Belt-based power transmission mechanism and power transmission system

Abstract

To provide a power transmission mechanism and a power transmission system by a belt capable of flexibly coping with a change of a route for transmitting power, reducing a bending radius, and reducing a production cost.SOLUTION: The guide part 11 is slender, curved or bendable, and has a guide hole 11a continuously extending from one end to the other end. The moving part 12 has a slender and flexible belt 22 inserted into the guide hole 11a, and is arranged so as to be slidingly movable to the guide part 11 on the inside of the guide hole 11a in the extending direction of the guide part 11 even when the guide part 11 is curved or bent.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a belt-based power transmission mechanism and a power transmission system. [Background technology]

[0002] Timing belts, chains, wires, and the like are used as mechanisms for transmitting power over long stroke distances. Typical belts and chains transmit power by being laid along a looped path fixed by sprockets and pulleys (see, for example, Patent Document 1). Furthermore, rigid chains (see, for example, Patent Document 2) and zip chains (see, for example, Patent Document 3) have also been developed that use interlocking structures to transmit power even along paths that are not looped, such as straight or curved paths with a constant curvature. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 9-328212 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-81058 [Patent Document 3] Japanese Patent Application Laid-Open No. 2013-234706 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the general belts and chains described in Patent Document 1, the rigid chains described in Patent Document 2, and the Zip Chains described in Patent Document 3, the paths they are laid are all fixed at the positions of the sprockets and pulleys, which makes it difficult to flexibly accommodate changes in the path of power transmission when the path changes, for example, when power needs to be transmitted along the surface of a deforming membrane or across a joint that frequently deforms, such as a hinge. Furthermore, chains have the problems of high production costs due to the large number of constituent parts, and a large bending radius due to the rigid structure of each connected part.

[0005] The present invention has been made in light of these problems, and aims to provide a belt-based power transmission mechanism and power transmission system that can flexibly respond to changes in the power transmission path, can reduce the bending radius, and can reduce production costs. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the belt-based power transmission mechanism of the present invention is characterized by having a guide section that is elongated and configured to be curved or bendable, and has a guide hole that extends continuously from one end to the other, and a moving section that has an elongated and flexible belt inserted into the guide hole and is arranged to be able to slide inside the guide hole relative to the guide section along the extension direction of the guide section, even when the guide section is curved or bent.

[0007] The belt-based power transmission mechanism of the present invention has a moving part that has an elongated, flexible belt and that can transmit power by sliding relative to the guide part inside the guide hole along the extension direction of the guide hole. In the belt-based power transmission mechanism of the present invention, the elongated guide part is configured to be curved or bendable, so the guide part can be curved or bent to fit the surface shape of the location where force is to be transmitted. This allows power to be transmitted along paths of various shapes, such as straight or curved paths. It can also flexibly accommodate changes in the power transmission path. Furthermore, because power is transmitted by sliding the belt, the bending radius can be smaller than with a chain. Furthermore, it requires fewer parts than a chain, reducing production costs.

[0008] Furthermore, in the belt-based power transmission mechanism of the present invention, the inner wall surface of the guide hole is preferably free of or minimally uneven, or if uneven, the unevenness is a smoothly curved surface, or the inner wall surface of the guide hole and the surface of the belt are preferably made of materials that slide easily against each other, so that the belt can move smoothly through the guide hole. Furthermore, the belt-based power transmission mechanism of the present invention is configured so that the belt can move back and forth along the guide hole, thereby transmitting pushing and pulling power. Furthermore, the belt-based power transmission mechanism of the present invention can transmit pushing and pulling power even if it is not a loop-shaped path, and can be used in a variety of power transmission systems.

[0009] In the belt-based power transmission mechanism according to the present invention, the guide portion may be made of any material that can be curved or bent. The guide portion may be, for example, a chain-like material, or may be made of a flexible material such as polypropylene or other resin, or aluminum, which is strong against compression in the extension direction but is flexible enough to be curved or bent.

[0010] In the belt-based power transmission mechanism according to the present invention, the guide section preferably includes a plurality of connecting members connected in a row, each connecting member having a through hole extending from one end to the other, the through holes of each connecting member being connected to the other end of the adjacent connecting member with the through hole of the other connecting member being in communication with each other, the angle formed by the through hole of each connecting member and the through hole of the other connecting member being variable within a predetermined angle range, and the guide hole preferably being formed by the through hole of each connecting member. In this case, the guide section preferably includes a chain-like structure in which a plurality of connecting members are connected in a row, and the moving section having a belt moves through the guide hole of the chain-like guide section. Therefore, even if the angle formed by adjacent connecting members is small and the curvature of the guide hole is large, the moving section can easily slide.

[0011] In the belt-based power transmission mechanism according to the present invention, the guide portion may be arranged in a closed curve with the one end and the other end connected, the guide hole may be connected between the one end and the other end of the guide portion, and the moving portion may be provided so as to move and rotate inside the guide hole in the extension direction of the guide portion. Also, the one end and the other end of the guide portion may not be connected, and may be arranged at different positions.

[0012] The belt-based power transmission mechanism according to the present invention preferably includes a drive means for driving the moving part so that the moving part slides relative to the guide part. The drive means may be any means, such as a motor, that can realize the sliding movement of the moving part.

[0013] In the belt-based power transmission mechanism according to the present invention, the moving part may have a plurality of pairs of moving rollers provided at predetermined intervals along the length of the belt on both sides of the belt, and each moving roller may be configured to rotate in contact with the wall surface of the guide hole when the belt slides inside the guide hole. In this case, the moving rollers can reduce friction generated between the moving part and the guide part, allowing the moving part to slide smoothly.

[0014] The belt-based power transmission mechanism of the present invention may have a drive means for driving the moving part so that it slides relative to the guide part, the belt being a timing belt, and the drive means having a timing pulley arranged to mesh with the belt, and configured to drive the moving part by rotating the timing pulley.

[0015] Furthermore, when the above-described moving rollers and timing pulleys are provided, it is preferable that the timing pulleys have a circumference having a length that is an integral multiple of the predetermined interval, have avoidance grooves provided at the predetermined intervals along the circumference, and are configured so that each pair of moving rollers fits into the avoidance groove when meshing with the belt and rotating. In this case, because each moving roller fits into the avoidance groove, even if the moving rollers and timing belt are integrated into a compact shape, the moving rollers and timing pulley do not interfere with each other, and the timing belt can be accurately meshed with the timing pulley.

[0016] The belt-based power transmission mechanism according to the present invention preferably includes a tension applying means that is capable of adjusting the magnitude of tension along the length of the belt. In this case, by applying tension to the belt with the tension applying means, the moving part can slide smoothly and with high precision.

[0017] In the belt-based power transmission mechanism according to the present invention, each connecting member may have a slit communicating with the through hole and extending from one end to the other end along the through hole, and the slits may be connected so as to be continuous. Also, side walls may be provided on both sides of the slit. This allows power to be extracted and utilized from the moving part that moves through the guide hole formed by the through holes through the continuous slits. Furthermore, power can be extracted and utilized from the entire path of the guide part through the slits. In this case, the cross-sectional shape of each connecting member perpendicular to the penetration direction of the through hole may be any shape, such as a U-shape or a C-shape, as long as the slits are connected so as to be continuous.

[0018] In the belt-based power transmission mechanism according to the present invention, it is preferable that each connecting member has a shape that, when adjacent connecting members are bent relative to each other within the predetermined angle range, partially or entirely covers the gap between the adjacent connecting members on the outside of the bend. In this case, it is possible to prevent the moving part from getting caught at the bent position of the guide part and to suppress pulsation of the moving part. This allows the moving part to slide smoothly.

[0019] The belt-based power transmission mechanism according to the present invention is preferably configured so that, when the moving part slides through the guide hole, the lines of force of the moving part and the lines of force of the guide part substantially coincide with each other. In this case, the lines of force (lines of force of the guide part) generated by the force on the guide part due to the movement of the moving part substantially coincide with the lines of force of the moving part along the direction of movement. This means that almost no force is applied to the guide part in a direction intersecting the direction of movement of the moving part, thereby suppressing the generation of bending moments. This prevents the guide part from moving or bending from its position due to the power transmission from the moving part, thereby maintaining the power transmission path.

[0020] In the belt-based power transmission mechanism according to the present invention, the moving parts may be configured to have two or more moving parts, each of which can move through the guide hole. In this case, two or more powers can be extracted corresponding to each moving part. Also, a differential mechanism can be configured using power extracted from separate moving parts. Each moving part may be moved by the same driving means or by separate driving means.

[0021] In the belt-based power transmission mechanism according to the present invention, the guide members may be two or more, and one or more moving members may be inserted into the guide holes of each guide member. In this case, two or more powers can be extracted corresponding to each guide member. Also, a differential mechanism can be configured using power extracted from moving members that slide along separate guide members. [Effects of the Invention]

[0022] According to the present invention, it is possible to provide a belt-based power transmission mechanism and power transmission system that can flexibly respond to changes in the power transmission path, can reduce the bending radius, and can reduce production costs. [Brief explanation of the drawings]

[0023] [Figure 1] 1A is a plan view, FIG. 1B is a perspective view, FIG. 1C is a side view, and FIG. 1D is a rear view showing a power transmission mechanism using a belt according to an embodiment of the present invention. [Figure 2] 2A is a longitudinal cross-sectional view of the power transmission mechanism shown in FIG. 1 with a side surface of a guide portion cut away, and FIG. 2B is a perspective view of a connecting member. [Figure 3] 2A is an enlarged perspective view of a portion of a guide section and a moving section of the power transmission mechanism shown in FIG. 1, and FIG. 2B is a perspective view of a vertical cross section with a side surface of the guide section cut away. [Figure 4](a) An oblique view of an enlarged longitudinal section of the driving means and its tensioning means of the power transmission mechanism shown in Figure 1, (b) an enlarged longitudinal section of the driving means and its tensioning means, (c) an enlarged longitudinal section of the position where the belt bends 180 degrees, and (d) an enlarged longitudinal section of the position where the belt bends 135 degrees. [Figure 5] 1A and 1B are perspective views showing modified examples of the power transmission mechanism shown in FIG. 1, in which the shape of the closed curve of the guide part is (a) roughly triangular, (b) one side of the triangle is recessed inward, and (c) one side of the triangle is bulged outward. [Figure 6] 1. FIG. 4 is a perspective view showing a modified example of the guide portion made of a flexible material in the power transmission mechanism shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 to 6 show an example of a power transmission mechanism using a belt according to an embodiment of the present invention. As shown in FIGS. 1 to 4, the belt-based power transmission mechanism 10 includes a guide portion 11, a moving portion 12, a driving means 13, and a tensioning means 14.

[0025] The guide unit 11 has a plurality of connecting members 21 connected in a row, and the individual connecting members 21 are connected to each other to form a long, thin chain. As shown in FIGS. 2(b) and 3(a), each connecting member 21 has a through-hole 21a penetrating from one end to the other end and capable of containing a moving unit 12, and an open slit 21b communicating with the through-hole 21a and extending from one end to the other along the through-hole 21a. Each connecting member 21 is made of, for example, resin or aluminum. In a specific example shown in FIGS. 1 to 4, when the slit 21b is at the top, a pair of connecting members 21 each having two through-holes 21a capable of containing two moving units 12 are connected to each other on the left and right sides and integrally provided. The connecting member 21 may consist of only one through hole 21a capable of containing one moving part 12, or may be integrally formed with multiple through holes 21a capable of containing two or more moving parts 12.

[0026] 2(b) and 3(a), each connecting member 21 has four side walls 31a, 31b, 31c, and 31d surrounding the through hole 21a, and a slit 21b is formed in the center of one of the side walls 31a. When the slit 21b is at the top, the side walls 31a form a ceiling that covers the upper space of the through hole 21a except for the slit 21b from both sides, and are provided along a direction from one end to the other of the through hole 21a of the connecting member 21. As an example, the side walls 31a are not provided symmetrically at opposing positions on both sides of the slit 21b, but are provided at positions offset by a predetermined interval along a direction from one end to the other of the through hole 21a.

[0027] When slit 21b is at the top, side walls 31b and 31c are connected to side walls 31a, which cover the upper space from both sides, and form side walls 31b and 31c of through hole 21a. Side wall 31d is connected to side walls 31b and 31c, and forms the floor (bottom) of through hole 21a when slit 21b is at the top. Note that side wall 31d does not need to cover the entire floor as long as it connects side walls 31b and 31c; a hole or the like may be provided so that through hole 21a is open on the bottom wall side as well. As a result, each connecting member 21 has a U-shaped cross section perpendicular to the penetration direction of through hole 21a.

[0028] In each connecting member 21, both ends of the side walls 31b, 31c on both sides of the side wall 31a in which the slit 21b is formed protrude outward in the extension direction, and the protrusions are approximately semicircular. Each connecting member 21 has a circular portion including the protrusion on one end that is thinner and is provided along the outer surface of the corresponding side wall 31b, 31c. A circular shaft hole 21c is formed in the center of the circular portion. Similarly, each connecting member 21 has a circular portion including the protrusion on the other end that is thinner and is provided along the inner surface of the corresponding side wall 31b, 31c. A circular protrusion 21d protruding outward from the center of the circular portion has an outer diameter approximately equal to the inner diameter of the shaft hole 21c, and fits into the shaft hole 21c.

[0029] The connecting members 21 are connected by fitting the circular protrusion 21d on the other end side of one adjacent connecting member 21 into the axial hole 21c on one end side of the other connecting member 21 so that the slits 21b are continuous with each other. As a result, the connecting members 21 are connected with each other with their through holes 21a communicating with each other. Furthermore, each connecting member 21 is configured to bend by rotating the circular protrusion 21d inside the axial hole 21c, so that the angle formed between the penetration direction of the through hole 21a of one adjacent connecting member 21 and the penetration direction of the through hole 21a of the other connecting member 21 changes within a predetermined angle range.

[0030] 1 and 2, the guide portion 11 is configured to be bendable as a whole by bending at the connecting portions of the connecting members 21. The guide portion 11 also has guide holes 11a that extend from one end to the other and are formed by the through holes 21a of the connected connecting members 21. The guide portion 11 is configured so that the guide holes 11a remain connected even when the guide portion 11 is curved or bent.

[0031] 1 to 4, the moving unit 12 has an elongated, flexible belt 22 and multiple pairs of moving rollers 23. The belt 22 is made of a timing belt with multiple belt teeth formed on at least one surface, and is inserted along the guide hole 11a of the guide unit 11. As shown in FIG. 3(a), the multiple pairs of moving rollers 23 are attached to both sides of the belt 22 at regular intervals along the length of the belt 22 by roller fixing devices 23a. Each pair of moving rollers 23 is rotatable about an axis parallel to the width direction of the belt 22.

[0032] Moving portion 12 is provided so as to be able to slide relative to guide portion 11 inside guide hole 11a along the extension direction of guide portion 11, not only when guide portion 11 extends straight but also when guide portion 11 is curved or bent. Also, when belt 22 slides inside guide hole 11a, each moving roller 23 rotates in contact with the wall surface of guide hole 11a.

[0033] In a specific example shown in FIGS. 1 to 4 , the guide portion 11 is arranged in a closed curve with one end connected to the other, and the guide hole 11a is connected to one end of the guide portion 11. The guide portion 11 has two guide holes 11a arranged parallel to each other on the left and right sides by connecting a pair of connecting members 21, which are connected to the left and right sides and integrally provided, in a row. The moving portion 12 is formed in a ring shape by connecting one end of a belt 22 to the other end, and one moving portion 12 is inserted into each guide hole 11a. The moving portion 12 is provided so as to move and rotate inside each guide hole 11a along the extension direction of the guide portion 11. Each connecting member 21 is configured to bend such that the angle formed between the through-hole 21a of one adjacent connecting member 21 and the through-hole 21a of the other connecting member 21 changes within a range of 180°±15°.

[0034] As shown in FIGS. 1 and 4 , the drive means 13 includes a motor 24, a timing pulley 25 rotatably mounted by the motor 24, and a plurality of idler pulleys 26. The timing pulley 25 is mounted to rotate in mesh with the teeth of the belt 22, which is a timing belt. Each idler pulley 26 is mounted at a bending position of the guide unit 11 so as to rotate together with the sliding belt 22, allowing the belt 22 to smoothly slide at the bending position. Each idler pulley 26 may have a groove on its circumferential surface so as to mesh with the teeth of the belt 22, or may have no groove on its circumferential surface so as not to mesh with the teeth of the belt 22. The timing pulley 25 and each idler pulley 26 have circumferences whose lengths are an integral multiple of the fixed interval between each pair of transfer rollers 23, and each have avoidance grooves 27 provided at fixed intervals along the circumference.

[0035] The driving means 13 rotates the timing pulley 25 using the motor 24, thereby sliding the moving section 12 relative to the guide section 11. Furthermore, when the timing pulley 25 and each idler pulley 26 rotate together with the belt 22, they rotate passively or actively in synchronization so that each pair of moving rollers 23 fits into the avoidance grooves 27, thereby preventing interference with the moving rollers 23.

[0036] As shown in Figures 4(a) and (b), the tension applying means 14 has a movable pulley 28 and an adjustment unit 29. The movable pulley 28 is an idler pulley, is disposed at a position where the belt 22 bends, and is configured to rotate together with the sliding belt 22. The movable pulley 28 is configured to be slidable between a high tension position (position indicated by a solid line in Figure 4(b)) where the bending angle of the belt 22 is large, and a low tension position (position indicated by a dashed line in Figure 4(b)) where the bending angle of the belt 22 is small. The adjustment unit 29 is capable of adjusting the tension applied to the belt 22 by sliding the movable pulley 28 between the high tension position and the low tension position.

[0037] The moving pulley 28 has a circumference whose length is an integer multiple of the fixed interval between each pair of moving rollers 23, and has avoidance grooves 28a provided at the fixed intervals along its circumference. When the moving pulley 28 rotates together with the belt 22, each pair of moving rollers 23 fits into the avoidance grooves 28a so as not to interfere with the moving rollers 23.

[0038] In the specific example shown in Figures 1 to 4, the timing pulley 25 and two idler pulleys 26 are arranged at the vertices of the triangle so that the guide section 11, which has a closed curved shape, forms a roughly triangular shape. As shown in Figures 4(a) and (b), the timing pulley 25 is arranged inside the guide section 11 at a position where the guide section 11 bends and the belt 22 bends 180 degrees. As shown in Figure 4(c), one of the two idler pulleys 26 is arranged inside the guide section 11 at a position where the belt 22 bends 180 degrees. As shown in Figure 4(d), the other idler pulley 26 is arranged inside the guide section 11 at a position where the belt 22 bends 135 degrees.

[0039] 4(a) and 4(b), the movable pulley 28 is disposed near the timing pulley 25 and outside the guide unit 11. The movable pulley 28 is provided so that the belt 22 bends in the opposite direction to the bending direction at the timing pulley 25. The movable pulley 28 is provided so that the bending angle of the belt 22 is 90 degrees at the high tension position and 135 degrees at the low tension position. The motor 24, timing pulley 25, and each idler pulley 26 of the drive means 13, as well as the movable pulley 28 and adjustment unit 29 of the tension applying means 14, are provided in pairs corresponding to each guide hole 11a.

[0040] As shown in FIGS. 2(b) and 3(a), in the power transmission mechanism 10, each connecting member 21 is shaped to partially or entirely cover the gap between adjacent connecting members 21 on the outside of the bend when adjacent connecting members 21 are bent relative to each other. In the specific example shown in FIGS. 2(b) and 3(a), each connecting member 21 is arranged such that the positions of both ends of the side wall 31a, in which the slit 21b is formed, along the extension direction of the connecting member 21, are offset from each other. As a result, when the moving part 12 slides through the through hole 21a, a portion of one of the side walls 31a on both sides of the slit 21b comes into contact with the moving part 12. Furthermore, a center portion on one end side of the side wall 31d facing the side wall 31a in which the slit 21b is formed protrudes toward the one end side along the extension direction of the connecting member 21, and both sides on the other end side protrude toward the other end side along the extension direction of the connecting member 21. In addition, the inner surface sides of these portions are formed in a tapered shape with a smoothly curved surface along the extension direction of the connecting member 21. As a result, when adjacent connecting members 21 are bent relative to each other, the gap between the adjacent connecting members 21 is covered as much as possible on the outside of the bend, and they do not collide with each other on the inside of the bend. In addition, the inner surface of the guide hole 11a formed by each connecting member 21 is formed with a flat surface and a smoothly curved surface. This allows the moving part 12 to slide smoothly through the guide hole 11a.

[0041] Furthermore, in the power transmission mechanism 10, when the moving part 12 slides through the guide hole 11a, the forces applied to the moving part 12 and the guide part 11 are, on average, in opposite directions, and the force lines of the moving part 12 and the guide part 11 are approximately aligned.

[0042] Next, the operation will be described. The power transmission mechanism 10 has a structure in which a moving part 12 having a belt 22 slides along the inside of a guide hole 11a of a chain-shaped guide part 11 relative to the guide part 11, and power can be transmitted by the sliding movement of the moving part 12 through the guide hole 11a. Because the guide part 11 of the power transmission mechanism 10 is configured to be curved or bend in a chain-like shape, the guide part 11 can be curved or bent to conform to the surface shape of the location where the force is to be transmitted. This allows power to be transmitted along paths of various shapes, such as straight or curved paths. Furthermore, the mechanism can flexibly accommodate changes in the path through which power is transmitted.

[0043] Because the power transmission mechanism 10 is configured to slide the belt 22 of the moving part 12, the moving part 12 can easily slide even if the angle between adjacent connecting members 21 of the guide part 11 is small and the curvature of the guide hole 11a is large. Furthermore, because the moving part 12 has multiple moving rollers 23, friction generated between the moving part 12 and the guide part 11 can be reduced, allowing the moving part 12 to slide smoothly. Furthermore, when the moving part 12 slides, the moving rollers 23 fit into the avoidance grooves 27 of the timing pulley 25 and the idler pulleys 26 and the avoidance groove 28a of the moving pulley 28. This prevents interference between the moving rollers 23 and the pulleys, even in a compact configuration in which the moving rollers 23 and the belt 22 are integrated. This allows the timing belt and timing pulley 25 to mesh accurately, and allows the moving part 12 to move smoothly. Furthermore, the power transmission mechanism 10 can apply tension to the belt 22 using the tension applying means 14, thereby allowing the moving part 12 to slide smoothly and with high precision.

[0044] Furthermore, the power transmission mechanism 10 is configured to allow the belt 22 to move back and forth along the guide hole 11a, thereby enabling the transmission of pushing and pulling power. This also allows the power transmission mechanism 10 to transmit pushing and pulling power even if the path is not a loop, and the power transmission mechanism 10 can be used in a variety of power transmission systems.

[0045] The power transmission mechanism 10 can extract power from the moving part 12 moving through the guide hole 11a through the successive slits 21b provided in each connecting member 21 of the guide part 11, and can be used to drive a load, etc. Also, power can be extracted and used from the entire path of the guide part 11 through the slits 21b. Furthermore, the power transmission mechanism 10 can form a differential mechanism by using two powers from the moving part 12 moving through the two guide holes 11a.

[0046] 2(b) and 3(a), in the power transmission mechanism 10, when adjacent connecting members 21 are bent relative to each other, each connecting member 21 is formed so as to cover as much of the gap between adjacent connecting members 21 as possible on the outside of the bend, thereby preventing the moving part 12 from getting caught at the bent position of the guide part 11 and suppressing pulsation of the moving part 12. This allows the moving part 12 to slide smoothly.

[0047] In the power transmission mechanism 10, when the moving part 12 moves through the guide hole 11a, the lines of force of the moving part 12 and the lines of force of the guide part 11 are substantially aligned, so that almost no force is applied to the guide part 11 in a direction intersecting the direction of movement of the moving part 12, thereby suppressing the generation of bending moments. This prevents the guide part 11 from moving or bending from its position due to the power transmission of the moving part 12, and maintains the power transmission path. Furthermore, the rigidity of the guide part 11 can be reduced, allowing for miniaturization and cost reduction.

[0048] The power transmission mechanism 10 transmits power by sliding the belt 22 of the moving part 12, which allows for a smaller bending radius and suppresses pulsation during movement compared to when a chain is used. Also, compared to when a chain is used for the moving part 12, the power transmission mechanism 10 can be made smaller and lighter, and the number of parts can be reduced, resulting in lower production costs. Furthermore, the moving part 12 and the guide part 11 can be made thinner, allowing for a more compact design.

[0049] As shown in FIGS. 5( a ) to 5 ( c ), the closed curved shape of the guide portion 11 of the power transmission mechanism 10 may have any shape, such as a roughly triangular shape, a shape with one side of the triangle concave inward, or a shape with one side of the triangle bulging outward. It may also have a shape similar to a polygon other than a triangle, or a shape similar to a circle. When a polygon with more sides than a triangle is used, idler pulleys can be provided at the vertices to accommodate any polygon. Furthermore, the guide portion 11 may not have a closed curved shape, and one end and the other end may not be connected but may be located at different positions. In this case, it is preferable that the moving portion 12 be capable of reciprocating between one end and the other end of the guide portion 11 and capable of transmitting pushing and pulling power. In this case, it is preferable that the tensioning means 14 be a spring attached between one end or both ends of the belt 22 and the guide portion 11 to apply tension to the belt 22.

[0050] Furthermore, in the power transmission mechanism 10, the guide portion 11 is not limited to a chain-like member, and may be made of any material as long as it is curved or bendable. For example, as shown in FIG. 6, the guide portion 11 may be made of a flexible resin such as polypropylene or aluminum. Even in this case, the guide portion 11 can be curved or bent to fit the surface shape of the location where the force is to be transmitted.

[0051] Furthermore, the power transmission mechanism 10 is not limited to a mechanism in which the guide portion 11 has two guide holes 11a as shown in FIGS. 1 to 6, but may have only one guide hole 11a or three or more guide holes 11a. The power transmission mechanism 10 may also be configured such that two or more moving portions 12 are inserted into one guide hole 11a, and each moving portion 12 is movable through the respective guide holes 11a. In this case, two or more powers can be extracted corresponding to each moving portion 12. A differential mechanism can also be configured using powers extracted from separate moving portions 12. Each moving portion 12 may be moved by the same driving means 13, or by separate driving means 13.

[0052] Furthermore, the power transmission mechanism 10 may be configured so that the moving part 12 does not have the moving rollers 23, but is made to be easily slidable by applying lubricant to the belt 22. In this case as well, it is possible to reduce friction between the guide part 11 and the belt 22, and the moving part 12 can be smoothly slid.

[0053] The power transmission mechanism 10 can transmit power along paths of various shapes and can flexibly adapt to changes in the power transmission path, so it can transmit power along deforming surfaces such as the fabric or membrane of a tent or a flexible plate. More specifically, it can be used in mobile systems on flexible membranes that can be deployed and retracted, such as in stadiums and architectural structures, and in systems that transmit force to the human body while adapting to the shape of the human body, such as massage machines, chairs, beds, cushions, and nursing and assistance robots. It can also be placed in paths that pass through frequently deforming movable parts, such as hinges, or paths that pass through restricted spaces, such as narrow sections, to transmit power. [Explanation of symbols]

[0054] 10 Power transmission mechanism (by belt) 11 Guide section 11a Guide hole 21 Connecting member 21a Through hole 21b Slit 21c shaft hole 21d Circular convex part 31a, 31b, 31c, 31d side wall 12 Moving section 22 Belt 23 Transport roller 23a Roller fixing device 13 Driving means 24 motor 25 Timing pulley 26 Idler pulley 27 Avoidance Groove 14 Tensioning means 28 Moving Pulley 28a Avoidance groove 29 Adjustment part

Claims

1. a guide portion that is elongated, curved or bendable, and has a guide hole that extends continuously from one end to the other end; a moving section having an elongated flexible belt inserted into the guide hole, the moving section being slidable inside the guide hole relative to the guide section along the extension direction of the guide section even when the guide section is curved or bent; A belt-based power transmission mechanism characterized by having:

2. The guide portion has a plurality of connecting members arranged in a row and connected to each other, each connecting member having a through hole penetrating from one end to the other end, the through holes of which are connected to each other, and the one end of one adjacent connecting member is connected to the other end of the other connecting member, and the angle formed by the through-hole direction of one connecting member and the through-hole direction of the other connecting member is changeable within a predetermined angle range, The guide hole is formed by the through hole of each of the connected connecting members.

2. A belt-type power transmission mechanism according to claim 1.

3. the guide portion is arranged in a closed curved line with the one end and the other end connected, and the guide hole is in communication with the one end and the other end of the guide portion, The moving portion is provided so as to be able to move and rotate inside the guide hole along the extension direction of the guide portion.

2. A belt-type power transmission mechanism according to claim 1.

4. 2. The belt-based power transmission mechanism according to claim 1, further comprising a driving means for driving said moving portion so as to slide relative to said guide portion.

5. The belt-based power transmission mechanism of claim 1, characterized in that the moving section has multiple pairs of moving rollers arranged at predetermined intervals along the length of the belt on both sides of the belt, and each moving roller is configured to rotate in contact with the wall surface of the guide hole when the belt slides inside the guide hole.

6. a driving means for driving the moving portion so as to slide relative to the guide portion; the belt is a timing belt, The driving means has a timing pulley that is provided to mesh with the belt, and is configured to drive the moving part by rotating the timing pulley.

6. A power transmission mechanism using a belt according to claim 5.

7. 7. A power transmission mechanism using a belt according to claim 6, wherein the timing pulley has a circumference having a length that is an integer multiple of the predetermined interval, and has avoidance grooves provided at the predetermined intervals along the circumference, and when the timing pulley rotates in mesh with the belt, each pair of moving rollers fits into the avoidance groove.

8. 2. A power transmission mechanism using a belt according to claim 1, further comprising a tension applying means for adjusting the magnitude of tension applied to the belt along the length direction.

9. 3. A belt-type power transmission mechanism as described in claim 2, characterized in that each connecting member has a slit that communicates with the through hole and extends from one end to the other end along the through hole, and the slits are connected so that they are continuous.

10. 3. The belt-type power transmission mechanism according to claim 2, wherein each connecting member is shaped to cover part or all of the gap between adjacent connecting members on the outside of the bend when the adjacent connecting members are bent relative to each other at an angle within the specified angle range.

11. A belt-based power transmission mechanism as described in any one of claims 1 to 10, characterized in that when the moving part slides through the guide hole, the force lines of the moving part and the guide part are configured to approximately coincide.

12. 11. The power transmission mechanism using a belt according to claim 1, wherein the moving portion comprises two or more moving portions, each of which is configured to be movable in the guide hole.

13. The guide portion is composed of two or more guide portions, The moving portion is inserted into one or more of the guide holes of each guide portion.

11. A power transmission mechanism using a belt according to any one of claims 1 to 10.

14. A power transmission system comprising the belt power transmission mechanism according to claim 1.

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