Smart self-adaptive planetary transmission device with small tooth number difference

A smart self-adaptive planetary transmission device with a tooth number difference, comprising a left planetary gear, a right planetary gear, a left-end disk, a right-end disk, a housing and a connection member, wherein an end of the connection member sequentially runs through the left planetary gear and the right planetary gear in an axial direction;

• end parts of both ends of the connection member are fixedly connected to the left-end disk and the right-end disk respectively;
• the left planetary gear is engaged with both a tooth profile on the left-end disk and a tooth profile on the housing;
• the right planetary gear is engaged with a tooth profile on the right-end disk and the tooth profile on the housing;
• wherein the left planetary gear, the right planetary gear, the left-end disk, the right-end disk and the housing form a force closure mechanism, tooth number relationships of the gears on the force closure mechanism are:
• (z1z23−z21z32)(z4−z54)(z54+z53)=(z4z53−z54z35)(z1−z31)(z21+z23);
• z32=z1−z21+z23;
• z35=z4−z54+z53;
• wherein z1 is the tooth number of the gems on the right-end disk;
• z21 is the tooth number of the gems, engaged with the right-end disk, on the right planetary gear;
• z23 is the tooth number of the gems, engaged with the housing, on the right planetary gear;
• z32 is the tooth number of the gems, engaged with the right planetary gear, on the housing;
• z35 is the tooth number of the gears, engaged with the left planetary gear, on the housing;
• z4 is the tooth number of the gears on the left-end disk;
• z53 is the tooth number of the gears, engaged with the housing, on the left planetary gear, and z54 is the tooth number of the gems, engaged with the left-end disk, on the left planetary gear.