistent, the continuous contact between the rolling hole 1b-1 and the second roller bodies 3b-3 and the contact dislocation of the two roller bodies are guaranteed, the continuous contact between the first roller bodies 1b-1 and the driving body 2d and the contact dislocation of the two roller bodies are guaranteed, and the transmission stability is improved.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of this disclosure, may devise various arrangements that are within the scope of this disclosure and that are within the scope of this invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.

Claims

1. A swivel device (1) for a transmission, comprising:

a base body (1c) arranged with a raceway (1c-1) for accommodating a number of first rollers (1c-2),

it is characterized in that the preparation method is characterized in that,

the first rollers (1c-2) can move cyclically in the raceway (1c-1) in a manner that is not sequential to each other and in a manner that at least partially contacts the raceway (1c-1) so that, in the event that at least one of the first rollers (1c-2) rotates about its own axis, the base body (1c) can rotate about its own axis based on a dynamic friction pair formed by the first rollers (1c-2) and the raceway (1c-1) in a non-pure rolling manner,

the rotating device (1) comprises a first transmission turntable (1b) which is connected with the base body (1c) and is circumferentially provided with a plurality of rolling holes (1b-1),

the rolling holes (1b-1) are arranged in a manner of being capable of rolling friction with second rollers (3b-3) arranged on the first transmission piece (3) in the circumferential direction, so that the slewing device (1) can drive the first transmission piece (3) to rotate around the axis of the first transmission piece (3) based on a rolling friction pair formed by the rolling holes (1b-1) and the second rollers (3b-3) under the condition that at least one of the first rollers (1c-2) can rotate around the axis of the first rollers and roll along the roller path (1 c-1); or the like, or, alternatively,

the first transmission piece (3) can rotate around the axis of the first transmission piece under the condition of rotating around the axis of the first transmission piece, and the first transmission piece can enable the slewing device (1) to rotate around the axis of the slewing device (1) based on a rolling friction pair formed by the plurality of rolling holes (1b-1) and the second rolling bodies (3b-3),

the first transmission turntable (1b) is arranged coaxially with the rotating device (1);

the turning device (1) further comprises a first base body (1c-3) and a second base body (1c-4), the first base body (1c-3) and the second base body (1c-4) being arranged in such a way that axial forces experienced by first rollers (1c-2) on the first base body (1c-3) and axial forces experienced by first rollers (1c-2) on the second base body (1c-4) are in dynamic balance with each other in case the turning device (1) is turned around itself.

2. A swivel device according to claim 1, characterized in that the swivel device (1) comprises at least two raceways (1c-1), which at least two raceways (1c-1) are arranged at different axial positions of the swivel device (1) in such a way that the first rollers (1c-2) are accommodated independently of each other.

3. A turning device according to claim 2, characterized in that the axis of the turning device (1) and the axis of the first transmission turntable (1b) can be arranged in a non-coinciding but co-directional manner with each other, so that the first transmission piece (3) can realize an intermittent transmission based on the intermittent rolling friction formed by the plurality of roll holes (1b-1) and the second rollers (3b-3) in case the turning device (1) is rotated around its own axis.

4. A turning device according to claim 3, characterized in that in case the basic body (1c) rotates around its own axis, at least one of the number of first rollers (1c-2) is rotatable around its own axis and movable along the raceway (1c-1) based on a rolling friction pair formed by the first rollers (1c-2) in a non-pure rolling manner with the raceway (1 c-1).

5. Transmission apparatus comprising a turning device (1) according to one of the preceding claims, characterized in that it comprises a second transmission member (2), said second transmission member (2) being provided with a plurality of driving bodies (2d) capable of driving said plurality of first rollers (1c-2) in rotation about their own axis and in rolling motion along said raceways (1c-1),

wherein a plurality of said drive bodies (2d) are circumferentially arranged to said second transmission member (2) such that at least one of said plurality of drive bodies (2d) is contactable with at least one of said plurality of first rollers (1c-2) upon rotation of said second transmission member (2) about its own axis to drive said turning device (1) about its own axis.

6. Transmission apparatus according to claim 5, characterized in that it comprises at least two said rotating devices (1), said at least two rotating devices (1) being arranged in such a way that parts of the respective first rollers (1c-2) can be simultaneously in contact with a drive body (2d) on different radial positions of said second transmission member (2), so that the radial forces generated between said drive body (2d) and said first rollers (1c-2) on different rotating devices (1) can be mutually balanced, so that said transmission apparatus can transmit in a dynamically balanced manner.

7. Transmission apparatus according to claim 6, characterized in that said driving body (2d) is removably arranged on said second transmission member (2) so that said swivelling device (1) can realize the transmission based on the sliding friction formed between said driving body (2d) and said first roller body (1c-2) and said second transmission member (2).

8. Transmission apparatus according to claim 7, characterized in that in case the axis of the second transmission member (2) and the axis of the swivelling device (1) are parallel to each other, or in case the axis of the first transmission member (3) and the axis of the swivelling device (1) are parallel to each other, the first transmission member (3) can be arranged with its axis coinciding with the axis of the second transmission member (2), so that the first transmission member (3) can realize a coaxial transmission with the second transmission member (2) based on an intermediate transmission of the swivelling device (1).