A transmission optimization method, device, and terminal for a cross-shaft universal joint transmission device.

Abstract

This invention discloses a transmission optimization method, device, and terminal for a cross-shaped universal joint transmission device, belonging to the field of automotive transmission technology. The method includes: importing the three cross-shaped universal joint transmission devices into 3D software and defining and acquiring relevant parameters; adjusting the phase angles of the driving / driven fork planes of the corresponding universal joints in the three cross-shaped universal joint transmission devices to obtain a simplified three-universal joint planar transmission mechanism; performing equivalent processing on the simplified three-universal joint planar transmission mechanism to obtain an equivalent single universal joint transmission mechanism; and obtaining the optimal relative arrangement angle between adjacent universal joints and the lengths of the two intermediate shafts based on the equivalent included angle of the equivalent single universal joint transmission mechanism. This invention, starting from the kinematic characteristics of a single cross-shaped universal joint, derives a design optimization method for the cross-shaped universal joint steering transmission mechanism to eliminate speed fluctuations, improve component fatigue life, and enhance vehicle handling.

Description

Technical Field

[0001] This invention discloses a transmission optimization method, device, and terminal for a cross-shaft universal joint transmission device, belonging to the field of automotive transmission technology. Background Technology

[0002] Universal joints with cross shafts are widely used in automotive steering systems due to their simple structure, reliable transmission, high efficiency, and ability to allow for large angles between two drive shafts. By connecting two universal joints in series and adjusting the phase angle of the joint forks to find the optimal phase angle, the transmission ripple of the universal joint can be minimized. However, because universal joints have non-uniform velocity characteristics, torsional vibrations can occur in the transmission components during transmission, resulting in additional alternating loads. This affects both the fatigue life of components and the vehicle's handling. While existing research has provided methods for calculating the speed ripple of two-universal-joint transmission mechanisms, there is a lack of theoretical support for the more complex three-universal-joint transmission mechanisms. Optimization can only be achieved through permutations and combinations from several alternative arrangements, which limits the upper limit of performance optimization. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention proposes a transmission optimization method, device, and terminal for a cross-shaft universal joint transmission device. This addresses the problem that when dealing with a more complex 3-cross-shaft universal joint transmission mechanism, there is a lack of theoretical support, and the only solution is to rely on permutations and combinations to find a relatively optimal solution from several alternative arrangement schemes, which to some extent limits the upper limit of performance optimization.

[0004] The technical solution of the present invention is as follows:

[0005] According to a first aspect of the present invention, a transmission optimization method for a universal joint drive device is provided, the method comprising the following steps:

[0006] The three cross-shaped universal joint transmission devices were brought into the 3D software, and their relevant parameters were defined and obtained respectively.

[0007] A simplified three-universal-joint planar transmission mechanism is obtained by adjusting the phase angle of the corresponding universal joint master / driven fork plane in the three cross-shaft universal joint transmission devices.

[0008] The simplified three-universal joint planar transmission mechanism is equivalently processed to obtain an equivalent single universal joint transmission mechanism. Based on the equivalent included angle of the equivalent single universal joint transmission mechanism, the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts are obtained.

[0009] Preferably, the definition and acquisition of relevant parameters include:

[0010] Define the relevant parameters, including:

[0011] Four axes are defined along the direction of motion transmission: input shaft, first intermediate shaft, second intermediate shaft and output shaft. Three universal joints are defined along the direction of motion transmission: first universal joint, second universal joint and third universal joint. A first plane is defined by the two drive shafts connected by the first universal joint, a second plane is defined by the two drive shafts connected by the second universal joint, and a third plane C is defined by the two drive shafts connected by the third universal joint.

[0012] Obtain relevant parameters, including:

[0013] The angle between the input shaft and the first intermediate shaft, the angle between the first intermediate shaft and the second intermediate shaft, the angle between the second intermediate shaft and the output shaft, the angle between the first plane and the second plane, the angle between the second plane and the third plane, the first phase angle between the driving fork plane of the second universal joint and the driven fork plane of the first universal joint, and the second phase angle between the driving fork plane of the third universal joint and the driven fork plane of the second universal joint;

[0014] The first phase angle and the second phase angle are initially 0°.

[0015] Preferably, the simplified three-universal-joint planar transmission mechanism is obtained by adjusting the phase angle of the corresponding universal joint driving / driven fork plane in the three cross-shaped universal joint transmission devices, comprising:

[0016] Rotate the driven fork plane of the first universal joint to a position parallel to the first plane, rotate the driving fork plane of the second universal joint to a position parallel to the second plane, and rotate the driving fork plane of the third universal joint to a position perpendicular to the third plane.

[0017] The second intermediate shaft is rotated around the first intermediate shaft until it is coplanar with the first plane, and the output shaft is rotated around the second intermediate shaft until it is coplanar with the first plane. Then the first phase angle and the second phase angle are reset to their initial values ​​of 0° to obtain a simplified three universal joint planar transmission mechanism.

[0018] Preferably, the step of performing equivalent processing on the simplified three-universal joint planar transmission mechanism to obtain an equivalent single universal joint transmission mechanism, and obtaining the optimal relative arrangement angle between adjacent universal joints and the lengths of the two intermediate shafts based on the equivalent included angle of the equivalent single universal joint transmission mechanism, includes:

[0019] Rotate the driving fork plane of the first universal joint in the simplified three universal joint planar transmission mechanism to a vertical position, and make the cross shaft plane perpendicular to the axis of the driving shaft. Set this position as the first extreme position. Rotate the driving fork plane of the first universal joint in the simplified three universal joint planar transmission mechanism to a horizontal position, and make the cross shaft plane perpendicular to the axis of the driven shaft. Set this position as the second extreme position.

[0020] The equivalent angle of the equivalent single universal joint transmission mechanism is obtained based on the first extreme position, the second extreme position, the angle between the input shaft and the first intermediate shaft, the angle between the first intermediate shaft and the second intermediate shaft, and the angle between the second intermediate shaft and the output shaft. The equivalent angle of the equivalent single universal joint transmission mechanism is shown in the following formula (1):

[0021] λ 2 =[(α 2 -β 2 +γ 2 ) 2 ] 1 / 2 (1)

[0022] Where: λ is the equivalent included angle, α is the included angle between the input axis and the first intermediate axis, β is the included angle between the first intermediate axis and the second intermediate axis, and γ is the included angle between the second intermediate axis and the output axis;

[0023] When β>α and β>γ, the equivalent included angle of the equivalent single universal joint transmission mechanism in formula (1) is equal to the first equivalent included angle of the first equivalent single universal joint transmission mechanism. The first equivalent included angle reaches its minimum value. The spatial arrangement angle or length of the first intermediate shaft and the second intermediate shaft is adjusted until α>γ. 2 +γ 2 With β 2 When the values ​​are equal, the first equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts;

[0024] When α>β and α>γ, the driving fork plane of the third universal joint is rotated 90° relative to the driven fork plane of the second universal joint. The equivalent included angle of the equivalent single universal joint transmission mechanism in formula (1) is equal to the second equivalent included angle of the second equivalent single universal joint transmission mechanism. The value of the second equivalent included angle is shown in formula (2) below:

[0025] λ2 2 =[(α 2 -β 2 -γ 2 ) 2 ] 1 / 2 (2)

[0026] At this point, the second equivalent included angle reaches its minimum value. Adjust the spatial arrangement angle or length of the first and second intermediate axes until α... 2 +γ 2 With β 2 When the values ​​are equal, the second equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts;

[0027] When γ>α and γ>β, the driving fork plane of the second universal joint is rotated 90° relative to the driven fork plane of the first universal joint. The equivalent included angle λ of the equivalent single universal joint transmission mechanism in formula (1) is equal to the third equivalent included angle of the third equivalent single universal joint transmission mechanism. The value of the third equivalent included angle is shown in formula (3) below:

[0028] λ3 2 =[(α 2 +β 2 -γ 2 ) 2 ] 1 / 2 (3)

[0029] When the third equivalent included angle reaches its minimum value, the spatial arrangement angle or length of the first and second intermediate axes is adjusted until α reaches its minimum value. 2 +γ 2 With β 2 When the values ​​are equal, the third equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts.

[0030] According to a second aspect of the present invention, a transmission optimization device for a universal joint drive mechanism is provided, the device comprising:

[0031] The parameter module is used to bring the three cross-shaped universal joint transmission devices into the 3D software and define and obtain relevant parameters respectively;

[0032] A simplified module is used to adjust the phase angle of the corresponding universal joint master / slave fork plane in the three cross-shaped universal joint transmission devices to obtain a simplified three universal joint plane transmission mechanism;

[0033] An equivalent module is used to perform equivalent processing on the simplified three universal joint planar transmission mechanism to obtain an equivalent single universal joint transmission mechanism. Based on the equivalent included angle of the equivalent single universal joint transmission mechanism, the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts are obtained.

[0034] Preferably, the simplified module is used for:

[0035] Rotate the driven fork plane of the first universal joint to a position parallel to the first plane, rotate the driving fork plane of the second universal joint to a position parallel to the second plane, and rotate the driving fork plane of the third universal joint to a position perpendicular to the third plane.

[0036] The second intermediate shaft is rotated around the first intermediate shaft until it is coplanar with the first plane, and the output shaft is rotated around the second intermediate shaft until it is coplanar with the first plane. Then the first phase angle and the second phase angle are reset to their initial values ​​of 0° to obtain a simplified three universal joint planar transmission mechanism.

[0037] Preferably, the equivalent module is used for:

[0038] Rotate the driving fork plane of the first universal joint in the simplified three universal joint planar transmission mechanism to a vertical position, and make the cross shaft plane perpendicular to the axis of the driving shaft. Set this position as the first extreme position. Rotate the driving fork plane of the first universal joint in the simplified three universal joint planar transmission mechanism to a horizontal position, and make the cross shaft plane perpendicular to the axis of the driven shaft. Set this position as the second extreme position.

[0039] The equivalent angle of the equivalent single universal joint transmission mechanism is obtained based on the first extreme position, the second extreme position, the angle between the input shaft and the first intermediate shaft, the angle between the first intermediate shaft and the second intermediate shaft, and the angle between the second intermediate shaft and the output shaft. The equivalent angle of the equivalent single universal joint transmission mechanism is shown in the following formula (1):

[0040] λ 2 =[(α 2 -β 2 +γ 2 ) 2 ] 1 / 2 (1)

[0041] Where: λ is the equivalent included angle, α is the included angle between the input axis and the first intermediate axis, β is the included angle between the first intermediate axis and the second intermediate axis, and γ is the included angle between the second intermediate axis and the output axis;

[0042] When β>α and β>γ, the equivalent included angle of the equivalent single universal joint transmission mechanism in formula (1) is equal to the first equivalent included angle of the first equivalent single universal joint transmission mechanism. The first equivalent included angle reaches its minimum value. The spatial arrangement angle or length of the first intermediate shaft and the second intermediate shaft is adjusted until α>γ. 2 +γ 2 With β 2 When the values ​​are equal, the first equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts;

[0043] When α>β and α>γ, the driving fork plane of the third universal joint is rotated 90° relative to the driven fork plane of the second universal joint. The equivalent included angle of the equivalent single universal joint transmission mechanism in formula (1) is equal to the second equivalent included angle of the second equivalent single universal joint transmission mechanism. The value of the second equivalent included angle is shown in formula (2) below:

[0044] λ2 2 =[(α 2 -β 2 -γ 2 ) 2 ] 1 / 2 (2)

[0045] At this point, the second equivalent included angle reaches its minimum value. Adjust the spatial arrangement angle or length of the first and second intermediate axes until α... 2 +γ 2 With β 2 When the values ​​are equal, the second equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts;

[0046] When γ>α and γ>β, the driving fork plane of the second universal joint is rotated 90° relative to the driven fork plane of the first universal joint. The equivalent included angle λ of the equivalent single universal joint transmission mechanism in formula (1) is equal to the third equivalent included angle of the third equivalent single universal joint transmission mechanism. The value of the third equivalent included angle is shown in formula (3) below:

[0047] λ3 2 =[(α 2 +β 2 -γ 2 ) 2 ] 1 / 2 (3)

[0048] When the third equivalent included angle reaches its minimum value, the spatial arrangement angle or length of the first and second intermediate axes is adjusted until α reaches its minimum value. 2 +γ 2 With β 2 When the values ​​are equal, the third equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts.

[0049] According to a third aspect of the present invention, a terminal is provided, comprising:

[0050] One or more processors;

[0051] Memory for storing the one or more processor-executable instructions;

[0052] Wherein, the one or more processors are configured as follows:

[0053] Perform the method described in the first aspect of the embodiments of the present invention.

[0054] According to a fourth aspect of the present invention, a non-transitory computer-readable storage medium is provided, wherein when instructions in the storage medium are executed by a processor of a terminal, the terminal is enabled to perform the method described in the first aspect of the present invention.

[0055] According to a fifth aspect of the present invention, an application product is provided that, when the application product is running on a terminal, causes the terminal to execute the method described in the first aspect of the present invention.

[0056] The beneficial effects of this invention are as follows:

[0057] This invention provides a transmission optimization method, device, and terminal for a cross-shaft universal joint transmission device. Starting from the motion characteristics of a single cross-shaft universal joint, and based on the introduction of the concept of equivalent included angle, it derives a calculation method for the motion characteristics and speed fluctuations of multiple cross-shaft universal joints, and obtains a design optimization method for the steering transmission mechanism of the cross-shaft universal joint to eliminate speed fluctuations, improve the fatigue life of parts, and improve vehicle handling.

[0058] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0059] Figure 1 This is a flowchart illustrating a transmission optimization method for a cross-shaft universal joint transmission device according to an exemplary embodiment.

[0060] Figure 2 This is a schematic diagram of the structure of a universal joint drive device in a transmission optimization method for a universal joint drive device according to an exemplary embodiment.

[0061] Figure 3 This is a schematic diagram illustrating the motion characteristics of a universal joint drive device in a transmission optimization method according to an exemplary embodiment, when the first universal joint drive fork plane is in a vertical position and the cross shaft plane is perpendicular to the drive shaft axis.

[0062] Figure 4 This is a schematic diagram illustrating the motion characteristics of a universal joint drive device in a transmission optimization method according to an exemplary embodiment, when the first universal joint driving fork plane is in a horizontal position and the cross shaft plane is perpendicular to the driven shaft axis.

[0063] Figure 5 This is a schematic block diagram illustrating the structure of a transmission optimization device for a cross-shaft universal joint transmission device according to an exemplary embodiment.

[0064] Figure 6 This is a schematic block diagram of a terminal structure according to an exemplary embodiment. Detailed Implementation

[0065] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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. Therefore, they should not be construed as limitations on this invention.

[0067] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0068] This invention provides a transmission optimization method for a universal joint drive device. The method is implemented by a terminal, which can be a desktop computer or a laptop computer, etc., and the terminal includes at least a CPU.

[0069] Example 1

[0070] Figure 1 This is a flowchart illustrating a transmission optimization method for a universal joint drive device according to an exemplary embodiment. The method is used in a terminal and includes the following steps:

[0071] Step 101: Import the three cross-shaped universal joint transmission devices into the 3D software, and define and obtain the relevant parameters respectively. The specific content is as follows:

[0072] The parameters defined above include:

[0073] like Figure 2As shown, four axes are defined along the direction of motion transmission: input shaft, first intermediate shaft, second intermediate shaft and output shaft. Three universal joints are defined along the direction of motion transmission: first universal joint, second universal joint and third universal joint. The first plane A is determined by the two drive shafts connected by the first universal joint, the second plane B is determined by the two drive shafts connected by the second universal joint, and the third plane C is determined by the two drive shafts connected by the third universal joint.

[0074] Obtain relevant parameters, including:

[0075] The angles α between the input shaft and the first intermediate shaft, β between the first intermediate shaft and the second intermediate shaft, γ between the second intermediate shaft and the output shaft, θ1 between the first plane and the second plane, θ2 between the second plane and the third plane, a first phase angle ψ1 between the driving fork plane of the second universal joint and the driven fork plane of the first universal joint, and a second phase angle ψ2 between the driving fork plane of the third universal joint and the driven fork plane of the second universal joint are all specified. The first and second phase angles are initially 0°.

[0076] Step 102: Adjust the phase angle of the corresponding universal joint driving / driven fork plane in the three cross-shaped universal joint transmission devices to obtain a simplified three-universal joint planar transmission mechanism, the details of which are as follows:

[0077] The presence of surface angles θ1 and θ2 makes the calculation of the output shaft speed fluctuation relative to the input shaft very complex. This is to eliminate the adverse effects of the surface angles and reduce the non-uniform speed effect.

[0078] Rotate the driven fork plane of the first universal joint to a position parallel to the first plane. Rotate the driving fork plane of the second universal joint relative to the driven fork plane of the first universal joint by a phase angle, making the driving fork plane of the second universal joint parallel to the second plane. That is, the first phase angle between the driving fork plane of the second universal joint and the driven fork plane of the first universal joint is equal to the angle between the first and second planes. Rotate the driving fork plane of the third universal joint relative to the driven fork plane of the second universal joint by a phase angle, making the driving fork plane of the third universal joint perpendicular to the third plane. That is, the second phase angle between the driving fork plane of the third universal joint and the driven fork plane of the second universal joint is 90° - the angle between the second and third planes. At this time, the influence of the spatial transmission mechanism formed by the surface angles θ1 and θ2 on the output shaft speed fluctuation is canceled out by the phase angles ψ1 and ψ2. The motion characteristics of this spatial transmission mechanism are completely equivalent to those of the planar transmission mechanism.

[0079] Rotate the second intermediate axis around the first intermediate axis by an angle θ1 so that it is coplanar with the first plane. Rotate the output shaft around the second intermediate axis to an angle θ2 so that it is coplanar with the first plane. Then reset the first phase angle and the second phase angle to their initial values ​​of 0°.

[0080] At this point, the four shaft segments connected by the three universal joints are all within the first plane A. Furthermore, the plane of the driven fork of the first universal joint is in the same plane as the plane of the driving fork of the second universal joint, and the plane of the driven fork of the second universal joint is also in the same plane as the plane of the driving fork of the third universal joint. The planar transmission mechanism obtained through the above unfolding process has the same output shaft speed fluctuation characteristics as the previously defined spatial transmission mechanism, thus yielding a simplified three-universal-joint planar transmission mechanism.

[0081] Step 103: The simplified three-universal joint planar transmission mechanism is equivalently processed to obtain an equivalent single universal joint transmission mechanism. Based on the equivalent included angle of the equivalent single universal joint transmission mechanism, the optimal relative arrangement angle between adjacent universal joints and the lengths of the two intermediate shafts are obtained. The specific details are as follows:

[0082] In the simplified three-universal joint planar transmission mechanism, the driving fork plane of the first universal joint is rotated to a vertical position, and the cross shaft plane is perpendicular to the axis of the driving shaft. This position is set as the first extreme position. Figure 3 As shown. In the simplified three-universal joint planar transmission mechanism, the driving fork plane of the first universal joint is rotated to a horizontal position, and the cross shaft plane is perpendicular to the driven shaft axis. This position is set as the second extreme position, as shown below. Figure 4 As shown.

[0083] The equivalent angle of the equivalent single universal joint transmission mechanism is obtained based on the first limit position, the second limit position, the angle between the input shaft and the first intermediate shaft, the angle between the first intermediate shaft and the second intermediate shaft, and the angle between the second intermediate shaft and the output shaft. The specific details are as follows:

[0084] According to the velocity right triangle, in the three-axis universal joint steering transmission mechanism, when the input shaft rotates at a constant speed, the output shaft speed will exhibit periodic fluctuations between position 1 and position 2, with a fluctuation range of V. a ×cosβ / (cosα×cosγ)~V a (cosα×cosγ) / cosβ. When cosβ=cosα×cosγ, V d =V a The output shaft will rotate at a constant speed, at which point β>α, β>γ, where V a Input shaft speed, V b The first intermediate shaft speed, V cFor the second intermediate shaft speed, V d This refers to the output shaft speed.

[0085] Let cosβ / (cosα×cosγ)=cosλ, then (cosα×cosγ) / cosβ=1 / cosλ. The above three cross-shaft universal joint transmission mechanisms can be equivalently represented by a single cross-shaft universal joint transmission mechanism with an included angle of λ, where λ is the equivalent included angle of the equivalent single universal joint transmission mechanism, and its value is shown in the following formula (1):

[0086] λ 2 =[(α 2 -β 2 +γ 2 ) 2 ] 1 / 2 (1)

[0087] Where: λ is the equivalent included angle of the equivalent single universal joint transmission mechanism, α is the included angle between the input shaft and the first intermediate shaft, β is the included angle between the first intermediate shaft and the second intermediate shaft, and γ is the included angle between the second intermediate shaft and the output shaft;

[0088] When β>α and β>γ, the equivalent included angle λ of the equivalent single universal joint transmission mechanism in formula (1) is equal to the first equivalent included angle λ of the first equivalent single universal joint transmission mechanism. 1， The first equivalent included angle λ1 reaches its minimum value. The spatial arrangement angle or length of the first and second intermediate axes is adjusted, changing the values ​​of angles α, β, and γ until α... 2 +γ 2 With β 2 If the values ​​are equal and the first equivalent included angle λ1 approaches 0°, then the output shafts of the three cross-shaped universal joint transmission mechanisms will rotate at a constant speed, with a rotational speed V. d =V a The rotational speed fluctuation effect is completely eliminated, and the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts are obtained.

[0089] When α>β and α>γ, the driving fork plane of the third universal joint is rotated 90° relative to the driven fork plane of the second universal joint to obtain the second equivalent single universal joint transmission mechanism. The equivalent included angle λ of the equivalent single universal joint transmission mechanism in formula (1) is equal to the second equivalent included angle λ2 of the second equivalent single universal joint transmission mechanism. The value of the second equivalent included angle λ2 is shown in formula (2) below:

[0090] λ2 2 =[(α 2 -β 2 -γ 2 ) 2 ] 1 / 2 (2)

[0091] At this point, the second equivalent included angle λ2 reaches its minimum value. Adjusting the spatial arrangement angle or length of the first and second intermediate axes changes the values ​​of angles α, β, and γ until α... 2 +γ 2 With β 2 If the values ​​are equal and the second equivalent included angle λ2 approaches 0°, then the output shafts of the three cross-shaped universal joint transmission mechanisms will rotate at a constant speed, with a rotational speed V. d =V a The rotational speed fluctuation effect is completely eliminated, and the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts are obtained.

[0092] When γ>α and γ>β, the driving fork plane of the second universal joint is rotated 90° relative to the driven fork plane of the first universal joint. The equivalent included angle λ of the equivalent single universal joint transmission mechanism in formula (1) is equal to the third equivalent included angle λ3 of the third equivalent single universal joint transmission mechanism. The value of the third equivalent included angle λ3 is shown in formula (3) below:

[0093] λ3 2 =[(α 2 +β 2 -γ 2 ) 2 ] 1 / 2 (3)

[0094] The third equivalent included angle λ3 reaches its minimum value. Adjust the spatial arrangement angles or lengths of the first and second intermediate axes, changing the values ​​of angles α, β, and γ until α... 2 +γ 2 With β 2 If the values ​​are equal and the third equivalent included angle λ3 approaches 0°, then the output shafts of the three cross-shaped universal joint transmission mechanisms will rotate at a constant speed, with a rotational speed V. d =V a The rotational speed fluctuation effect is completely eliminated, and the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts are obtained.

[0095] Example 2

[0096] Figure 5 This is a schematic block diagram illustrating the structure of a transmission optimization device for a cross-shaft universal joint transmission according to an exemplary embodiment. The device includes:

[0097] The parameter module 210 is used to bring the three cross-shaped universal joint transmission devices into the three-dimensional software and define and obtain relevant parameters respectively;

[0098] Simplified module 220 is used to adjust the phase angle of the corresponding universal joint master / slave fork plane in the three cross-shaped universal joint transmission devices to obtain a simplified three universal joint plane transmission mechanism;

[0099] The equivalent module 230 is used to perform equivalent processing on the simplified three universal joint planar transmission mechanism to obtain an equivalent single universal joint transmission mechanism, and to obtain the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts based on the equivalent included angle of the equivalent single universal joint transmission mechanism.

[0100] Preferably, the simplification module 220 is used for:

[0101] Rotate the driven fork plane of the first universal joint to a position parallel to the first plane, rotate the driving fork plane of the second universal joint to a position parallel to the second plane, and rotate the driving fork plane of the third universal joint to a position perpendicular to the third plane.

[0102] The second intermediate shaft is rotated around the first intermediate shaft until it is coplanar with the first plane, and the output shaft is rotated around the second intermediate shaft until it is coplanar with the first plane. Then the first phase angle and the second phase angle are reset to their initial values ​​of 0° to obtain a simplified three universal joint planar transmission mechanism.

[0103] Preferably, the equivalent module 230 is used for:

[0104] Rotate the driving fork plane of the first universal joint in the simplified three universal joint planar transmission mechanism to a vertical position, and make the cross shaft plane perpendicular to the axis of the driving shaft. Set this position as the first extreme position. Rotate the driving fork plane of the first universal joint in the simplified three universal joint planar transmission mechanism to a horizontal position, and make the cross shaft plane perpendicular to the axis of the driven shaft. Set this position as the second extreme position.

[0105] The equivalent angle of the equivalent single universal joint transmission mechanism is obtained based on the first extreme position, the second extreme position, the angle between the input shaft and the first intermediate shaft, the angle between the first intermediate shaft and the second intermediate shaft, and the angle between the second intermediate shaft and the output shaft. The equivalent angle of the equivalent single universal joint transmission mechanism is shown in the following formula (1):

[0106] λ 2 =[(α 2 -β 2 +γ 2 ) 2 ] 1 / 2 (1)

[0107] Where: λ is the equivalent included angle, α is the included angle between the input axis and the first intermediate axis, β is the included angle between the first intermediate axis and the second intermediate axis, and γ is the included angle between the second intermediate axis and the output axis;

[0108] When β>α and β>γ, the equivalent included angle of the equivalent single universal joint transmission mechanism in formula (1) is equal to the first equivalent included angle of the first equivalent single universal joint transmission mechanism. The first equivalent included angle reaches its minimum value. The spatial arrangement angle or length of the first intermediate shaft and the second intermediate shaft is adjusted until α>γ. 2 +γ 2 With β 2 When the values ​​are equal, the first equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts;

[0109] When α>β and α>γ, the driving fork plane of the third universal joint is rotated 90° relative to the driven fork plane of the second universal joint. The equivalent included angle λ of the equivalent single universal joint transmission mechanism in formula (1) is equal to the second equivalent included angle of the second equivalent single universal joint transmission mechanism. The value of the second equivalent included angle is shown in formula (2) below:

[0110] λ2 2 =[(α 2 -β 2 -γ 2 ) 2 ] 1 / 2 (2)

[0111] At this point, the second equivalent included angle reaches its minimum value. Adjust the spatial arrangement angle or length of the first and second intermediate axes until α... 2 +γ 2 With β 2 When the values ​​are equal, the second equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts;

[0112] When γ>α and γ>β, the driving fork plane of the second universal joint is rotated 90° relative to the driven fork plane of the first universal joint. The equivalent included angle λ of the equivalent single universal joint transmission mechanism in formula (1) is equal to the third equivalent included angle of the third equivalent single universal joint transmission mechanism. The value of the third equivalent included angle is shown in formula (3) below:

[0113] λ3 2 =[(α 2 +β 2 -γ 2 ) 2 ] 1 / 2 (3)

[0114] When the third equivalent included angle reaches its minimum value, the spatial arrangement angle or length of the first and second intermediate axes is adjusted until α reaches its minimum value. 2 +γ 2 With β 2When the values ​​are equal, the third equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between adjacent universal joints and the length of the two intermediate shafts.

[0115] Example 3

[0116] Figure 6 This is a structural block diagram of a terminal provided in an embodiment of this application. The terminal can be the terminal in the above embodiments. The terminal 300 can be a portable mobile terminal, such as a smartphone or tablet computer. The terminal 300 may also be referred to as user equipment, portable terminal, or other names.

[0117] Typically, terminal 300 includes a processor 301 and a memory 302.

[0118] Processor 301 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 301 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 301 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 301 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 301 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0119] The memory 302 may include one or more computer-readable storage media, which may be tangible and non-transitory. The memory 302 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 302 is used to store at least one instruction, which is executed by the processor 301 to implement a transmission optimization method for a universal joint drive device provided in this application.

[0120] In some embodiments, the terminal 300 may also optionally include: a peripheral device interface 303 and at least one peripheral device. Specifically, the peripheral device includes at least one of: a radio frequency circuit 304, a touch display screen 305, a camera 306, an audio circuit 307, a positioning component 308, and a power supply 309.

[0121] The peripheral device interface 303 can be used to connect at least one I / O (Input / Output) related peripheral device to the processor 301 and the memory 302. In some embodiments, the processor 301, memory 302, and peripheral device interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, memory 302, and peripheral device interface 303 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0122] The radio frequency (RF) circuit 304 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 304 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 304 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 304 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 304 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0123] The touch display screen 305 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. The touch display screen 305 also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to the processor 301 for processing. The touch display screen 305 is used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one touch display screen 305, which is located on the front panel of the terminal 300; in other embodiments, there may be at least two touch display screens, respectively located on different surfaces of the terminal 300 or in a folded design; in still other embodiments, the touch display screen 305 may be a flexible display screen, located on a curved or folded surface of the terminal 300. Furthermore, the touch display screen 305 may be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The touch display screen 305 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0124] Camera assembly 306 is used to acquire images or videos. Optionally, camera assembly 306 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is used for video calls or selfies, and the rear-facing camera is used for taking photos or videos. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, and a wide-angle camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, and panoramic shooting and VR (Virtual Reality) shooting by fusion of the main camera and the wide-angle camera. In some embodiments, camera assembly 306 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash is a combination of a warm light flash and a cool light flash, which can be used for light compensation at different color temperatures.

[0125] Audio circuit 307 provides an audio interface between the user and terminal 300. Audio circuit 307 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to processor 301 for processing, or input to radio frequency circuit 304 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located at a different part of terminal 300. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from processor 301 or radio frequency circuit 304 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, audio circuit 307 may also include a headphone jack.

[0126] The positioning component 308 is used to determine the current geographic location of the terminal 300 in order to enable navigation or LBS (Location Based Service). The positioning component 308 can be a positioning component based on the US GPS (Global Positioning System), China's BeiDou system, or Russia's Galileo system.

[0127] The power supply 309 is used to power the various components in the terminal 300. The power supply 309 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When the power supply 309 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired connection, while a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0128] In some embodiments, the terminal 300 further includes one or more sensors 310. The one or more sensors 310 include, but are not limited to: an accelerometer 311, a gyroscope 312, a pressure sensor 313, a fingerprint sensor 314, an optical sensor 315, and a proximity sensor 316.

[0129] Accelerometer 311 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established with terminal 300. For example, accelerometer 311 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 301 can control touchscreen 305 to display the user interface in landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 311. Accelerometer 311 can also be used for games or for acquiring user motion data.

[0130] The gyroscope sensor 312 can detect the orientation and rotation angle of the terminal 300. The gyroscope sensor 312, in conjunction with the accelerometer sensor 311, can collect the user's 3D (3D) movements on the terminal 300. Based on the data collected by the gyroscope sensor 312, the processor 301 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0131] The pressure sensor 313 can be disposed on the side bezel of the terminal 300 and / or on the lower layer of the touch display screen 305. When the pressure sensor 313 is disposed on the side bezel of the terminal 300, it can detect the user's grip signal on the terminal 300 and perform left / right hand recognition or quick operation based on the grip signal. When the pressure sensor 313 is disposed on the lower layer of the touch display screen 305, it can control the operable controls on the UI interface based on the user's pressure operation on the touch display screen 305. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0132] The fingerprint sensor 314 is used to collect a user's fingerprint to identify the user's identity. When the user's identity is identified as trusted, the processor 301 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 314 can be located on the front, back, or side of the terminal 300. When the terminal 300 has physical buttons or a manufacturer's logo, the fingerprint sensor 314 can be integrated with the physical buttons or manufacturer's logo.

[0133] An optical sensor 315 is used to collect ambient light intensity. In one embodiment, the processor 301 can control the display brightness of the touch screen 305 based on the ambient light intensity collected by the optical sensor 315. Specifically, when the ambient light intensity is high, the display brightness of the touch screen 305 is increased; when the ambient light intensity is low, the display brightness of the touch screen 305 is decreased. In another embodiment, the processor 301 can also dynamically adjust the shooting parameters of the camera assembly 306 based on the ambient light intensity collected by the optical sensor 315.

[0134] The proximity sensor 316, also known as a distance sensor, is typically located on the front of the terminal 300. The proximity sensor 316 is used to detect the distance between the user and the front of the terminal 300. In one embodiment, when the proximity sensor 316 detects that the distance between the user and the front of the terminal 300 is gradually decreasing, the processor 301 controls the touchscreen display 305 to switch from a screen-on state to a screen-off state; when the proximity sensor 316 detects that the distance between the user and the front of the terminal 300 is gradually increasing, the processor 301 controls the touchscreen display 305 to switch from a screen-off state to a screen-on state.

[0135] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on terminal 300, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0136] Example 4

[0137] In an exemplary embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements a transmission optimization method for a universal joint transmission device as provided in all embodiments of the present application.

[0138] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0139] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0140] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0141] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0142] Example 5

[0143] In an exemplary embodiment, an application product is also provided, including one or more instructions that can be executed by the processor 301 of the aforementioned device to complete the aforementioned transmission optimization method for a cross-shaft universal joint transmission device.

[0144] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Other modifications can be readily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and examples shown and described herein.

Claims

1. A transmission optimization method for a three-cross-shaft universal joint transmission device, characterized in that, The method includes the following steps: Three cross-shaped universal joint transmission devices were brought into the 3D software, and their relevant parameters were defined and obtained respectively; A simplified three-universal-joint planar transmission mechanism is obtained by adjusting the phase angle of the corresponding universal joint master / driven fork plane in the three cross-shaped universal joint transmission devices. The simplified three-universal joint planar transmission mechanism is equivalently processed to obtain an equivalent single universal joint transmission mechanism. Based on the equivalent included angle of the equivalent single universal joint transmission mechanism, the optimal relative arrangement angle between the optimal adjacent universal joints and the length of the two intermediate shafts are obtained. The definition and acquisition of relevant parameters include: Define the relevant parameters, including: Four axes are defined along the direction of motion transmission: input shaft, first intermediate shaft, second intermediate shaft and output shaft. Three universal joints are defined along the direction of motion transmission: first universal joint, second universal joint and third universal joint. A first plane is defined by the two drive shafts connected by the first universal joint, a second plane is defined by the two drive shafts connected by the second universal joint, and a third plane is defined by the two drive shafts connected by the third universal joint. Obtain relevant parameters, including: The angle between the input shaft and the first intermediate shaft, the angle between the first intermediate shaft and the second intermediate shaft, the angle between the second intermediate shaft and the output shaft, the angle between the first plane and the second plane, the angle between the second plane and the third plane, the first phase angle between the driving fork plane of the second universal joint and the driven fork plane of the first universal joint, and the second phase angle between the driving fork plane of the third universal joint and the driven fork plane of the second universal joint; Wherein, the first phase angle and the second phase angle are initially 0°; The simplified three-universal-joint planar transmission mechanism is obtained by adjusting the phase angle of the corresponding universal joint driving / driven fork plane in the three cross-shaped universal joint transmission devices, including: Rotate the driven fork plane of the first universal joint to a position parallel to the first plane, rotate the driving fork plane of the second universal joint to a position parallel to the second plane, and rotate the driving fork plane of the third universal joint to a position perpendicular to the third plane. The second intermediate shaft is rotated around the first intermediate shaft until it is coplanar with the first plane, and the output shaft is rotated around the second intermediate shaft until it is coplanar with the first plane. Then the first phase angle and the second phase angle are reset to their initial values ​​of 0° to obtain a simplified three universal joint planar transmission mechanism.

2. The transmission optimization method for a three-cross-shaft universal joint transmission device according to claim 1, characterized in that, The process of equivalently processing the simplified three-universal joint planar transmission mechanism to obtain an equivalent single universal joint transmission mechanism, and obtaining the optimal relative arrangement angle between adjacent universal joints and the lengths of the two intermediate shafts based on the equivalent included angle of the equivalent single universal joint transmission mechanism, includes: Rotate the driving fork plane of the first universal joint in the simplified three universal joint planar transmission mechanism to a vertical position, with the cross shaft plane perpendicular to the axis of the driving shaft. Set this position as the first extreme position. Rotate the driving fork plane of the first universal joint in the simplified three universal joint planar transmission mechanism to a horizontal position, with the cross shaft plane perpendicular to the axis of the driven shaft. Set this position as the second extreme position. The equivalent angle of the equivalent single universal joint transmission mechanism is obtained based on the first extreme position, the second extreme position, the angle between the input shaft and the first intermediate shaft, the angle between the first intermediate shaft and the second intermediate shaft, and the angle between the second intermediate shaft and the output shaft. The equivalent angle of the equivalent single universal joint transmission mechanism is shown in the following formula (1): （1） Where: λ is the equivalent included angle, α is the included angle between the input axis and the first intermediate axis, β is the included angle between the first intermediate axis and the second intermediate axis, and γ is the included angle between the second intermediate axis and the output axis; When β>α and β>γ, the equivalent included angle of the equivalent single universal joint transmission mechanism in formula (1) is equal to the first equivalent included angle of the first equivalent single universal joint transmission mechanism. The first equivalent included angle reaches its minimum value. The spatial arrangement angle or length of the first intermediate shaft and the second intermediate shaft is adjusted until α>α. 2 +γ 2 With β 2 When the values ​​are equal, the first equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between the optimal adjacent universal joints and the length of the two intermediate shafts; When α>β and α>γ, the driving fork plane of the third universal joint is rotated 90° relative to the driven fork plane of the second universal joint. The equivalent included angle of the equivalent single universal joint transmission mechanism in formula (1) is equal to the second equivalent included angle of the second equivalent single universal joint transmission mechanism. The value of the second equivalent included angle is shown in formula (2) below: （2） At this point, the second equivalent included angle reaches its minimum value. Adjust the spatial arrangement angle or length of the first and second intermediate axes until α 2 +γ 2 With β 2 When the values ​​are equal, the second equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between the optimal adjacent universal joints and the length of the two intermediate shafts; When γ>α and γ>β, the driving fork plane of the second universal joint is rotated 90° relative to the driven fork plane of the first universal joint. The equivalent included angle λ of the equivalent single universal joint transmission mechanism in formula (1) is equal to the third equivalent included angle of the third equivalent single universal joint transmission mechanism. The value of the third equivalent included angle is shown in formula (3) below: （3） The third equivalent included angle is adjusted to its minimum value to change the spatial arrangement angle or length of the first and second intermediate axes until α reaches its minimum value. 2 +γ 2 With β 2 When the values ​​are equal, the third equivalent included angle λ3 approaches 0°, thus obtaining the optimal relative arrangement angle between the optimal adjacent universal joints and the length of the two intermediate shafts.

3. A transmission optimization device for a three-cross-shaft universal joint transmission device, used to implement the transmission optimization method for the three-cross-shaft universal joint transmission device as described in claim 1 or 2, characterized in that, The device includes: The parameter module is used to bring the three cross-shaped universal joint transmission devices into the 3D software and define and obtain relevant parameters respectively; A simplified module is used to adjust the phase angle of the corresponding universal joint master / slave fork plane in the three cross-shaped universal joint transmission devices to obtain a simplified three universal joint plane transmission mechanism; The equivalent module is used to perform equivalent processing on the simplified three universal joint planar transmission mechanism to obtain an equivalent single universal joint transmission mechanism. Based on the equivalent included angle of the equivalent single universal joint transmission mechanism, the optimal relative arrangement angle between the optimal adjacent universal joints and the length of the two intermediate shafts are obtained.

4. The transmission optimization method for a three-cross-shaft universal joint transmission device according to claim 3, characterized in that, The simplification module is used for: Rotate the driven fork plane of the first universal joint to a position parallel to the first plane, rotate the driving fork plane of the second universal joint to a position parallel to the second plane, and rotate the driving fork plane of the third universal joint to a position perpendicular to the third plane. The second intermediate shaft is rotated around the first intermediate shaft until it is coplanar with the first plane, and the output shaft is rotated around the second intermediate shaft until it is coplanar with the first plane. Then the first phase angle and the second phase angle are reset to their initial values ​​of 0° to obtain a simplified three universal joint planar transmission mechanism.

5. The transmission optimization device for a three-cross-shaft universal joint transmission device according to claim 3, characterized in that, The equivalent module is used for: Rotate the driving fork plane of the first universal joint in the simplified three universal joint planar transmission mechanism to a vertical position, and make the cross shaft plane perpendicular to the axis of the driving shaft. Set this position as the first extreme position. Rotate the driving fork plane of the first universal joint in the simplified three universal joint planar transmission mechanism to a horizontal position, and make the cross shaft plane perpendicular to the axis of the driven shaft. Set this position as the second extreme position. The equivalent angle of the equivalent single universal joint transmission mechanism is obtained based on the first extreme position, the second extreme position, the angle between the input shaft and the first intermediate shaft, the angle between the first intermediate shaft and the second intermediate shaft, and the angle between the second intermediate shaft and the output shaft. The equivalent angle of the equivalent single universal joint transmission mechanism is shown in the following formula (1): （1） Where: λ is the equivalent included angle, α is the included angle between the input axis and the first intermediate axis, β is the included angle between the first intermediate axis and the second intermediate axis, and γ is the included angle between the second intermediate axis and the output axis; When β>α and β>γ, the equivalent included angle of the equivalent single universal joint transmission mechanism in formula (1) is equal to the first equivalent included angle of the first equivalent single universal joint transmission mechanism. The first equivalent included angle reaches its minimum value. The spatial arrangement angle or length of the first intermediate shaft and the second intermediate shaft is adjusted until α>α. 2 +γ 2 With β 2 When the values ​​are equal, the first equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between the optimal adjacent universal joints and the length of the two intermediate shafts; When α>β and α>γ, the driving fork plane of the third universal joint is rotated 90° relative to the driven fork plane of the second universal joint. The equivalent included angle λ of the equivalent single universal joint transmission mechanism in formula (1) is equal to the second equivalent included angle of the second equivalent single universal joint transmission mechanism. The value of the second equivalent included angle is shown in formula (2) below: （2） At this point, the second equivalent included angle reaches its minimum value. Adjust the spatial arrangement angle or length of the first and second intermediate axes until α 2 +γ 2 With β 2 When the values ​​are equal, the second equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between the optimal adjacent universal joints and the length of the two intermediate shafts; When γ>α and γ>β, the driving fork plane of the second universal joint is rotated 90° relative to the driven fork plane of the first universal joint. The equivalent included angle λ of the equivalent single universal joint transmission mechanism in formula (1) is equal to the third equivalent included angle of the third equivalent single universal joint transmission mechanism. The value of the third equivalent included angle is shown in formula (3) below: （3） The third equivalent included angle is adjusted to its minimum value to change the spatial arrangement angle or length of the first and second intermediate axes until α reaches its minimum value. 2 +γ 2 With β 2 When the values ​​are equal, the third equivalent included angle value approaches 0°, thus obtaining the optimal relative arrangement angle between the optimal adjacent universal joints and the length of the two intermediate shafts.

6. A terminal, characterized in that, include: One or more processors; Memory for storing the one or more processor-executable instructions; Wherein, the one or more processors are configured as follows: The transmission optimization of a three-cross-shaft universal joint transmission device as described in claim 1 or 2 is performed.

7. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the terminal's processor, the terminal is able to perform transmission optimization of a three-cross-shaft universal joint transmission device as described in claim 1 or 2.

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