Flexible turning mechanism

Abstract

The application provides a flexible turning mechanism and relates to the technical field of automation. In the flexible turning mechanism, a first V wheel and a second V wheel are connected to a sliding block through a first reverser, a third V wheel and a fourth V wheel are connected to the sliding block through a second reverser, the first reverser can drive the first V wheel and the third V wheel to synchronously rotate around the central axis of the first reverser, and the second reverser can drive the second V wheel and the fourth V wheel to synchronously rotate around the central axis of the second reverser. The first V wheel and the second V wheel are used for being matched on one side of a guide rail, the third V wheel and the fourth V wheel are used for being matched on the other side of the guide rail, the first V wheel and the third V wheel are located on the front side of the sliding block in the sliding direction, and the second V wheel and the fourth V wheel are located on the rear side of the sliding block in the sliding direction. The flexible turning mechanism can smoothly and flexibly turn on the guide rail.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and more specifically, to a flexible turning mechanism. Background Technology

[0002] With rising labor costs, fully automated production lines are becoming the inevitable trend to replace manual labor. In a fully automated production line system, the automated material handling subsystem is a crucial component, and its transmission methods are mainly divided into belt drive, chain drive, and rack and pinion drive. Among these three types, rack and pinion drive is increasingly widely used in automated material handling subsystems due to its high efficiency, open-loop design, and the ability of multiple gears to move independently on the rack. In rack and pinion drive, the gears and rack serve as the power transmission mechanism, and the guide rail slider serves as the guiding mechanism.

[0003] However, to date, the vast majority of rack and pinion transmission mechanisms and guide rail slider mechanisms on the market are linear. This linear design, which can only extend in one direction, is increasingly unable to meet the customized needs of customers regarding the size and shape of their experimental sites. Furthermore, the very few rack and pinion transmission mechanisms and guide rail slider mechanisms that can achieve turning share a common problem: sudden changes in motion occur during turns, preventing smooth and flexible maneuvers. This can lead to uncontrollable malfunctions at turns, especially when handling liquids or precision parts, causing the entire system to stop and impacting the efficiency and quality of the entire product. This is a major reason why rack and pinion automated handling subsystems cannot fully replace chain or belt drive systems in the market.

[0004] Therefore, achieving smooth and flexible turning in gear and rack transmission mechanisms and guide rail slider guiding mechanisms is an urgent problem to be solved. Summary of the Invention

[0005] The present invention aims to provide a flexible turning mechanism that can smoothly and flexibly turn on a guide rail.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] This invention provides a flexible turning mechanism, which includes a slider, a first commutator, a second commutator, a first V-wheel, a second V-wheel, a third V-wheel, and a fourth V-wheel.

[0008] The first commutator and the second commutator are respectively connected to the front and rear sides of the bottom of the slider. The first V-wheel and the third V-wheel are respectively connected to the opposite sides of the bottom of the first commutator. The first commutator can drive the first V-wheel and the third V-wheel to rotate synchronously around the central axis of the first commutator. The second V-wheel and the fourth V-wheel are respectively connected to the opposite sides of the bottom of the second commutator. The second commutator can drive the second V-wheel and the fourth V-wheel to rotate synchronously around the central axis of the second commutator.

[0009] The first and second V-wheels are used to engage with one side of the guide rail, and the third and fourth V-wheels are used to engage with the other side of the guide rail. The first and third V-wheels are located in front of the slider in the direction of travel, and the second and fourth V-wheels are located behind the slider in the direction of travel.

[0010] In an optional implementation, at the arc segment of the guide rail, the distance between the first V-wheel and the third V-wheel, and between the second V-wheel and the fourth V-wheel, is b+2r, where b is the distance between the arc segments of the guide rail, and r is the radius of the V-wheel.

[0011] In an optional implementation, the distance between the first V-wheel and the second V-wheel is 2(ar)sin(c / 2), where a is the radius of the inner side of the arc segment, and c is the angle formed by the lines connecting the first V-wheel and the second V-wheel to the center O of the arc segment.

[0012] In an optional implementation, the distance between the third V-wheel and the fourth V-wheel is 2(a+b+r)sin(c / 2).

[0013] In an optional implementation, at the junction of the straight and curved segments of the guide rail, the distance between the first V-wheel and the second V-wheel is (ar)sin(d / 2)+(ar)sin(e / 2), where a is the radius of the inner side of the curved segment, r is the radius of the V-wheel, and e and d are angles that change in real time. A perpendicular line OC is drawn from the center O of the curved segment to the line AB connecting the first V-wheel and the second V-wheel, and ∠COB=e / 2, ∠COA=d / 2.

[0014] In an optional implementation, the distance between the first V-wheel and the third V-wheel is (b+2r) / cos(d / 2), where b is the distance between the arc segments of the guide rail.

[0015] In an optional implementation, the distance between the third V wheel and the fourth V wheel is (a+b+r)sin(e / 2)+((b+r) / cos(d / 2)+a)sin(d / 2).

[0016] In an optional embodiment, the first commutator and the second commutator have the same structure. The first commutator includes a slider support block, a bearing, an intermediate transition plate, a V-wheel connecting plate, and a bearing baffle.

[0017] The slider support block is fixedly connected to the bottom of the slider. The inner ring of the bearing is fitted with the bottom end of the slider support block, and the outer ring of the bearing is fitted with the intermediate adapter plate. The V-wheel connecting plate is connected to the intermediate adapter plate, and the bearing baffle is connected to the bottom of the slider support block to restrict the bearing to the bottom of the slider support block. Two V-wheels are respectively connected to the opposite sides of the bottom of the V-wheel connecting plate.

[0018] In an optional embodiment, the flexible turning mechanism further includes a motor and a gear, wherein the gear is connected to the output shaft of the motor and meshes with a rack on the guide rail;

[0019] The flexible turning mechanism also includes an anti-gear disengagement structure, which is used to prevent the gear from detaching from the rack.

[0020] In an optional embodiment, the anti-tooth-loosening structure includes a base, a spring, a push plate, a motor bracket, a limiting slider, a limiting guide rail, and a fifth V-wheel;

[0021] The limiting guide rail is fixedly connected to the slider, the limiting slider is fixedly connected to the motor bracket, the limiting slider and the limiting guide rail slide together, the base is fixedly connected to the slider, the spring is connected between the base and the push plate, the fifth V wheel is connected to the motor bracket, the relative position of the fifth V wheel and the gear is fixed, the push plate is used to push the motor bracket, the motor, the gear and the fifth V wheel to move along the length direction of the limiting guide rail, the gear and the fifth V wheel are located on opposite sides of the rack and the guide rail respectively;

[0022] When the gear is in a straight section, it meshes with the rack, the fifth V-wheel does not contact the guide rail, and the distance between the fifth V-wheel and the guide rail is less than the meshing length of the gear and rack.

[0023] The beneficial effects of the flexible turning mechanism provided in the embodiments of the present invention include:

[0024] By using the first and second commutators, the relative positions of the four V-wheels can be maintained at the theoretical positional relationship at the arc segment and the junction of the straight segment and the arc segment of the guide rail, allowing the four V-wheels to move smoothly on the guide rail. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram illustrating the motion of the turning structure on the guide rail.

[0027] Figure 2This is a first-view structural schematic diagram of the flexible turning mechanism provided in an embodiment of the present invention on a guide rail.

[0028] Figure 3 This is a schematic diagram of the first commutator;

[0029] Figure 4 This is a structural schematic diagram of the flexible turning mechanism provided in an embodiment of the present invention on a guide rail from a second perspective.

[0030] Figure 5 This is a schematic diagram of the fifth V-wheel to prevent the gear from disengaging from the rack.

[0031] Icons: 1-Turn structure; 2-Flexible turning mechanism; 3-Slider; 4-First V-wheel; 5-Second V-wheel; 6-Third V-wheel; 7-Fourth V-wheel; 8-First commutator; 81-Slider support block; 82-Bearing; 83-Intermediate adapter plate; 84-V-wheel connecting plate; 85-Bearing baffle; 9-Second commutator; 10-Motor; 11-Gear; 12-Base; 13-Spring; 15-Motor bracket; 16-Limit slider; 17-Limit guide rail; 18-Fifth V-wheel; 19-Guide rail; 20-Straight segment; 21-Arc segment; 22-Rack. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0035] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0036] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0037] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0038] The current technology involves performing a "hard" turn, which means grinding at the junction of the straight and curved sections of the guide rail. In this case, the motion needs to be adjusted while grinding until the slider is manually pushed from the straight section to the curved section and the motion feels smooth and without any jamming. Only then is the grinding work considered complete.

[0039] This solution is time-consuming, costly, and requires experienced technicians. Secondly, it is extremely inconsistent with the product, as the smoothness may vary depending on the technician's experience. Thirdly, when the slider moves at high speeds, the abrupt change in motion from a straight line to an arc becomes increasingly noticeable, and in severe cases, it may even cause the slider to get stuck at the joint, requiring re-grinding or replacement of the entire guide rail, which is very troublesome and wasteful of materials.

[0040] In current technological methods, when the gear and rack move through the junction of straight and curved segments, no constraint is applied, and the gear tends to detach from the rack. This tendency increases with the increase of the gear and rack module and installation errors, therefore, this situation should be avoided as much as possible.

[0041] Analyzing the current turning methods structurally, such as... Figure 1 As shown, the turning structure 1 includes a slider 3, a first V-wheel 4, a second V-wheel 5, a third V-wheel 6, and a fourth V-wheel 7. Specifically, the first V-wheel 4, the second V-wheel 5, the third V-wheel 6, and the fourth V-wheel 7 are respectively connected to the four corners of the slider 3. The first V-wheel 4 and the second V-wheel 5 are fitted onto one side of the guide rail 19, and the third V-wheel 6 and the fourth V-wheel 7 are fitted onto the other side of the guide rail 19. The first V-wheel 4 and the third V-wheel 6 are located in front of the slider 3 in the direction of travel, and the second V-wheel 5 and the fourth V-wheel 7 are located in rear of the slider 3 in the direction of travel. The guide rail 19 includes a straight segment 20 and an arc segment 21.

[0042] The turning principle of turning structure 1 is as follows:

[0043] (1) At arc segment 21: To make the slider 3 move smoothly, the distance between the third V-wheel 6 and the fourth V-wheel 7 on the outer side of arc segment 21 of guide rail 19 needs to be larger than the distance between the first V-wheel 4 and the second V-wheel 5 on the inner side of arc segment 21. The intersection of the lines connecting the first V-wheel 4 and the third V-wheel 6 coincides with the center of the guide rail 19 of arc segment 21, and the intersection of the lines connecting the second V-wheel 5 and the fourth V-wheel 7 coincides with the center of the guide rail 19 of arc segment 21. At this time, let the radius of the inner side of arc segment 21 be a, the distance between arc segments 21 be b, and all V-wheel radii be the same and r. The angle formed by the lines connecting the first V-wheel 4 and the second V-wheel 5 to the center O of arc segment 21 is c.

[0044] The calculation shows that:

[0045] The distance between the first V-wheel 4 and the second V-wheel 5 is 2(ar)sin(c / 2).

[0046] The distance between the first V-wheel 4 and the third V-wheel 6, and between the second V-wheel 5 and the fourth V-wheel 7, is b+2r.

[0047] The distance between the third V-wheel 6 and the fourth V-wheel 7 is 2(a+b+r)sin(c / 2).

[0048] That is, the distance between each V wheel must meet the above condition in order to make the slider 3 move smoothly on the arc segment 21.

[0049] (2) At the straight section 20: If the slider 3 runs smoothly, the V wheel only needs to be tangent to the guide rail 19 at the straight section 20.

[0050] (3) At the junction of straight segment 20 and arc segment 21 (i.e., the first V-wheel 4 and the third V-wheel 6 are on straight segment 20, and the second V-wheel 5 and the fourth V-wheel 7 are on arc segment 21): If the slider 3 runs smoothly at the junction, the theoretical distance between each wheel is:

[0051] The theoretical distance between the first V-wheel 4 and the second V-wheel 5 is (ar)sin(d / 2)+(ar)sin(e / 2).

[0052] The theoretical distance between the first V-wheel 4 and the third V-wheel 6 is (b+2r) / cos(d / 2).

[0053] The theoretical distance between the second V-wheel 5 and the fourth V-wheel 7 is b+2r.

[0054] The distance between the third V-wheel 6 and the fourth V-wheel 7 is (a+b+r)sin(e / 2)+((b+r) / cos(d / 2)+a)sin(d / 2).

[0055] Where e and d are angles that change in real time, and OC is the perpendicular line from the center O of arc segment 21 to the line AB connecting the first V wheel 4 and the second V wheel 5. ∠COB=e / 2, ∠COA=d / 2.

[0056] As can be seen from the above, since the position of the V-shaped wheel on the slider 3 is relatively fixed, the distance between the first V-wheel 4 and the third V-wheel 6 on the arc segment 21 is b+2r. At the splicing point, in order for the V-wheel to move smoothly and fit with the guide rail 19, the theoretical distance between the first V-wheel 4 and the third V-wheel 6 is (b+2r) / cos(d / 2), where d≠0° or 360°. Therefore, the theoretical distance (b+2r) / cos(d / 2)>b+2r. Thus, during the actual movement of the first V-wheel 4 and the third V-wheel 6, when passing through the splicing point, one of the V-wheels will not fit with the guide rail 19. Therefore, the motion state of the four V-wheels is as follows: when passing through the straight section 20, all four V-wheels are in contact with the guide rail 19 and run smoothly; when passing through the splice, at least one of the V-wheels is not in contact with the guide rail 19 and is in a suspended state; when passing through the arc section, all four V-wheels are in contact with the guide rail 19 again and run smoothly. At the instant from the suspended state to contact with the guide rail 19, a "motion abrupt change" will occur.

[0057] Based on the above defect analysis, by changing the structure, the slider 3 can be made to turn smoothly and without "abrupt motion". At the same time, the tendency of the rack 22 to disengage when the gear 11 and rack 22 drive the turn should be avoided.

[0058] Please refer to Figures 2-4 This embodiment provides a flexible turning mechanism 2, which includes a slider 3, a first commutator 8, a second commutator 9, a first V-wheel 4, a second V-wheel 5, a third V-wheel 6, and a fourth V-wheel 7.

[0059] The first commutator 8 and the second commutator 9 have the same structure. The first commutator 8 and the second commutator 9 are respectively connected to the front and rear sides of the bottom of the slider 3. The first V-wheel 4 and the third V-wheel 6 are respectively connected to opposite sides of the bottom of the first commutator 8. The first commutator 8 can drive the first V-wheel 4 and the third V-wheel 6 to rotate synchronously around the central axis of the first commutator 8. The second V-wheel 5 and the fourth V-wheel 7 are respectively connected to opposite sides of the bottom of the second commutator 9. The second commutator 9 can drive the second V-wheel 5 and the fourth V-wheel 7 to rotate synchronously around the central axis of the second commutator 9. The positions of the four V-wheels on the guide rail 19 are... Figure 1 Same as above.

[0060] By rotating the commutator, the relative positions of the V-wheels can be changed, so that the relative positions of the four V-wheels conform to the analysis results of the turning principle of the turning structure 1, thereby achieving smooth movement of the V-wheels on the straight segment 20, the splice, and the arc segment 21.

[0061] Please refer to Figure 3 The first commutator 8 includes a slider support block 81, a bearing 82, an intermediate adapter plate 83, a V-wheel connecting plate 84, and a bearing baffle 85. The slider support block 81 is fixedly connected to the bottom of the slider 3. The inner ring of the bearing 82 mates with the bottom end of the slider support block 81, and the outer ring of the bearing 82 mates with the intermediate adapter plate 83. The V-wheel connecting plate 84 is connected to the intermediate adapter plate 83. The bearing baffle 85 is connected to the bottom of the slider support block 81 to confine the bearing 82 to the bottom of the slider support block 81. Two V-wheels are respectively connected to opposite sides of the bottom of the V-wheel connecting plate 84.

[0062] The first commutator 8 has a simple and compact structure, low cost, and high feasibility. At the same time, the angle and radius of the guide rail 19 at the turning point are unlimited, making it flexible and adaptable to sites of various sizes and shapes.

[0063] Please refer to Figure 4 The flexible turning mechanism 2 provided in this embodiment also includes a motor 10 and a gear 11, wherein the gear 11 is connected to the output shaft of the motor 10 and meshes with the rack 22 on the guide rail 19.

[0064] As can be seen from the above analysis, the reason for the tooth loss of gear 11 is that when gear 11 transitions from the straight segment 20 to the arc segment 21, its horizontal plane lacks a constraint in the vertical direction relative to rack 22. This constraint can "pull back" gear 11 when it has a tendency to lose teeth relative to rack 22, so that gear 11 and rack 22 can fully mesh, thereby avoiding tooth loss.

[0065] Therefore, please refer to Figure 4 The flexible turning mechanism 2 provided in this embodiment also includes an anti-tooth-detachment structure, which includes a base 12, a spring 13, a push plate (not shown in the figure), a motor bracket 15, a limiting slider 16, a limiting guide rail 17, and a fifth V wheel 18.

[0066] Specifically, the limiting guide rail 17 is fixedly connected to the slider 3, the limiting slider 16 is fixedly connected to the motor bracket 15, and the limiting slider 16 and the limiting guide rail 17 are in sliding engagement. The base 12 is fixedly connected to the slider 3, the spring 13 is connected between the base 12 and the push plate, and the fifth V-wheel 18 is connected to the motor bracket 15. The relative position of the fifth V-wheel 18 and the gear 11 is fixed. The push plate is used to push the motor bracket 15, the motor 10, the gear 11, and the fifth V-wheel 18 to move along the length direction of the limiting guide rail 17. The gear 11 and the fifth V-wheel 18 are located on opposite sides of the rack 22 and the guide rail 19, respectively.

[0067] Please refer to Figure 5 , Figure 5The middle arrow indicates the direction of travel of the fifth V-wheel 18 and gear 11. The function of the fifth V-wheel 18 is to prevent gear 11 from disengaging from rack 22. In the straight section 20, gear 11 meshes with rack 22, and the fifth V-wheel 18 does not contact guide rail 19. The distance between the fifth V-wheel 18 and guide rail 19 is less than the meshing length of gear 11 and rack 22 (i.e., the overlapping length of gear 11 and rack 22). The distance between the fifth V-wheel 18 and guide rail 19 can be 0.5-1mm. When moving to the splicing point or arc... When segment 21 is in place, gear 11 shows signs of disengagement. Since the relative position of gear 11 and the fifth V-wheel 18 remains unchanged, when gear 11 shows signs of disengagement, the spring 13 drives the push plate to bring the fifth V-wheel 18 closer to the guide rail 19. When the guide rail 19 and the fifth V-wheel 18 are in full contact, the tendency of gear 11 to disengage outward is restrained. At this time, although gear 11 and rack 22 are relatively far apart, gear 11 and rack 22 maintain meshing in sequence, thereby effectively preventing gear 11 from disengaging from rack 22.

[0068] Furthermore, the flexible turning mechanism 2 provided in this embodiment can be used not only for 90° turns, but also for any turning angle and turning radius. It is flexible and versatile, and its trajectory can form various trajectory shapes such as L-shaped, U-shaped, circular, S-shaped, M-shaped, and N-shaped.

[0069] The beneficial effects of the flexible turning mechanism 2 provided in this embodiment include:

[0070] 1. To ensure that slider 3 can smoothly transition from straight segment 20 to arc segment 21 without any sudden changes in motion;

[0071] 2. To avoid the possibility of tooth dislodgement when gear 11 transitions from the straight segment 20 to the curved segment 21;

[0072] 3. The flexible turning mechanism 2 is suitable for guide rails 19 of various shapes and can be adapted to various sites;

[0073] 4. The flexible turning mechanism has good versatility and can be used in material handling systems in various industries;

[0074] 5. Compared with the existing structure, it greatly saves costs.

[0075] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A flexible turning mechanism, characterized in that, The flexible turning mechanism includes a slider (3), a first commutator (8), a second commutator (9), a first V-wheel (4), a second V-wheel (5), a third V-wheel (6), and a fourth V-wheel (7). The first commutator (8) and the second commutator (9) are respectively connected to the front and rear sides of the bottom of the slider (3). The first V-wheel (4) and the third V-wheel (6) are respectively connected to the opposite sides of the bottom of the first commutator (8). The first commutator (8) can drive the first V-wheel (4) and the third V-wheel (6) to rotate synchronously around the central axis of the first commutator (8). The second V-wheel (5) and the fourth V-wheel (7) are respectively connected to the opposite sides of the bottom of the second commutator (9). The second commutator (9) can drive the second V-wheel (5) and the fourth V-wheel (7) to rotate synchronously around the central axis of the second commutator (9). The first V-wheel (4) and the second V-wheel (5) are used to engage on one side of the guide rail (19), and the third V-wheel (6) and the fourth V-wheel (7) are used to engage on the other side of the guide rail (19). The first V-wheel (4) and the third V-wheel (6) are located in front of the slider (3) in the direction of travel, and the second V-wheel (5) and the fourth V-wheel (7) are located in the rear of the slider (3) in the direction of travel. The flexible turning mechanism also includes a motor (10) and a gear (11), wherein the gear (11) is connected to the output shaft of the motor (10), and the gear (11) meshes with a rack (22) on the guide rail (19); the flexible turning mechanism also includes an anti-gear disengagement structure, which is used to prevent the gear (11) from disengaging from the rack (22); The anti-tooth-detachment structure includes a base (12), a spring (13), a push plate, a motor bracket (15), a limiting slider (16), a limiting guide rail (17), and a fifth V wheel (18). The limiting guide rail (17) is fixedly connected to the slider (3), the limiting slider (16) is fixedly connected to the motor bracket (15), the limiting slider (16) and the limiting guide rail (17) are slidably engaged, the base (12) is fixedly connected to the slider (3), the spring (13) is connected between the base (12) and the push plate, the fifth V wheel (18) is connected to the motor bracket (15), the relative position of the fifth V wheel (18) and the gear (11) is fixed, the push plate is used to push the motor bracket (15), the motor (10), the gear (11) and the fifth V wheel (18) to move along the length direction of the limiting guide rail (17), the gear (11) and the fifth V wheel (18) are respectively located on opposite sides of the rack (22) and the guide rail (19); In the straight section (20), the gear (11) meshes with the rack (22), the fifth V wheel (18) does not contact the guide rail (19), and the distance between the fifth V wheel (18) and the guide rail (19) is less than the meshing length of the gear (11) and the rack (22).

2. The flexible turning mechanism according to claim 1, characterized in that, At the arc segment (21) of the guide rail (19), the distance between the first V wheel (4) and the third V wheel (6), and between the second V wheel (5) and the fourth V wheel (7) is b+2r, where b is the distance between the arc segments (21) of the guide rail (19) and r is the radius of the V wheel.

3. The flexible turning mechanism according to claim 2, characterized in that, The distance between the first V-wheel (4) and the second V-wheel (5) is 2(ar)sin(c / 2), where a is the radius of the inner side of the arc segment (21) and c is the angle formed by the lines connecting the first V-wheel (4) and the second V-wheel (5) to the center O of the arc segment (21).

4. The flexible turning mechanism according to claim 3, characterized in that, The distance between the third V-wheel (6) and the fourth V-wheel (7) is 2(a+b+r)sin(c / 2).

5. The flexible turning mechanism according to claim 1, characterized in that, At the junction of the straight section (20) and the arc section (21) of the guide rail (19), the distance between the first V wheel (4) and the second V wheel (5) is (ar)sin(d / 2)+(ar)sin(e / 2), where a is the radius of the inner side of the arc section (21), r is the radius of the V wheel, and e and d are the angles that change in real time. Draw a perpendicular line OC from the center O of the arc section (21) to the line AB connecting the first V wheel (4) and the second V wheel (5), where ∠COB=e / 2 and ∠COA=d / 2.

6. The flexible turning mechanism according to claim 5, characterized in that, The distance between the first V-wheel (4) and the third V-wheel (6) is (b+2r) / cos(d / 2), where b is the distance between the arc segments (21) of the guide rail (19).

7. The flexible turning mechanism according to claim 6, characterized in that, The distance between the third V wheel (6) and the fourth V wheel (7) is (a+b+r)sin(e / 2)+((b+r) / cos(d / 2)+a)sin(d / 2).

8. The flexible turning mechanism according to claim 1, characterized in that, The first commutator (8) has the same structure as the second commutator (9). The first commutator (8) includes a slider support block (81), a bearing (82), an intermediate transition plate (83), a V-wheel connecting plate (84), and a bearing baffle (85). The slider support block (81) is fixedly connected to the bottom of the slider (3). The inner ring of the bearing (82) is engaged with the bottom end of the slider support block (81). The outer ring of the bearing (82) is engaged with the intermediate adapter plate (83). The V-wheel connecting plate (84) is connected to the intermediate adapter plate (83). The bearing baffle (85) is connected to the bottom of the slider support block (81) to restrict the bearing (82) to the bottom of the slider support block (81). The two V-wheels are respectively connected to the opposite sides of the bottom of the V-wheel connecting plate (84).

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