A flexible transmission mechanism

Abstract

A flexible transmission mechanism belongs to the field of transmission mechanisms, and includes: a flexible sleeve; two bearings, respectively installed in the two ends of the flexible sleeve; a plurality of transmission members, arranged axially in the flexible sleeve and located between the two bearings, with adjacent transmission members being transmission-connected, each transmission member rolling in contact with the inner wall of the flexible sleeve, and the transmission members located at the two ends being used to connect the power shaft and the output shaft respectively; the output shaft. The flexible transmission mechanism does not require high coaxiality between the power shaft and the flexible transmission mechanism, and reduces the requirements for machining accuracy; by changing the number of transmission members, transmission of different distances can be achieved, especially transmission of longer distances can be achieved; the friction resistance between each transmission member and the inner wall of the flexible sleeve is small, and high-speed and efficient transmission can be achieved; by integrating a plurality of transmission members and two bearings in the flexible sleeve, the miniaturization and lightweight of the flexible transmission mechanism can be achieved, and the space utilization and overall performance can be improved.

Description

Technical Field

[0001] The present application relates to the field of transmission mechanisms, and in particular to a flexible transmission mechanism. Background Art

[0002] In the field of mechanical transmission, rigid couplings are traditionally widely used as key components to connect drive devices (such as motors) with output shafts. This connection method directly connects the power shaft and the output shaft through a rigid coupling, achieving effective power transmission. Although rigid couplings have excellent transmission effects and can ensure efficient and stable power transmission, their inherent limitations are gradually exposed in actual applications, which are specifically reflected in the following aspects:

[0003] 1. High requirements for machining accuracy. When the rigid coupling connects the power shaft and the output shaft, the coaxiality, parallelism and other geometric accuracy between the two are required to reach extremely high standards. This is because any slight deviation may cause vibration, noise or even damage during the transmission process. Therefore, in order to ensure the stability and reliability of the transmission, the power shaft, output shaft and the rigid coupling itself must be processed and assembled with high precision, which undoubtedly increases the manufacturing cost and processing difficulty.

[0004] 2. Limited transmission distance: Due to the design principle and structural characteristics of the rigid coupling, its effective transmission distance is relatively short. In situations where long-distance transmission is required, if a rigid coupling is still used, the transmission efficiency and accuracy may be reduced or even the transmission may fail due to the long transmission distance. In addition, long-distance transmission may also aggravate the relative displacement and deformation between the power shaft and the output shaft, further affecting the stability and reliability of the transmission.

[0005] Therefore, how to reduce the requirements for processing accuracy and expand the transmission distance while ensuring the transmission effect has become an important research direction in the field of mechanical transmission. Summary of the invention

[0006] In view of this, the purpose of the present application is to provide a flexible transmission mechanism to solve at least one of the above technical problems.

[0007] The present application provides a flexible transmission mechanism, comprising: a flexible sleeve; two bearings, respectively installed in the two ends of the flexible sleeve; a plurality of transmission members, arranged axially in the flexible sleeve and located between the two bearings, adjacent transmission members are transmission-connected, each transmission member is in rolling contact with the inner wall of the flexible sleeve, the plurality of transmission members comprise a first transmission member and a plurality of second transmission members, the first transmission member is arranged close to one bearing and is used to connect a power shaft, the plurality of second transmission members are arranged axially between the first transmission member and the other bearing; and an output shaft, connected to the other bearing and the second transmission member closest to the other bearing; wherein the first transmission member comprises a first transmission member body, a first slider, and a plurality of first balls, the first transmission member body is spherical or hemispherical, an axial hole is provided at the center of the bottom surface of the first transmission member body, the axial hole is used to connect the power shaft, the first slider is arranged at the top of the outer surface of the first transmission member body, the first slider is used to match the adjacent second transmission member The cam is an angular channel that is formed on a pair of camshafts, each of which is adapted to move along a circumferential direction and along a horizontal direction, and each of which is adapted to move along a circumferential direction of the cam. The cam is a channel that is configured to move along a circumferential direction and is used to move the camshafts along a circumferential direction. The cam is a channel that is configured to move along a circumferential direction and is used to move the camshafts along a circumferential direction.

[0008] In some optional embodiments, both ends of the slide groove extend circumferentially in the groove to a position close to the bottom surface of the second transmission member body.

[0009] In some optional embodiments, a spherical groove is provided at one end of the output shaft, and the spherical groove matches the shape of the top of the outer surface of the second transmission member body. A card groove is provided at the center of the spherical groove, and the card groove is engaged with the second slider, thereby realizing the connection between the output shaft and the second transmission member closest to the other bearing.

[0010] In some optional embodiments, the projection of the first slider on the bottom surface of the first transmission member body is a rectangle and the width of the rectangle matches the width of the slide groove, and the projection of the second slider on the bottom surface of the second transmission member body is a square and the width of the square matches the width of the slide groove.

[0011] Based on the above technical scheme, the flexible transmission mechanism provided by the present application transmits power through multiple transmission parts, and the connection method between each transmission part is a flexible connection. In combination with the flexible sleeve, the coaxiality requirements of the power shaft and the flexible transmission mechanism are not high, which reduces the requirements for processing accuracy; by changing the number of transmission parts, while ensuring the transmission efficiency and transmission accuracy, transmission of different distances can be achieved, especially transmission of longer distances can be achieved; there is rolling contact between each transmission part and the inner wall of the flexible sleeve, which has the characteristic of small friction resistance, and can achieve high-speed and efficient transmission; by integrating multiple transmission parts and two bearings in the flexible sleeve, the miniaturization and lightweight of the flexible transmission mechanism can be achieved, thereby improving space utilization and overall performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 A schematic structural diagram of a flexible transmission mechanism provided in an embodiment of the present application.

[0014] Figure 2 A perspective structural schematic diagram of a flexible transmission mechanism provided in an embodiment of the present application.

[0015] Figure 3 A schematic structural diagram of a first transmission member provided in an embodiment of the present application at a certain viewing angle.

[0016] Figure 4 A schematic structural diagram of a first transmission member provided in an embodiment of the present application from another perspective.

[0017] Figure 5 A schematic structural diagram of a second transmission member provided in an embodiment of the present application.

[0018] Figure 6 A front view of a second transmission member provided in an embodiment of the present application.

[0019] Figure 7 A schematic diagram of the structure of the connection between a second transmission member and an output shaft provided in an embodiment of the present application.

[0020] Figure 8 A cross-sectional schematic diagram of a flexible transmission mechanism provided in an embodiment of the present application, with a flexible sleeve and two bearings hidden.

[0021] Figure numerals: 100, flexible transmission mechanism; 10, flexible sleeve; 20, first bearing; 30, second bearing; 40, first transmission member; 41, first transmission member body; 411, shaft hole; 42, first slider; 43, first ball; 50, second transmission member; 51, second transmission member body; 511, groove; 512, slide groove; 52, second slider; 53, second ball; 60, output shaft; 61, spherical groove; 62, slot. DETAILED DESCRIPTION

[0022] The specific embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the description of the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0023] In the description of this application, unless otherwise clearly specified and limited, the terms "connection", "setting", "installation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be that two elements are internally connected. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0024] The terms "upper", "lower", "left", "right", "front", "back", "center", "top", "bottom", "inside", "outside", "vertical", "horizontal", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship commonly placed when the product of the application is used. They are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0025] The terms “first”, “second”, “third”, etc. are merely used to distinguish elements of similar nature, and do not indicate or imply relative importance or a particular order, unless expressly specified and limited otherwise.

[0026] The terms "comprises," "includes," "has," or any other variation thereof, are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0027] The term "plurality" means more than two (including two).

[0028] The term "and / or" is merely a description of the association relationship between associated objects, indicating that three possible relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone.

[0029] The terms "one embodiment", "as an example", "in one implementation", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example may be included in at least one embodiment or example of the present application. Schematic representations of such terms do not necessarily refer to the same embodiment, nor are they independent or alternative embodiments that are mutually exclusive with other embodiments. In the absence of conflict, the embodiments in the present application and the features in the embodiments may be combined in a suitable manner.

[0030] Figure 1 A schematic diagram of the structure of a flexible transmission mechanism 100 provided in an embodiment of the present application is shown in FIG. Figure 2 A perspective structural diagram of a flexible transmission mechanism 100 provided in an embodiment of the present application is shown in FIG. Figure 1 and Figure 2 As shown, an embodiment of the present application provides a flexible transmission mechanism 100 , including a flexible sleeve 10 , two bearings, a plurality of transmission members and an output shaft 60 arranged in the flexible sleeve 10 .

[0031] The flexible sleeve 10 provides a mounting base for other components and plays a role of protection and isolation. It should be noted that the "flexibility" in the flexible sleeve 10 means that the flexible sleeve 10 can adapt to slight deformation or displacement during the transmission process to a certain extent, rather than the softness of its material itself. This adaptability helps to alleviate the impact and vibration during the transmission process, making the transmission more stable and smooth.

[0032] Two bearings are respectively installed in both ends of the flexible sleeve 10. Specifically, the two bearings include a first bearing 20 and a second bearing 30, the first bearing 20 is installed in one end of the flexible sleeve 10 and is used to connect the power shaft, and the second bearing 30 is installed in the other end of the flexible sleeve 10 and is used to connect the output shaft 60.

[0033] Multiple transmission members are arranged axially in the flexible sleeve 10 and located between two bearings. Two adjacent transmission members are transmission-connected. Each transmission member is in rolling contact with the inner wall of the flexible sleeve 10. Multiple transmission members are used to transmit input power to the output shaft 60, and can achieve transmission over longer distances.

[0034] Specifically, the multiple transmission members include a first transmission member 40 and multiple second transmission members 50. The first transmission member 40 is arranged close to the first bearing 20 and is used to connect the power shaft. The multiple second transmission members 50 are arranged axially between the first transmission member 40 and the second bearing 30. The second transmission member 50 closest to the second bearing 30 is connected to the output shaft 60.

[0035] The output shaft 60 is inserted into the other end of the flexible sleeve 10 and connected to the second bearing 30 and the second transmission member 50 closest to the second bearing 30 . The output shaft 60 is used to output power transmitted by the multiple transmission members.

[0036] The first transmission member 40 and the second transmission member 50 are described in more detail below.

[0037] Figure 3 and Figure 4 A schematic diagram of the structure of a first transmission member 40 provided in an embodiment of the present application at different viewing angles is shown in FIG. Figure 3 and Figure 4 As shown, the first transmission member 40 includes a first transmission member body 41 , a first slider 42 , and a plurality of first balls 43 .

[0038] The first transmission member body 41 may be in a spherical cap shape or a hemispherical shape, wherein “spherical cap” refers to a portion of a spherical surface cut off by a plane. Exemplarily, the first transmission member body 41 is in a spherical cap shape.

[0039] The center of the bottom surface of the first transmission member body 41 is provided with an axial hole 411, where the "bottom surface" refers to a spherical or hemispherical bottom surface. The axial hole 411 is used to connect the power shaft. For example, the axial hole 411 is a axial hole 411 with a keyway to ensure that the first transmission member body 41 does not rotate relative to the power shaft when the power shaft rotates.

[0040] The first slider 42 is disposed on the top of the outer surface of the first transmission member body 41, where the "top" refers to the highest point of the first transmission member body 41 in the direction perpendicular to the bottom surface. The first slider 42 is used to slide with the slide groove 512 on the second transmission member 50 to achieve transmission.

[0041] A plurality of first balls 43 are evenly distributed along the circumferential direction on the outer surface of the first transmission member body 41 near the bottom surface. The plurality of first balls 43 are in rolling contact with the inner wall of the flexible sleeve 10 , and have the characteristic of small friction resistance.

[0042] Figure 5 This is a schematic diagram of the structure of a second transmission member 50 provided in an embodiment of the present application. Figure 6 A front view of a second transmission member 50 provided in an embodiment of the present application is shown as follows: Figure 5 and 6 As shown, the second transmission member 50 includes a second transmission member body 51 , a second slider 52 , and a plurality of second balls 53 .

[0043] The shape and size of the second transmission member body 51 are consistent with (the shape and size of) the first transmission member 40. For example, the second transmission member body 51 is spherical. A groove 511 is provided on the bottom surface of the second transmission member body 51. The groove 511 is used to accommodate the adjacent first transmission member 40 or the second transmission member 50. The shape of the groove 511 matches the shape of the first transmission member 40 and the second transmission member 50. For example, the groove 511 is also spherical.

[0044] A circumferentially extending slide groove 512 is provided in the groove 511, and the slide groove 512 is used for sliding cooperation with the first slider 42 of the adjacent first transmission member 40 or the second slider 52 of the second transmission member 50. The length of the slide groove 512 is exemplary, and both ends of the slide groove 512 extend circumferentially in the groove 511 to the bottom surface close to the second transmission member body 51, so that a wide range of relative sliding can be achieved between the second transmission member 50 and the first transmission member 40, and between adjacent second transmission members 50, thereby making the flexible transmission mechanism 100 have a larger adaptability range, better flexibility, and reducing the coaxiality requirements between the power shaft and the output shaft 60.

[0045] The second slider 52 is disposed on the top of the outer surface of the second transmission member body 51, where the "top" refers to the highest point of the second transmission member body 51 in the direction perpendicular to the bottom surface. The second slider 52 is mainly used to slide with the slide groove 512 on the adjacent second transmission member 50 to achieve transmission. The second slider 52 of the second transmission member 50 closest to the second bearing 30 is also used to connect the output shaft 60.

[0046] The plurality of second balls 53 are evenly distributed along the circumference and arranged near the bottom surface on the outer surface of the second transmission member body 51. The plurality of second balls 53 are in rolling contact with the inner wall of the flexible sleeve 10, which has the characteristic of small friction resistance. The second balls 53 can be made of the same size and material as the first rollers.

[0047] Figure 7A schematic diagram of a structure in which a second transmission member 50 and an output shaft 60 are connected is provided in an embodiment of the present application, as shown in FIG. Figure 7 As shown, the output shaft 60 is connected to the second transmission member 50. Specifically, a spherical groove 61 is provided at one end of the output shaft 60. The spherical groove 61 matches the shape of the top of the outer surface of the second transmission member body 51. A clamping groove 62 is provided at the center of the spherical groove 61. The clamping groove 62 is clamped with the second slider 52, thereby realizing the connection between the output shaft 60 and the second transmission member 50. It should be noted that the connected output shaft 60 and the second transmission member 50 can also be regarded as a transmission member.

[0048] Figure 8 A cross-sectional schematic diagram of a flexible transmission mechanism 100 provided in an embodiment of the present application after hiding a flexible sleeve and two bearings, as shown in FIG. Figure 8 As shown, the projections of the slide slots 512 of two adjacent second transmission members 50 on the bottom surfaces of the respective second transmission member bodies 51 are perpendicular to each other in different planes. This arrangement optimizes the moving directions of the first slider 42 of the first transmission member 40 and the second sliders 52 of each second transmission member 50 in three-dimensional space, and multiple transmission members can accurately transmit the transmission. This arrangement also helps each transmission member to maintain the stability of the relative position during the transmission process, reduces the transmission instability caused by the displacement or misalignment of the transmission member position, and helps to reduce the transmission error caused by the slight deviation between the transmission members, making the transmission process more accurate, smooth and reliable. At the same time, it can also provide more degrees of freedom for each transmission member, so that it can better adapt to the requirements of different loads and speeds and has better adaptability.

[0049] Furthermore, in order to allow the first slider 42 and the second slider 52 to better cooperate with their respective corresponding slide grooves 512, so as to achieve the transmission effect of sequentially driving the first transmission member 40 and the second transmission member 50, and between adjacent second transmission members 50, and to prevent the first slider 42 and the second slider 52 from escaping from their respective corresponding slide grooves 512, the projection of the first slider 42 on the bottom surface of the first transmission member body 41 is a rectangle and the width of the rectangle (referring to the direction perpendicular to the side wall of the slide groove 512) matches the width of the slide groove 512, and the projection of the second slider 52 on the bottom surface of the second transmission member body 51 is a square and the width of the square matches the width of the slide groove 512.

[0050] Exemplarily, the first slider 42 and the second slider 52 are both rectangular prisms, where the "rectangular prism" includes a cube. The projection of the first slider 42 on the bottom surface of the first transmission member body 41 is a square, and the width of the square matches the width of the slide groove 512. The projection of the second slider 52 on the bottom surface of the second transmission member body 51 is also a square, and the width of the square matches the width of the slide groove 512.

[0051] The installation process of the flexible transmission mechanism 100 is as follows: the flexible transmission mechanism 100 is set between the power shaft of the driving device and the input end of the working device, the power shaft is installed into one end of the flexible sleeve 10, and connected with the first bearing 20 and the shaft hole 411 of the first transmission member 40, and the output shaft 60 is installed into the input end of the working device, and the installation is completed. Among them, the length of the flexible sleeve 10 and the number of the second transmission members 50 can be adjusted according to the installation distance between the power shaft of the driving device and the input end of the working device.

[0052] The working principle of the flexible transmission mechanism 100 is as follows: when the power shaft of the driving device rotates, the power shaft drives the first transmission member 40 to rotate synchronously, the first transmission member 40 drives the adjacent second transmission member 50 to rotate through the first slider 42, the second transmission member 50 drives the next second transmission member 50 to rotate through the second slider 52, and so on, the last second transmission member 50 drives the output shaft 60 to rotate, thereby transmitting the power output by the power shaft to the input end of the working device. In this process, the first ball 43 of the first transmission member 40 and the second ball 53 of each second transmission member 50 all roll and rub against the inner wall of the flexible sleeve 10, avoiding the phenomenon that the rotating first transmission member 40 and the second transmission member 50 are stuck in the flexible sleeve 10, so that high-speed and efficient transmission can be achieved.

[0053] In summary, the flexible transmission mechanism provided in the embodiment of the present application transmits power through multiple transmission parts, and the connection method between each transmission part is a flexible connection. In combination with the flexible sleeve, the coaxiality requirement for the power shaft and the flexible transmission mechanism is not high, which reduces the requirement for processing accuracy; by changing the number of second transmission parts in the multiple transmission parts, it is possible to achieve transmission of different distances while ensuring transmission efficiency and transmission accuracy, especially by increasing the number of second transmission parts, transmission of longer distances can be achieved; there is rolling contact between each transmission part and the inner wall of the flexible sleeve, which has the characteristic of small friction resistance, and can achieve high-speed and efficient transmission; by integrating multiple transmission parts and two bearings in the flexible sleeve, the miniaturization and lightweight of the flexible transmission mechanism can be achieved, thereby improving space utilization and overall performance.

[0054] The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A flexible transmission mechanism, characterized in that: include: Flexible sleeve; Two bearings are respectively installed in the two ends of the flexible sleeve; a plurality of transmission members, arranged axially in the flexible sleeve and located between two of the bearings, wherein adjacent transmission members are in transmission connection, each of the transmission members is in rolling contact with the inner wall of the flexible sleeve, the plurality of transmission members comprising a first transmission member and a plurality of second transmission members, the first transmission member being arranged close to one of the bearings and used for connecting to a power shaft, and the plurality of second transmission members being arranged axially between the first transmission member and the other of the bearings; and an output shaft connected to the other bearing and the second transmission member closest to the other bearing; Wherein, the first transmission member comprises a first transmission member body, a first slider, and a plurality of first balls, the first transmission member body is spherical or hemispherical, an axial hole is provided at the center of the bottom surface of the first transmission member body, the axial hole is used to connect the power shaft, the first slider is arranged on the top of the outer surface of the first transmission member body, the first slider is used to cooperate with the adjacent second transmission member to realize transmission, the plurality of first balls are distributed along the circumferential direction on the outer surface of the first transmission member body near the bottom surface, and the plurality of first balls are in rolling contact with the inner wall of the flexible sleeve; The second transmission member comprises a second transmission member body, a second slider, and a plurality of second balls. The second transmission member body is spherical or hemispherical. A groove is provided on the bottom surface of the second transmission member body. The shape of the groove matches the shape of the first transmission member and the second transmission member. The groove is used to accommodate the adjacent first transmission member or the second transmission member. A slide groove extending in the circumferential direction is provided in the groove. The slide groove is used to slidably cooperate with the first slider of the adjacent first transmission member or the second slider of the second transmission member. The second slider is arranged on the top of the outer surface of the second transmission member body. The plurality of second balls are distributed in the circumferential direction on the outer surface of the second transmission member body near the bottom surface. The plurality of second balls are in rolling contact with the inner wall of the flexible sleeve. The projections of the slide grooves of two adjacent second transmission members on the bottom surfaces of the respective second transmission member bodies are skewed and perpendicular to each other.

2. The flexible transmission mechanism according to claim 1, characterized in that: Both ends of the slide slot extend circumferentially in the groove to a position close to the bottom surface of the second transmission member body.

3. The flexible transmission mechanism according to claim 1, characterized in that: A spherical groove is provided at one end of the output shaft, and the spherical groove matches the shape of the top of the outer surface of the second transmission member body. A clamping groove is provided at the center of the spherical groove, and the clamping groove is clamped with the second slider, thereby realizing the connection between the output shaft and the second transmission member closest to the other bearing.

4. The flexible transmission mechanism according to claim 1, characterized in that: The projection of the first sliding block on the bottom surface of the first transmission member body is a rectangle, and the width of the rectangle matches the width of the slide groove. The projection of the second sliding block on the bottom surface of the second transmission member body is a square, and the width of the square matches the width of the sliding groove.

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