Device and method for transmitting rotary power with a variable distance between input shaft and output shaft and method of using the same

Abstract

An apparatus and method for providing rotary power using a power transmission device are disclosed. The apparatus enables multi-dimensional and angle-agnostic displacement of a rotary power output relative to an input position and transmission of high torque and high-speed rotary motion while maintaining maximum efficiency and rapid response. The apparatus is a transmission gear comprising at least two geared connecting rods in a multi-link articulated gear (MLAG). Each connecting rod comprises at least two gears. The transmission gear also comprises a common axis adapted to allow the connecting rods to freely rotate relative to each other about the common axis, and thereby allow a change in the angle between at least two connecting rods, thereby changing the distance between the input shaft and the output shaft.

Description

Background of the Invention

[0002] Mechanical gears for transferring rotational power between an input shaft and an output shaft are typically used for one or more of the following purposes: setting a desired transmission ratio; changing the relative orientation, position and direction of the shafts between the spatial orientation of the input axis and the output axis (e.g., 90 degree helical gears); providing a power transmission device with one direction of power transfer (e.g., 90 degree helical gears), etc. In all of these applications, the distance and direction between the input axis and the output axis are fixed.

[0003] refer to Figure 1A and Figure 1B , which are schematic diagrams of parallel gearboxes 10, in which the input shaft 12 and the output shaft 14 have a transmission ratio of 1:n. In the gearbox 10, the axes 12 and 14 are parallel, and the relative directions of rotation can be similar or opposite, depending on the specific layout of the gearbox. In the gearbox 20, the input shaft 22 and the output shaft 24 are oriented in a mutually perpendicular manner.

[0004] Gears are required to be able to transfer power from the input shaft to the output shaft at the desired transfer ratio in an efficient and immediate manner. SUMMARY OF THE INVENTION

[0006] Gears are provided which are capable of transmitting power from an input shaft to an output shaft at a desired transfer ratio in an efficient and instantaneous manner. The transfer is independent of the distance and angle between them and can be varied in an instantaneous manner according to their intended use, while remaining compact and narrow in size, allowing as much design freedom as possible. For example, when the gears are driving some kind of device, it is sometimes necessary to achieve sufficient motion (in both displacement and angle) between the input (a rotary power source, such as a motor) and the rotary power load (such as a wheel) so that the kinematic properties of the system have the necessary degrees of freedom to achieve its purpose, for example, to allow a suspended wheel to follow the changing curvature of the road / track on which it rolls.

[0007] An apparatus and method for power transmission is disclosed that allows multi-dimensional, angle-agnostic, high-torque and high-speed rotational motion displacement and transmission while maintaining maximum efficiency and rapid response for a variety of purposes or vehicles.

[0008] In the following description, a transmission gearbox comprising at least two elements is described. Each such element is a sub-transmission gearbox, which comprises at least two gears meshing with each other. All of these elements are interconnected by a common axis, which allows these elements to rotate around the axis and thereby change their relative angles. In addition, these elements engage with each other so that the rotational movement of one gear causes the rotation of another gear. Each such element is hereinafter referred to as an articulated connecting rod, or simply a connecting rod.

[0009] According to some embodiments, a transmission gear is disclosed, which includes at least two links in a multi-link articulated gear (MLAG), each link including at least two gears, the at least two gears being configured to transfer rotation from one gear to another gear and to rotate freely, wherein a first gear in a first link in the MLAG is adapted to be powered by a rotational power source (which is provided to an input shaft), and a second gear is adapted to rotate, or to serve as a first gear for a second link from the at least two links. The transmission gear also includes a common axis adapted to allow the links to rotate freely around the common axis, and thus allow the angle between the at least two links to be changed, and thereby change the distance between the input shaft and the output shaft.

[0010] According to some embodiments, the gear of the first link and the gear of the second link are located in substantially the same plane.

[0011] According to some embodiments, the gear of the first link lies in a plane substantially parallel to and displaced from a plane of the gear of the second link. According to some embodiments, the second gear of the first link and the first gear of the second link are configured to rotate together on a common axis.

[0012] According to some embodiments, the second gear of the first connecting rod is the first gear of the second connecting rod.

[0013] According to some embodiments, the transmission gear further comprises at least one additional connecting rod.

[0014] According to some embodiments, the transmission gear also includes at least one additional link, each of the at least one additional link includes one or two gears suitable for freely rotating, wherein the first gear of a given link is suitable for being rotated by a second gear from a previous or next link of one or more links, and wherein each of the links is suitable for rotating around a common axis with adjacent links.

[0015] A wheel drive mechanism is disclosed, which includes a transmission gear as described above, a rotational power source connected to a first gear of a first articulated link, a wheel connected to a second gear of a second articulated link, and a suspension mechanism connected between the first articulated link and the second articulated link to provide suspension between the rotational power source and the wheel.

[0016] A wheel drive mechanism is disclosed, which includes a transmission gear according to the multi-articulated link as described above, and also includes a rotational power source connected to the first gear of the first articulated link, a wheel connected to the second gear of the second articulated link, and a suspension mechanism connected between the first articulated link and the second articulated link to provide suspension between the rotational power source and the wheel.

[0017] According to some embodiments, a method for minimizing total torque is disclosed, the total torque being the total torque applied to the multi-gear transmission gearbox when power is provided at the input shaft of the multi-gear transmission gearbox. The method includes providing rotational power to a first gear in a multi-gear transmission gearbox including at least three gears, the gears being arranged to transfer the rotational power from the first gear to the second gear, and from the second gear to the third gear, so that all odd-numbered gears rotate in the same direction, and the output gear is set to an odd-numbered gear from the first gear. In some embodiments, the output gear is one of the third gear, the fifth gear, or the seventh gear from the first gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The subject matter which is regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. However, the invention both as to its organization and method of operation, together with objects, features and advantages thereof, may be best understood by reference to the following detailed description when read in conjunction with the accompanying drawings, wherein:

[0019] Figure 1A and Figure 1B is a schematic diagram of two types of transmission gearboxes known in the prior art;

[0020] Figure 2A depicts a schematic diagram of a transmission gearbox having two articulated links according to some embodiments of the present invention;

[0021] Figure 2B depicts a front view and two top views of a transmission gearbox according to some embodiments of the present invention;

[0022] Figure 3A and Figure 3B depicts a side view and an isometric view, respectively, of a transmission gearbox according to an embodiment of the present invention;

[0023] Figure 4A and Figure 4B Depicting side and isometric views of another type of transmission gearbox according to an embodiment of the present invention;

[0024] Figure 5 A transmission gearbox having a transmission ratio of 1:n (n≠1 or n=1) according to an embodiment of the present invention is depicted;

[0025] Figure 6 Depicts an additional transmission gearbox having a transmission ratio of 1:n (n≠1 or n=1) according to an embodiment of the present invention;

[0026] Figure 7 depicts a transmission gearbox having multiple outputs according to an embodiment of the present invention;

[0027] Figure 8 A transmission gearbox with multiple reduction stages according to an embodiment of the present invention is depicted;

[0028] Figure 8A-8C Depicted are three different embodiments of transmission gears according to some embodiments of the present invention;

[0029] Fig.9A Described is an embodiment according to the present invention, Figure 7 Exemplary use of a transmission gearbox;

[0030] Fig. 9B Described is an embodiment according to the present invention, Figure 3B Exemplary use of a transmission gearbox;

[0031] Fig.10 is a schematic diagram of a multi-wheel suspension provided with power according to some embodiments of the present invention;

[0032] Fig.11A and Fig. 11B is a schematic diagram of an in-wheel multi-link transmission unit (MLTU) according to some embodiments of the present invention;

[0033] Fig.12 is a schematic diagram of a transmission assembly including a plurality of MLTUs according to some embodiments of the present invention;

[0034] Fig.13 is a schematic diagram of a transmission assembly (TA) including a multi-gear unit and a multi-link transmission according to some embodiments of the present invention;

[0035] Fig.14 is a schematic diagram of a transmission according to some embodiments of the present invention, the transmission comprising two MLTUs connected at an angle to each other;

[0036] Fig.15 is a schematic diagram of a transmission including a straight-angle gearbox and an MLTU according to some embodiments of the present invention; and

[0037] Figures 16A-16D Various multi-gear transmissions and their corresponding calculations of torque and moment according to some embodiments of the present invention are depicted.

[0038] It should be understood that for simplicity and clarity of illustration, the elements shown in the drawings are not necessarily drawn to scale. For example, for clarity, the sizes of some elements may be exaggerated relative to other elements. In addition, where deemed appropriate, reference numerals may be repeated between the drawings to indicate corresponding or similar elements.

[0039] Detailed Description of the Invention

[0040] In the detailed description below, many specific details are set forth in order to provide a thorough understanding of the present invention. However, those skilled in the art will appreciate that the present invention can be implemented without these specific details. In other examples, well-known methods, processes and components are not described in detail in order not to obscure the present invention. The terms axis, axle, pivot, shaft, hinge, etc. used in the description of embodiments of the present invention hereinafter refer to similar items and can be used interchangeably.

[0041] According to some embodiments of the present invention, in order to enable the output shaft to move relative to the input shaft, two or more links in a multi-link articulated gear (MLAG) can be pivotally connected to each other, and each link can include at least two gears that mesh with each other, one of which can be part of the two links. It should be noted that throughout the description of the embodiments of the present invention, the term "link" or "link of MLAG" (hereinafter referred to as L-MLAG) refers to any mechanical joint that fixedly connects two rotating axes to another axis so that the axes are parallel to each other and keep a distance, so that the gears rotating around the axes can drive each other (i.e., rotate), for example in the form of meshing gears, in the form of a drive chain, in the form of a drive belt, hydraulic, magnetic or any other power transmission method. In addition, at least one axis of the link (L-MLAG) can also be used as a pivot, enabling one L-MLAG to rotate (or turn) around the axis, thereby changing the relative angle between the lines in each L-MLAG connecting two adjacent axes. In some embodiments, two adjacent L-MLAGs may be pivoted as described above so that their gears are disposed in substantially the same plane, and in some embodiments, more than one gear of one L-MLAG is disposed in a plane that is different from the plane in which the gears of an adjacent L-MLAG are disposed. In all embodiments described below, rotational motion originating from a gear in one L-MLAG is transferred to an adjacent gear in an adjacent L-MLAG, the rotation of which is then transferred to another gear in the same L-MLAG.

[0042] Each L-MLAG may include a support structure and two or more gears. The support structure is formed to support each gear, for example, by a pivot (or axis), and allows them to rotate freely while meshing with each other. Every two adjacent L-MLAGs share a common axis, which serves as both the rotation axis of the common gear and the axis for changing the relative angle between two adjacent L-MLAGs.

[0043] refer to Figure 2A, which depicts a schematic diagram of a multi-link articulated gearbox (MLAG) 200 with two articulated links (L-MLAG) according to some embodiments of the present invention. The MLAG 200 includes a first L-MLAG 202A and a second L-MLAG 202B. The first L-MLAG 202A includes an outer gear 204A and an inner gear 204B. The second L-MLAG 202B includes an outer gear 204C and the same inner gear 204B. Since the three gears are meshed with each other, when gear 204A is powered (turned or rotated), as indicated by its corresponding arrows, it causes gears 204B and 204C to rotate with it, each gear rotating about its corresponding axis, while the corresponding L-MLAG can remain stationary or move independently. L-MLAG 202A and L-MLAG 202B share a common axis 208, which is also the rotation axis of gear 204B. L-MLAG 202A and L-MLAG 202B are connected by a common axis 208 so that their relative angle 210 can be changed by rotating either L-MLAG about the axis 208. Figure 2A As shown, axis 208 may allow gear 204B to rotate independently of rotation of L-MLAG 202A or L-MLAG 202B about axis 208. Thus, rotational power may be provided to, for example, input gear 204A and may be continuously transmitted to output gear 204C, and the relative angle between L-MLAG 202A and L-MLAG 202B may be changed independently of the rotation of the gears. As a result, rotational power may be transmitted from input gear 204A to output gear 204C while the distance between their axes may be changed by changing the relative angle between L-MLAG 202A and L-MLAG 202B, regardless of the rotation of the gears. It should be understood that the manner in which one L-MLAG may rotate about a common axis relative to an adjacent L-MLAG also applies to the manner in which the L-MLAG may rotate about an axis connected to the reference frame relative to a reference frame.

[0044] Reference now Figure 2B , which depicts a front view and two top views of an MLAG 250 according to some embodiments of the present invention. Basically, the operation of the MLAG 250 is similar to Figure 2A The operation of MLAG 200, however, each of its L-MLAG 252A and L-MLAG 252B includes three gears, one of which is common to both L-MLAGs. As shown by arrow 260, L-MLAG 252B can change its angle relative to L-MLAG 252A.

[0045] Figure 2BThe top view-1 and top view-2 of FIG. 2 illustrate two different optional embodiments of MLAG 250. In top view-1, all gears of MLAG 250 are assembled and allowed to rotate in a substantially common plane. In top view-2, the gears of L-MLAG 252A rotate in one plane, and the gears of L-MLAG 252B rotate in a different plane substantially parallel to the plane of L-MLAG 252A. In the embodiment shown in top view-2, L-MLAG 252A and L-MLAG 252B do not share a common gear, but they each include gears that share a common rotation axis with each other, so they rotate together. The shared common rotation axis is also the rotation axis of one L-MLAG relative to an adjacent L-MLAG,

[0046] Therefore, according to some embodiments of the present invention, the overall description of MLAG can be: a transmission gear, which includes two or more articulated gear assemblies pivotably connected to each other, each articulated gear assembly may include at least two gears meshing with each other, wherein one gear in each articulated gear assembly rotates on a common axis together with a gear in another articulated gear assembly.

[0047] Reference now Figure 3A and Figure 3B , which respectively depict a side view and an isometric view of a multi-link articulated gearbox (MLAG) 300 according to some embodiments of the present invention. The MLAG 300 depicts two L-MLAGs (similar to Figure 2B 2). When the MLAG 300 is connected to a stationary point 301 at one end, the other end 302 can change its distance D from the point 301, as depicted by the angular arrow 303. If it is necessary (or desired) to position the output gear of the MLAG 300 on a different plane than the input gear, a Figure 3B The structure is clearly depicted in .

[0048] Now also refer to Figure 4A and Figure 4B , which depicts a side view and an isometric view of another type of multi-link articulated gearbox (MLAG) 400 according to one embodiment of the present invention. Figure 4A In order to improve the clarity of the figure, the structural part of the L-MLAG is presented as semi-transparent, but it is obvious that the gears 402A, 402B and 402C are meshed in a common plane and are supported, such as for example Figure 2AAssuming that gear 402A is connected to stationary point 401, an exemplary range of motion of gear 402C is illustrated by arrow 408, showing an optional range of motion between one end 402CL and the other end 402CR.

[0049] Figure 4A Circles 412 and 414 in represent the outer and inner boundaries, respectively, of optional geometric positions of center 402C(O) of gear 402C around stationary point 401, where the radius of circle 412 is given when all three gears are positioned along one radial direction, and the radius of circle 414 is obtained when gear 402C nearly contacts gear 402A.

[0050] Reference now Figure 5 , Figure 5 A multi-link articulated gearbox (MLAG) 500 with a transmission ratio of 1:n (n≠1 or n=1) according to one embodiment of the present invention is depicted. In this case, in addition to the solution of converting the rotary power through the gear assembly, it is also allowed to change the distance between its input axis and output axis, requiring the transmission ratio to be changed from 1:1 (as in Figure 2A , Figure 2B , Figure 3A , Figure 3B , Figure 4A and Figure 4B In the example of changing the transmission ratio to another transmission ratio, the basic structure of the MLAG according to some embodiments of the present invention can be used for this purpose. Figure 5 As can be seen, rotational power can be provided to gear 502, which causes gear 504 (the common gear in MLAG 500) to rotate, which then causes gear 506 (the output gear) to rotate. Although gears 502 and 504 can have an internal gear ratio of 1:1 (having the same number of teeth), gear 506 can have a different number of teeth than gear 504 (in Figure 5 In this case, the output L-MLAG 510B, including gears 504 and 506, is used as a step-down transmission stage.

[0051] Reference now Figure 6 , which schematically depicts a multi-link articulated gearbox (MLAG) 600 with a transmission ratio of 1:n (n≠1 or n=1) according to an additional embodiment of the present invention. The MLAG 600 may have two L-MLAGs 606A and L-MLAG 606B. Figure 6In the example of FIG. 6 , each L-MLAG includes two gears. L-MLAG 606A includes gears 602A and 602B, having a speed reduction ratio of 1:2 (gear 602B has twice the number of teeth as gear 602A). L-MLAG 606B includes gears 604A and 604B, having a speed reduction ratio of 1:2 (gear 602B has twice the number of teeth as gear 604A). Gears 602B and 604A rotate together about a common axis. Therefore, the cumulative effect of the speed reduction in this example is a speed reduction ratio of 1:4 (output speed is 0.25 of the input speed).

[0052] Reference now Figure 7 , Figure 7 A multi-link articulated gearbox (MLAG) 700 with multiple outputs according to one embodiment of the present invention is depicted. The MLAG 700 includes one input L-MLAG 706A and two L-MLAGs 706B and L-MLAG 706C (AA). Each L-MLAG includes two gears, and the three L-MLAGs share a central rotation axis 708, through which the rotational power from the gear 702 is transmitted to the output gears 704A and 704B. In addition, by freely rotating about the axis 708, the L-MLAG 706B and L-MLAG 706C can change their relative angles with respect to the L-MLAG 706A. Figure 7 In the example shown, the gear ratio from the input gear 702 to the output gears 704A and 704B is 1:1; however, it will be apparent to those skilled in the art that other gear ratios may be implemented.

[0053] Reference now Figure 8 , Figure 8 A multi-link articulated gearbox (MLAG) 800 with multi-stage reduction according to an embodiment of the present invention is depicted. The MLAG 800 may include two (or more) L-MLAGs 806A and 806B, which embody the basic operation of the MLAG, wherein the distance between its input axis and output axis is variable, and further, it may employ a rotating reduction / increase gear embedded therein. Figure 8 As depicted, input axis 802A may be the input axis of reduction gear 804A, where the outer circumference of the gear is its output. The outer circumference of gear 804A may drive axis 802B via gear / pulley 804B, which is the central axis of MLAG 800. Axis 802B may be the input axis of reduction gear 805A (which may be similar to reduction gear 804A in some embodiments). Reduction gear 805A may transfer power from its outer circumference to output gear / pulley 805B via a drive belt, thereby transferring rotational power to output axis 802C. MLAG 800 illustrates an example of a transmission system as described above with respect to FIG. Figure 2A Figure 2b Figure 3A , Figure 3B A combination of the basic MLAG described in, e.g., wherein reduction gears 804A and 805A are used for two-stage speed reduction.

[0054] Reference now Figure 8A-8C According to some embodiments of the present invention, Fig. 8A , Figure 8B and Figure 8C MLAG 850 implemented as meshing gears, MLAG 860 implemented as sprockets and drive chains, and MLAG 870 implemented as pulleys and drive belts are depicted, respectively. Each of MLAG 850, 860, and 870 may be implemented mutatis mutandis according to the above-described embodiments with respect to MLAG 400 (FIG. 4), MLAG 500 (FIG. 5). Figure 5 )、MLAG 600( Figure 6 ) and MLAG 800( Figure 8 ) principle.

[0055] According to some embodiments of the present invention described above, the following are features that can be implemented using the multi-link articulated gearbox (MLAG) of the present invention:

[0056] -Joining two units of rotating equipment so that rotational power is efficiently and instantly transferred from one unit to the other while allowing three-dimensional (six degrees of freedom) movement of one axis (e.g., an output axis) relative to a second axis (e.g., an input axis), wherein the axis of rotation is perpendicular or nearly perpendicular to the plane of rotation.

[0057] - Allowing steep angles of motion between input and output, i.e. large motion in one direction while maintaining a slim or wide profile in the other direction to save volume or bridge gaps, for example if a flat profile allows large stroke and free low-resistance motion along a plane perpendicular to the axis of rotation while minimizing distance in the axial direction.

[0058] - Enables easy and simple integration of the clutch mechanism.

[0059] - Enables easy and simple integration of rotation reduction / speed-up gears.

[0060] -Efficiently supports the transmission of high torque, high speed and high power.

[0061] - Provides a simple and self-contained system that requires no controls or complex subsystems (electronics, oil pumps or other controls) and is able to deliver power in a reliable manner.

[0062] -Supports bi-directional (forward and reverse) power transfer through the system.

[0063] In some embodiments, a transmission gear constructed and operated according to the above description can be used, for example, by using a multi-link articulated gearbox (MLAG) of the present invention to provide rotational power to an input axis that is stationary relative to the moving vehicle, and transmit the rotational power to the wheels moving along a rough road (and is therefore dynamic relative to the moving vehicle), thereby providing a simple and reliable drive system for the wheels moving along a rough road.

[0064] refer to Fig.9A and Fig. 9B , which respectively depict the embodiments according to the present invention. Figure 7 Multi-link articulated gearbox (MLAG) 700 and Figure 3B An exemplary use of the multi-link articulated gearbox 300 is shown. Fig.9A A multi-link articulated gearbox (MLAG) 910 is depicted which is powered by a motor 912 via an input shaft. Figure 7 As described, the MLAG 910 provides power to wheels 914A and 914B through their respective output shafts. The damping elements (which are known in the art) that are typically installed between the multiple output L-MLAGs of the MLAG 910 are not shown so as not to obscure the figure. It can be assumed that appropriate elastic forces are applied to the multiple output L-MLAGs to ensure good adhesion of the wheels to the road. As shown in the figure, each wheel 914A and 914B can independently follow the bumps of the road without affecting its rotational power. This embodiment can be extended to any number of L-MLAGs (for example, a 6×6 or 8×8 all-terrain vehicle) for various purpose vehicles.

[0065] In a similar way, in Fig. 9B In, similar to Figure 3B MLAG 300, MLAG 950 can be used to provide rotational power from motor (or other rotational power source) 952 to wheel 954 via first L-MLAG 953A and second L-MLAG 953B. When motor 952 is stationary relative to the vehicle chassis, the freedom of second L-MLAG 953B to move as shown by arrow 956 allows wheel 954 to move as shown by arrow 955, such as when following a bump in the road.

[0066] Reference now Fig.10 , Fig.101 is a schematic diagram of a multi-wheel suspension 1000 powered according to some embodiments of the present invention. The multi-wheel suspension 1000 may have each or at least some of its wheels 1020, 1030, 1040, and 1050 powered by a rotating power source disposed at a cog wheel 1010, similar to wheels 914A and 914B ( Fig.9A ) is powered by the rotary power source cogwheel 912. The difference is that a plurality of "daisy chain" rotary power transmission devices 1032, 1034, 1042 and 1044 are used, which link the rotary power from wheel 1030 to wheel 1040 and wheel 1050. It is obvious that the type of power transmission from one wheel to its adjacent wheel should not necessarily be achieved through a chain of cogwheels. For example, sprockets and chains can be used to perform. In addition, the transmission box is schematically drawn to minimize the ambiguity of the drawings. Any type of transmission gearbox element can be used. In addition, the lubrication solution can be of any known type, designed to provide the required lubrication and heat dissipation according to the specific circumstances of the transmission unit. In some embodiments, the suspension 1000 can make its wheels 1020-1050 suitable for acting directly on the running surface. In other embodiments, chains can be further used, wrapped around the wheels or wrapped around some wheels to enhance friction with the surface.

[0067] In some of the examples of embodiments below, a transmission gear (TG) such as TG 300 ( FIG. 3 ) or TG 400 ( FIG. 4 ) will generally be referred to as a “multi-link transmission unit” (MLTU).

[0068] Reference now Fig.11A and Fig. 11B , which are schematic diagrams of in-wheel multi-link transmission units (MLTUs) 1103 and 1160 according to some embodiments of the present invention, respectively. Fig.11A The MLTU 1103 in the embodiment may include two or more transmission links, adapted to transfer rotational power from a power input end 1103A to a power output end 1103B. The power input end 1103A may be a motor, a gear, or the like. The power output end 1003B may be connected to a wheel, adapted to drive the wheel. The MLTU 1103 may provide flexibility and freedom of movement between the power input end 1103A and the wheel. In some embodiments, the MLTU 1103 may be partially or fully contained within the wheel rim, thereby enabling the installation space to be efficiently occupied. Fig.11A The wheel 1102 is shown in two positions: a lower position 1100A on the left and a higher position 1100B on the right. The vertical displacement 1101B of the wheel 1102 illustrates the vertical freedom of movement of the wheel 1102, while the power input 1103A remains at the same level 1101A. Fig. 11BMLTU 1160 is depicted, which is similar to MLTU 1103, providing freedom of movement of wheel 1152 powered by MLTU 1160. Rotational power is provided at 1160A. Wheel 1152 is shown on the left in its upper position 1150A and on the right in its lower position 1150B. Due to the freedom of movement between the power input 1160A and the axis of wheel 1152, vertical displacement 1151B of wheel 1152 is achieved. Fig. 11B As shown, when the wheel 1152 moves vertically, the power input end 1160A remains at the same level 1151A. In some embodiments, the MLTU 1103 or 1160 can be similar to, for example, Fig. 8A , Figure 8B or Figure 8C MLAG 850, 86 or 870 for implementation.

[0069] Reference now Fig.12 , which is a schematic diagram of a transmission assembly (TA) 1200 including multiple MLAGs according to some embodiments of the present invention. The TA 1200 may include multiple MLAGs 1210A, 1210B, ..., 1210F connected to each other in a daisy-chain form so as to be able to transmit rotational power from an input end 1200A to an output end 1200B. Each MLAG (e.g., 1210A, 1210B, etc.) may include at least two L-MLAGs, as described above with respect to Figures 3 and 4. The TA 1200 provides great flexibility in transmitting rotational power from an input end 1200A (which may be, for example, a stationary point) to an output end 1200B, and the output end 1200B has the freedom of motion to move almost any point enclosed by an imaginary circle whose radius is equal to the length of the TA 1200 when fully extended.

[0070] Reference now Fig.13 , Fig.131 is a schematic diagram of a transmission assembly (TA) 1300 including a multi-gear unit 1310 and an MLTU 1320 according to some embodiments of the present invention. According to some embodiments of the present invention, a transmission device suitable for transmitting rotational power can have both flexibility in selecting a transmission gear ratio and freedom of movement of an output shaft relative to an input end of the TA 1300. The TA 1300 may include a multi-ratio gearbox 1310, which may be adapted to provide at least two different rotational transmission ratios. The gear 1310 schematically presents two different transmission ratios corresponding to a high speed (HS) and a low speed (LS), which can be achieved by a selector 1312, which selects the LS ratio in its position 1312A and selects the HS ratio in its position 1312B, as is known in the art. As described above, the MLTU 1320 can provide freedom of movement of the output end 1300B relative to the input end 1300A.

[0071] Reference now Fig.14 , Fig.14 1 is a schematic diagram of a transmission 1400 according to some embodiments of the present invention, the transmission 1400 solely comprising two MLTUs 1410 and 1420, which are connected at an angle to each other. The power input end of the transmission 1400 is 1400A, and its output end is 1400B. As described above, each MLTU 1410 and 1420 provides its input shaft with freedom of movement relative to its output shaft. In addition, the output end 1410B of the MLTU 1410 can be connected to the power input end 1420A of the MLTU 1420 via an angled connection or an angled gearbox 1430, which enables the transmission of rotational power through the angled connection. Therefore, the output end 1400B of the MLTU 1420 is at a certain angle relative to the power input end 1400A of the MLTU 1410. This embodiment can provide a solution when the transmission of rotational power requires both freedom of movement at the output end relative to the input end and an inclination of the input axis relative to the output axis.

[0072] Reference now Fig.15 , Fig.151 is a schematic diagram of a transmission 1500 according to some embodiments of the present invention, the transmission 1500 comprising a spur bevel gearbox 1510 and an MLTU 1520. As is known in the art, the gearbox 1510 may be a spur bevel gearbox. The input end 1500A of the gearbox 1510 may be disposed at approximately right angles relative to the output end 1500C. The output end 1500C may be the input shaft of the MLTU 1520. Therefore, and as described above, the output end 1500B may have freedom of movement relative to 1500C. Therefore, the transmission 1500 may provide a solution for the transmission of rotational power in the following situations, that is, the output end needs to be disposed at right angles relative to the input end, and further should have freedom of movement relative to the input end.

[0073] The transmission discussed above can be used in various applications. In one embodiment, the transmission according to some embodiments of the present invention can be used to drive the rollers of a production line or a printing press, wherein the distance between the axes of the rollers should be controllable, for example, for setting the registration required for printing, and the relative rotational speeds between the rollers should be closely related. In another embodiment, the drive transmission according to some embodiments of the present invention can be used to enable easy and flexible setting of the axes of two (or more) rotating equipment (driven by a common drive) in a test or development production line.

[0074] Assume T 入 is the input torque to the transmission at the shaft of the input gear, and T 反作用-出 is the reaction torque at the last gear of the transmission box. The transmission box consists of a fixed part (T 固 ) is maintained in an appropriate position relative to a reference system (such as the ground), so it can be defined that the transmission box is stationary relative to the reference system.

[0075] According to Newton's laws of motion, when we sum the torque at a point in the system (the system is defined as the entire transmission box), by definition, the total torque we get is zero (ΣM=0). In view of the above situation, we subdivide it into the following two cases:

[0076] Case #1 – The transmission has an even number of gears with a gear ratio of 1:n

[0077] Define T 入 For CCW, for an even number of gears, T 反作用-出 It will be CCW.

[0078] Because the transmission ratio is 1:n, |T 入 |=n·|T 反作用-出 |

[0079] When summing the moments about the fixture, we obtain: ΣM = T入 +T 反作用-出 +T 固 =0

[0080] Further development, we can find that T 固 =(1+n)·T 入

[0081] For a transmission ratio of 1:1, T 固 =2·T 入

[0082] Case #2 – The transmission has an odd number of gears and its ratio is 1:n

[0083] Define T 入 For CCW, for an odd number of gears, T 反作用-出 It will be The CW.

[0084] Because the transmission ratio is 1:n, |T 入 |=n·|T 反作用-出 |

[0085] When summing the moments about the fixture, we obtain: ΣM = T 入 -T 反作用-出 +T 固 =0

[0086] Further development, we can find that T 固 =(1-n)·T 入

[0087] For a transmission ratio of 1:1, T 固 =0

[0088] We now turn from the general discussion of torque calculations to transmission gears, which are used to transfer rotational power from a rotating source attached to a reference frame to a rotating device that is free to move relative to the reference frame and may experience undesirable motion due to the torque transmitted by the gearbox. Fig.16A , which is a schematic diagram of a transmission box 1600. The transmission box (TB) 1600 may be pivotally attached to the reference frame via a stationary point 1602. The TB 1660 includes two intermeshing gears 1600A and 1600B. When the torque T 入 When supplied to the input gear 1600A, the output gear 1600B transmits the torque T 出 The total torque T that the TB 1600 is subjected to is 总 It can be expressed as: T 总 =T 入 +T 出 ≠0, which is an undesirable result in many embodiments.

[0089] Reference now Fig. 16B , Fig. 16B 1630 is a schematic diagram of a transmission box 1630 according to some embodiments of the present invention; the transmission box (TB) 1630 includes 3 gears, 1630A meshes with gear 1630B and gear 1630B meshes with gear 1630C. The transmission box (TB) 1630 can be pivotally attached to the reference frame through a stationary point 1632. Similar to the above with respect to Fig.16A The TB 1660 performs torque calculations when the torque T 入 When supplied to input gear 1630A, output gear 1630C transmits torque T 出 The total torque T that TB 1630 is subjected to 总 It can be expressed as: T 总 =T 入 –T 出 When the transmission ratio is 1:1, T 入 =T 出 , and accordingly T 总 = 0. Thus, TB 1630 comprises three gears in a row, suitable for transmitting rotational power from the input gear to the output gear, while the transmission box itself is subject to almost no torque relative to the reference frame.

[0090] In some embodiments, one or more vibration sensors may be placed at predetermined locations in or on the outer surface of the transmission for sensing and transmitting signals reflecting transmission vibrations. Judicious selection of sensor mounting locations, and reliance on previously acquired profiles of similar transmissions, may help to obtain early warning of required maintenance operations. When vibrations represented by one or more signals from the sensors exceed a range considered to be a "healthy operating" range, whether by exceeding any of amplitude, frequency, or temperature, the sensor signals may be processed to infer whether immediate or critical maintenance is required.

[0091] In some embodiments, the gears and transmissions described above may further include lubrication systems, heat dissipation systems, mechanical connections, and reinforcements as may be required and dictated by the particular intended use.

[0092] In some embodiments, one or more rotational speed control devices, such as reduction / increase gears, multi-ratio gears, etc., can be integrated with one or more MLTUs to provide a rotational power transmission solution with multiple speeds, with freedom of motion between the input axis and the output axis.

[0093] Transmission gears of the type described above may respond to torque / torque transmitted through them by generating a reaction torque acting about the power input axis. It is desirable to limit or even eliminate this reaction torque. For example, when a transmission gear has two or more gears arranged as described above and has an output shaft remote from the input shaft, when rotational power is transmitted through the gearbox in a direction of rotation opposite to the direction of rotation of the input power, the entire gearbox will tend to rotate about the input shaft. This may interfere with the desired mode of operation of the power plant.

[0094] refer to Figures 16A-16D , Figures 16A-16D Various multi-gear transmissions 1600 , 1630 , 1650 , and 1680 are depicted, respectively, along with their corresponding calculations of torque and moment according to embodiments of the present invention. Fig.16A The multi-gear transmission (MGWT) 1600 includes two gears 1600A and an output gear 1600B, where the gear 1600A is powered through its shaft and the output gear 1600B is powered by the gear 1600A. When the shaft of the wheel 1600A is provided with rotational power, the torque acting is: T 入 is the torque provided by gear 1600A to gear 1600B; and T 出 is the torque provided by gear 1600B to the output shaft of MGWT 1600. 总 The size is T 入 and T 出 It is clear that when torque is transmitted through the MGWT 1600, the following results will occur:

[0095] T 总 =T 入 +T 出 ≠0

[0096] In embodiments where the response torque is not ideal, measures should be taken to make T 总 = zero. Therefore, pure torque is transmitted through the gears without causing the L-MLAG to be undesirably actuated.

[0097] Reference now Fig. 16B A multi-gear transmission (MGWT) 1630 is constructed and operated according to some embodiments of the present invention. MGWT 1630 includes three gears 1630A, 1630B, and 1630C. Torque can be provided to the shaft of gear 1630A and can be transmitted out through the shaft of gear 1630C. Torque from gear 1630A is transmitted to gear 1630C through gear 1630B. When providing rotational power to the shaft of wheel 1630A, the torque acting is: T 入 is the torque provided by gear 1600A to gear 1600B; T 出is the torque provided by gear 1600B to the output shaft of MGWT 1600; and T 总 is the response torque of the MGWT 1600 when it transfers torque from its input shaft to its output shaft. 总 The size is T 入 and T 出 It is clear that when torque is transmitted through the MGWT 1600, the following results will occur:

[0098] For example, the transmission ratio is 1:1, when T 入 =T 出 When T 总 =T 入 –T 出 =0

[0099] This is the desired result.

[0100] Now also refer to Fig. 16C A multi-gear transmission (MGWT) 1650 according to some embodiments of the present invention Fig. 16B Isometric view of an MGWT. MGWT 1650 includes three gears 1650A, 1650B, and 1650C. Torque can be supplied to the shaft of gear 1650A and can be transmitted out through the shaft of gear 1650C. Torque from gear 1650A is transmitted to gear 1650C through gear 1650B. Similar torque calculations to MGWT 1600B apply here:

[0101] For example, the transmission ratio is 1:1, when T 入 =T 出 When T 总 =T 入 –T 出 =0,

[0102] Now also refer to Fig.16D A multi-gear transmission (MGWT) 1680 is an isometric view of a dual-link MGWT according to some embodiments of the present invention. MGWT 1680 can be described as comprising two units of MGWT 1650, namely a first portion of MGWT 1680, designated MGWT 1680(1), which receives torque via the shaft of gear 1680A and transmits torque via the shaft of gear 1680C. The second portion is designated MGWT 1680(2), which receives torque from the shaft of gear 1680C, which is also the shaft of gear 1680A', and the torque is input to MGWT 1680(2). Similar to the torque calculations described above regarding MGWT 1630 and MGWT 1650, here applies:

[0103] When the transmission ratio (1) is 1:1, T 总(1) =T 入 -T 出(1) =0

[0104] When the transmission ratio (2) is 1:1, T 总(2) =T 入(2) -T 出 =0

[0105] therefore:

[0106] When the transmission ratio (1) and (2) is 1:1, T 总 =T 总(1) +T 总(2) =0

[0107] Although certain features of the present invention have been illustrated and described herein, many modifications, substitutions, changes and equivalents will now occur to those skilled in the art. It should therefore be understood that the appended claims are intended to cover all such modifications and changes that fall within the true spirit of the invention.

Claims

1. A transmission gear, comprising: At least two connecting rods, which are located in the multi-link articulated gear MLAG, each of the at least two connecting rods comprises: a first gear and a second gear, each gear being rotatably supported by a respective connecting rod, and one or more gears disposed intermediate the first gear and the second gear to transfer rotation from the first gear to the second gear, wherein the first gear in the first connecting rod in the MLAG is adapted to be powered by a rotational power source provided to an input shaft, and the second gear is adapted to rotate the first gear in the second connecting rod in the MLAG, or to serve as the first gear of the second connecting rod in the MLAG, and provide rotational power to an output shaft; and a common axis adapted to allow the connecting rods to rotate freely about the common axis and thus to allow a change in the angle between the at least two connecting rods, thereby changing the distance between the input shaft and the output shaft, Therein, a first link of the at least two links is connectable to a reference frame.

2. The transmission gear according to claim 1, wherein: The gear of the first link and the gear of the second link are located in substantially the same plane.

3. The transmission gear according to claim 1, wherein: The gear of the first link lies in a plane that is substantially parallel to and displaced from a plane of the gear of the second link.

4. The transmission gear according to claim 2, wherein: The second gear of the first connecting rod is the first gear of the second connecting rod.

5. The transmission gear according to claim 1, wherein: The second gear of the first connecting rod and the first gear of the second connecting rod are configured to rotate together on a common axis.

6. The transmission gear according to claim 1, further comprising at least one additional connecting rod, each of the at least one additional connecting rod comprising: One or two gears adapted to rotate freely, wherein the first gear of a given connecting rod is adapted to be rotated by the second gear of a preceding or succeeding connecting rod from one or more connecting rods; and Each of the links is adapted to rotate with an adjacent link about a common axis.

7. A wheel drive mechanism, comprising: The transmission gear according to claim 1; a rotational power source coupled to the first gear of the first articulated link; a wheel coupled to the second gear of the second hinged link; as well as A suspension mechanism is coupled between the first articulated link and the second articulated link to provide a suspension between the rotary power source and the wheel.

8. A wheel drive mechanism, comprising: The transmission gear according to claim 6; a rotational power source coupled to the first gear of the first articulated link; a first wheel coupled to the second gear of the second articulated link; a second wheel coupled to the second gear of the third articulated link; and A suspension mechanism is coupled between the first articulated link and the second articulated link, and between the first articulated link and the third articulated link to provide a suspension between the rotary power source and the first and second wheels.

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