Rotation transmission mechanism with flexible links

Abstract

FIELD: mechanical engineering.SUBSTANCE: rotation transmission mechanism with flexible links comprises a driving and driven pulley secured on the driving and driven shafts configured for rotation, connected by flexible links. The shafts are secured on separate movable platforms configured for mutual relative linear and angular movement, and the flexible links are secured on pulleys and placed in flexible tubes, the ends of which are secured on the movable platforms.EFFECT: elimination of restrictions on the relative position and orientation of the driving and driven pulleys.1 cl, 1 dwg

Description

[0001] The invention relates to mechanical engineering, and more specifically to mechanisms for transmitting rotary motion from one link to another with possible changes in the relative position and orientation of the links. A large number of mechanisms are known that use flexible elements, such as belt or chain drives, to transmit rotary motion between links. The closest to the proposed device, "Four-link mechanism with an open flexible link" - Artobolevsky I.I. Mechanisms in modern technology. Moscow: Nauka, 1981, in 7 volumes. Volume 5. Cam and friction mechanisms. Mechanisms with flexible links, p. 330, Fig. 3289.

[0002] A four-link mechanism with an open flexible link comprises a base on which shafts are mounted with cylindrical pulleys connected by a flexible link. The rotation of the driving pulley is transmitted to the driven pulley via the flexible link. Constant tension on the flexible link, necessary for transmitting motion, is ensured in this mechanism by the fixed relative position of the driving and driven pulleys. This limitation is a drawback, preventing the transmission of rotation to the moving platforms within the mechanism.

[0003] The problem that the invention is aimed at solving is to eliminate restrictions on the relative position and orientation of the driving and driven pulleys.

[0004] The technical result aimed at achieving the stated objective is the placement of flexible links within flexible tubes, the ends of which are secured to two moving platforms with driving and driven pulleys mounted on them. Tension of the flexible links is ensured by maintaining a constant length of the flexible tubes as the moving platforms move relative to each other.

[0005] Fig. 1 shows the mechanism in question. It comprises movable platforms 1 and 2, on which shafts 3, 4 are placed with a driving pulley 5 and a driven pulley 6 mounted thereon for rotation, connected by flexible links 7 and 8. The flexible links are secured to the driving pulley 5 at point A1 and to the driven pulley 6 at point A2 and are placed in flexible tubes 9 and 10, the ends of which are secured to platforms 1 and 2. Section A-A shows the placement of the flexible link 7 in the groove of the driving pulley 5.

[0006] The flexible link transmission mechanism operates as follows. Drive shaft 3 rotates drive pulley 5 clockwise, the left end of flexible link 8 moves to the left, causing tension on the flexible link and movement of its right end, attached at point A2 to driven pulley 6, which also causes it to rotate clockwise. Flexible link 8 is housed in flexible tube 9, whose ends are secured to movable platforms 1 and 2. This tube prevents changes in the tension of flexible link 8 due to transverse bending of tube 9 associated with the relative movement of platforms 1 and 2 or a change in their relative orientation. Flexible link 7, placed in tube 10, fixed with its ends on movable platforms 1 and 2, moves to the right, its tension also does not depend on the transverse bends of tube 10.

[0007] When the drive shaft 3 rotates the drive pulley 5 counterclockwise, the left end of the flexible link 7 moves to the left, causing tension on the flexible link 7 and movement of its right end, which also causes the pulley 6 to rotate counterclockwise. The flexible tube 10 prevents changes in the tension of the flexible link 7 due to transverse bending of the tube 10 associated with the relative movement of the movable platforms 1 and 2 or changes in their relative orientation.

[0008] Can be used as the driving pulley 6. In this case, the mechanism operates similarly and pulley 5 becomes the driven pulley.

[0009] Thus, the proposed rotation transmission mechanism with flexible links allows the transmission of rotation from the driving pulley to the driven pulley regardless of their relative position and orientation.

[0010] The mechanism can be used in robotic mechanisms, in particular, to transmit motion from a drive mounted on a base to an actuator mounted on a movable platform moving in space.

Claims

A rotation transmission mechanism with flexible links comprises a driving and driven pulley, secured to the driving and driven shafts with the possibility of rotation, connected by flexible links, characterized in that the shafts are secured to separate movable platforms, made with the possibility of mutual relative linear and angular movement, wherein the flexible links are secured to the pulleys and placed in flexible tubes, the ends of which are secured to the movable platforms.

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