US Patent 11571966 Universal driving device

A universal driving device includes a sun gear rotatably provided, a ring gear, wherein a rotation axis of the ring gear is moved relative to a rotation axis of the sun gear in a plane of rotation parallel to a plane of rotation of the sun gear, at least one gear train configured to allow relative motion between the rotation axes of the sun gear and the ring gear and to form a continuous power transmission state between the sun gear and the ring gear, and at least one balance gear engaged with the ring gear.