Power transmission system and power transmission mechanism using chain

Abstract

[Problem] To provide a power transmission system and a power transmission mechanism using a chain which are capable of flexibly adapting to a change in a path for transmitting power. [Solution] A guide part 11 is configured to be long and narrow and to be capable of being curved or bent, and has a guide hole 11a which extends continuously from one end to the other end thereof. A moving part 12 is inserted into the guide hole 11a, and is configured to be movable along the extending direction of the guide hole 11a even when the guide part 11 is curved or bent. The moving part 12 has a plurality of inner connection members 22 which are connected in a manner of being aligned in a line. Each of the inner connection members 22 is connected such that the angle formed with an adjacent one of the inner connection members 22 is changeable within a first angle range.

Description

Chain-based power transmission mechanism and power transmission system

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

[0002] Chains, wires, timing belts, etc. are used as mechanisms for transmitting pushing and pulling power over long strokes. Among these, a typical chain transmits pushing and pulling power by being laid along a looped path fixed by sprockets. However, if the chain is not laid along a looped path fixed by sprockets, it is difficult to transmit pushing and pulling power along that path.

[0003] To solve this problem, rigid chains (see, for example, Patent Document 1) and zip chains (see, for example, Patent Document 2) have been developed. These chains have an interlocking structure that allows them to transmit pushing and pulling power even on paths that are not loop-shaped, such as straight lines or curved paths with a constant curvature.

[0004] JP 2014-81058 A JP 2013-234706 A

[0005] However, with rigid chains such as those described in Patent Document 1 and zip chains such as those described in Patent Document 2, the route along which they are laid is fixed at the position of the sprockets, so there is a problem in that it is difficult to flexibly respond to changes in the route for transmitting power when the route changes, for example, when it is necessary to transmit power along the surface of a deforming membrane or when it is necessary to transmit power across a joint that frequently deforms, such as a hinge section.

[0006] The present invention has been made in response to such problems, and aims to provide a chain-based power transmission mechanism and power transmission system that can flexibly respond to changes in the power transmission path.

[0007] In order to achieve the above-mentioned object, the chain power transmission mechanism of the present invention comprises 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 is inserted into the guide hole and is arranged so that it can move along the extension direction of the guide hole even when the guide section is curved or bent, and is characterized in that the moving section has a plurality of inner connecting members that are connected in a row, and each inner connecting member is connected so that the angle formed with adjacent inner connecting members can be changed within a first angle range.

[0008] The chain power transmission mechanism of the present invention has a moving part formed into a chain shape by connecting a plurality of inner connecting members arranged in a row, and is capable of transmitting power by moving through the guide slot in the extension direction of the guide slot. Furthermore, by moving the moving part back and forth, pushing and pulling power can be transmitted. This allows the chain power transmission mechanism of the present invention to transmit pushing and pulling power even if the path is not a loop, and can be used in a variety of power transmission systems.

[0009] Furthermore, in the chain power transmission mechanism according to the present invention, the elongated guide portion is configured to be curved or bendable, so the guide portion can be curved or bent to conform to the surface shape of the location where the force is to be transmitted. This allows pushing and pulling power to be transmitted along paths of various shapes, such as straight or curved paths. It can also flexibly accommodate changes in the path through which the power is transmitted. Because the moving portion of the chain power transmission mechanism according to the present invention is chain-shaped, it is less likely to bend or buckle when transmitting power, unlike a wire.

[0010] In the chain power transmission mechanism of the present invention, it is preferable that the first angle range is greater than the curve angle or flexion angle of the guide portion so that the moving part can move easily even at a curved or bent portion of the guide portion. Also, in the chain power transmission mechanism of the present invention, it is preferable that the width and height of the guide hole are appropriately set so that the moving part does not buckle inside the guide hole.

[0011] Furthermore, in the chain power transmission mechanism of the present invention, it is preferable that the inner wall surface of the guide hole is free of or has few irregularities, or even if there are irregularities, the irregularities are smoothly curved, so that the moving part can move smoothly through the guide hole, or that the inner wall surface of the guide hole and the surface of the moving part are made of a material that slides easily against each other, such as resin, or that the moving part has rollers or bearings that rotate against the inner wall surface of the guide hole when moving.It is also preferable that the chain power transmission mechanism of the present invention has driving means, such as a motor, for moving the moving part.

[0012] In the chain power transmission mechanism according to the present invention, the guide section preferably has a plurality of outer connecting members connected in a row, each outer connecting member having a through hole extending from one end to the other, the one end of one adjacent outer connecting member being connected to the other end of the other outer connecting member with the through holes communicating with each other, the angle formed by the through hole of one outer connecting member and the through hole of the other outer connecting member being variable within a second angle range, and the guide hole being formed by the through hole of each connected outer connecting member. In this case, the guide section also has a chain-like structure in which a plurality of outer connecting members are connected in a row, and a chain-like moving section moves through the guide hole of the chain-like guide section, forming a double chain structure.

[0013] In this double chain structure, the first angle range is preferably greater than the second angle range so that the moving part can move easily even when the guide part is bent, and the pitch of each outer connecting member (the distance between the connection position of an outer connecting member at one end and the connection position of an outer connecting member at the other end) is preferably greater than the pitch of each inner connecting member (the distance between the connection position of an inner connecting member at one end and the connection position of an inner connecting member at the other end). Furthermore, the ratio of the pitch of each outer connecting member to the pitch of each inner connecting member is preferably an irrational number. These features suppress pulsation of the guide part when the moving part moves.

[0014] Furthermore, in the case of a double chain structure, it is preferable that each outer 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 that the slits are connected so as to be continuous. 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 via the slits. In this case, the cross-sectional shape of each outer 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.

[0015] In the case of a double chain structure, it is preferable that each outer linking member has a shape that covers part or all of the gap between adjacent outer linking members on the outside of the bend when the adjacent outer linking members are bent relative to each other at an angle within the second angle range. In this case, the moving part can be prevented from getting caught at the bent position of the guide part and pulsation of the moving part can be suppressed, allowing the moving part to move smoothly.

[0016] The chain power transmission mechanism according to the present invention is preferably configured so that the lines of force of the moving part and the guide part substantially coincide when the moving part moves through the guide hole. 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, and the generation of bending moments can be suppressed. This prevents the guide part from moving or bending from its position, and maintains the power transmission path.

[0017] In the chain-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.

[0018] According to the present invention, it is possible to provide a chain-based power transmission mechanism and power transmission system that can flexibly respond to changes in the power transmission path.

[0019] 1A is a perspective view of a power transmission mechanism using a chain according to an embodiment of the present invention, (b) a longitudinal cross-sectional view of a portion thereof, and (c) a longitudinal cross-sectional view of the vicinity of a driving means. FIG. 1B is a perspective view of a power transmission mechanism using a chain according to an embodiment of the present invention when the power transmission mechanism is in a loop shape. FIG. 1C is a perspective view of a state in which two outer connecting members of a guide section of the power transmission mechanism shown in FIG. 1 are connected, and (b) a perspective view seen from the opposite side of (a). FIG. 1D is a longitudinal cross-sectional view of an enlarged portion of the guide section and a moving section of the power transmission mechanism shown in FIG. 1D is a transverse cross-sectional view of an enlarged portion of the guide section and a moving section of the power transmission mechanism shown in FIG. 1D is a perspective view of an enlarged portion of a bent portion of the power transmission mechanism shown in FIG. 1D is a perspective view of an enlarged portion of the bent portion of the guide section ... 1 is an enlarged longitudinal cross-sectional view of a portion of the power transmission mechanism shown in FIG. 1 where the guide section and the moving section are bent; (b) an explanatory diagram showing the relationship between the pitch Po of each outer connecting member, the pitch Pi of each inner connecting member, the force Fi applied to the moving section 12, and the torque To generated by Fi; and (c) an explanatory diagram showing the relationship between Po, Pi, Fi, and the torque To generated by Fi when Pi relative to Po is smaller than in (b).

[0023] FIG. 1 is an enlarged transverse cross-sectional view of a portion of the guide section and the moving section, showing the relationship between the force Fi applied to the moving section and the force Fo applied to the guide section of the power transmission mechanism shown in FIG. 1 is a longitudinal cross-sectional view of the power transmission mechanism shown in FIG. 1 showing (a) the relationship between Fi and Fo when the moving section is pulled, and (b) the relationship between Fi and Fo when the moving section is pushed.

[0024] FIG. 1 is a longitudinal cross-sectional view showing a modified example of a chain-based power transmission mechanism according to an embodiment of the present invention, when there are two moving sections.

[0020] Hereinafter, an embodiment of the present invention will be described with reference to the drawings and examples. Figures 1 to 10 show an example of a chain power transmission mechanism according to an embodiment of the present invention. As shown in Figures 1 and 2, the chain power transmission mechanism 10 has a guide portion 11, a moving portion 12 that slides and moves within the guide portion 11, and a driving means 13.

[0021] The guide unit 11 has a plurality of outer connecting members 21 connected in a row, and the individual outer connecting members 21 are connected to each other to form a long, thin chain. As shown in Fig. 3, each outer connecting member 21 is made of resin, for example, and has a through hole 21a penetrating from one end to the other end inside, capable of containing the 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 outer 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.

[0022] As shown in FIG. 3( a), when the slit 21b is at the top, the side walls 31a are upper guide side walls that are provided along the direction from one end to the other end of the through hole 21a of the outer connecting member 21 so as to cover the upper space other than the slit 21b from both sides and guide the moving part 12. As an example, as shown in FIG. 3( a), the side walls 31a are not provided symmetrically at opposing positions on both sides of the slit 21b, but are provided at positions shifted by a predetermined interval along the direction from one end to the other end of the through hole 21a. Note that the side walls 31a may be provided symmetrically at opposing positions, but it is sufficient that a portion of either side wall 31a on either side of the slit 21b is positioned so as to contact the moving part 12 so that the moving part 12 can move smoothly through the inner through hole 21a. Depending on the angle at which the through holes 21a are bent, as described below, there may be no room for arranging the side walls 31a. In such cases, however, smooth movement of the moving part 12 can be ensured by arranging the side walls 31a asymmetrically, as shown in FIG. 3(a).

[0023] As shown in FIG. 3( a), side walls 31b and 31c are connected to the respective side walls 31a that cover the upper space from both sides, forming vertical side walls in FIG. 3( a). Side wall 31d connects side walls 31b and 31c and forms the bottom wall as viewed from FIG. 3( a). While side wall 31d is shown covering the entire surface in FIG. 3( b), a hole or the like may be provided connecting side walls 31b and 31c, and through-hole 21a may be open on the bottom wall side as well. As a result, each outer connecting member 21 has a U-shaped cross section perpendicular to the penetration direction of through-hole 21a. This configuration allows power to be extracted from the moving part 12, enabling the entire path to be stroked.

[0024] In each outer 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 outer 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 outer 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.

[0025] The outer connecting members 21 are connected by fitting the circular protrusion 21d at the other end of one adjacent outer connecting member 21 into the axial hole 21c at one end of the other outer connecting member 21 so that the slits 21b are continuous with each other. As a result, the outer connecting members 21 are connected with each other so that their through holes 21a are connected to each other. Furthermore, each outer 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 outer connecting member 21 and the penetration direction of the through hole 21a of the other outer connecting member 21 changes within a predetermined angle (second angle).

[0026] 1 and 2, the guide portion 11 is configured to be bendable as a whole by bending at the connecting portions of each outer connecting member 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 each connected outer connecting member 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.

[0027] As shown in Figures 1, 4, and 5, the moving section 12 that moves within the guide section 11 has a plurality of inner connecting members 22 connected in a row, forming a thin, long chain. Each inner connecting member 22 is thin and long, and one end of an adjacent inner connecting member 22 is connected to the other end of the other inner connecting member 22 in an overlapping manner. Each inner connecting member 22 has a shaft 32 that penetrates perpendicular to the extension direction at the connection position. Adjacent inner connecting members 22 are connected to each other around the shaft 32 and are rotatable within a predetermined angle (first angle). As a result, each inner connecting member 22 is configured to bend by changing the angle formed with adjacent inner connecting members 22 within the predetermined angle (first angle). Furthermore, each inner connecting member 22 has a pair of rollers 33, such as roller bearings, rotatably attached to both ends of the shaft 32, sandwiching each connection position. The inner connecting members 22 are provided so that the extension directions of the shaft members 32, i.e., the rotation axes of the rollers 33, are parallel to each other.

[0028] The moving section 12 is configured to bend at each connection position of each inner connecting member 22, thereby enabling bending as a whole. Furthermore, the length of each shaft 32 of the moving section 12 is formed longer than the width of each slit 21b. The moving section 12 is inserted into the guide hole 11a of the guide section 11 so that the width direction of each slit 21b and the extension direction of each shaft 32 are parallel to each other, and moves along the extension direction of the guide hole 11a. At this time, the moving section 12 is configured so that each roller 33 is positioned between the side wall 31a on both sides of the slit 21b formed in the slit 21b of each outer connecting member 21 and the side wall 31d opposite the side wall 31a on which the slit 21b is formed. When the moving section 12 moves along the extension direction of the guide hole 11a, the rollers 33 rotate against the inner wall surfaces of the side walls 31a and 31d of the guide hole 11a, allowing smooth movement. 3, the side walls 31a on both sides of the slit 21b are asymmetrically disposed at positions offset by a predetermined interval along the direction from one end of the through hole 21a to the other, so that each roller 33 comes into contact with the inner wall surface of one of the side walls 31a on both sides of the slit 21b, resulting in smooth movement without pulsation during sliding. In this way, the moving part 12 is configured to be movable in the guide hole 11a not only when the guide part 11 extends straight, but also when the guide part 11 is curved or bent.

[0029] 1 and 4, the moving part 12 has transmission parts 12a provided on one or more inner connecting members 22 so as to protrude from the slits 21b to the outside of the guide part 11 when inserted into the guide holes 11a. The transmission parts 12a may be provided at any position on the moving part 12, and there may be multiple transmission parts 12a.

[0030] 1 and 2, the drive means 13 is connected to the guide unit 11 and includes a motor 23 and a drive sprocket 24 rotatable by the motor 23. The drive means 13 has an introduction hole 13a communicating with the guide hole 11a of the connected guide unit 11, and the moving unit 12 is introduced from the guide hole 11a into the introduction hole 13a and wound around the drive sprocket 24. As a result, the drive means 13 is configured to move the moving unit 12 along the guide hole 11a by rotating the drive sprocket 24 with the motor 23. The drive means 13 is also configured to be able to reciprocate (push and pull) the moving unit 12 along the guide hole 11a by changing the rotation direction of the drive sprocket 24.

[0031] In a specific example shown in Figures 1 and 2, the driving means 13 is configured so that the two guide sections 11 are connected so that their respective guide holes 11a communicate with each other via the introduction holes 13a, and by rotating the driving sprocket 24, the moving section 12 is moved along each of the guide holes 11a that communicate with each other via the introduction holes 13a.

[0032] As shown in FIGS. 1 and 2 , the power transmission mechanism 10 has a double chain structure in which the chain-like moving part 12 moves through the guide hole 11a of the chain-like guide part 11. In the power transmission mechanism 10, a first angular range, which is the bending range of each inner connecting member 22, is larger than a second angular range, which is the bending range of each outer connecting member 21. This allows the moving part 12 to easily move even at a bent portion of the guide part 11. In one specific example, the second angular range is ±30 degrees. Furthermore, in the power transmission mechanism 10, the width and height of the guide hole 11a are appropriately set to prevent the moving part 12 from buckling inside the guide hole 11a.

[0033] As shown in Figures 3, 4, and 6, in the power transmission mechanism 10, each outer connecting member 21 is shaped to partially or entirely cover the gap between adjacent outer connecting members 21 on the outside of the bend when the adjacent outer connecting members 21 are bent relative to each other. In the specific example shown in Figures 3, 4, and 6, each outer connecting member 21 is arranged such that the positions of both end portions (gray portions 41a in Figure 6(a)) of the side wall 31a in which the slit 21b is formed, along the extension direction of the outer connecting member 21, are shifted from one another. Furthermore, the center portion (inner gray portion 41b in Figure 6(b)) on one end side of the side wall 31d opposite the side wall 31a in which the slit 21b is formed protrudes toward the one end side in the extension direction of the outer connecting member 21, and both side portions (gray portions 41c in Figure 6(b)) on the other end side protrude toward the other end side in the extension direction of the outer connecting member 21. The inner surfaces of these portions are tapered with smooth curves along the extension direction of the outer connecting members 21. This allows the gaps between the adjacent outer connecting members 21 to be covered as much as possible on the outside of the bend when the adjacent outer connecting members 21 are bent relative to one another, as shown in Figures 4 and 6, and also prevents the adjacent outer connecting members 21 from colliding with each other on the inside of the bend. The inner surfaces of the guide holes 11a formed by each outer connecting member 21 are flat and smoothly curved (see dashed line A in Figure 4).

[0034] 5 and 7, in the power transmission mechanism 10, when the pitch of each outer connecting member 21 (the distance between the connection position of adjacent outer connecting members 21 at one end and the connection position of adjacent outer connecting members 21 at the other end) is Po and the pitch of each inner connecting member 22 (the distance between the connection position of adjacent inner connecting members 22 at one end and the connection position of adjacent inner connecting members 22 at the other end) is Pi, Pi < Po. Furthermore, the power transmission mechanism 10 is configured so that λ = Po / Pi, where λ is an irrational number. This configuration reduces power loss in the drive means 13 and prevents pulsation during sliding.

[0035] 8 and 9, in power transmission mechanism 10, when moving part 12 moves through guide hole 11a, forces applied to moving part 12 and guide part 11 are zigzag, as indicated by the dashed lines in Fig. 8, but if the average forces are Fi and Fo, the directions of Fi and Fo are opposite, and the lines of force of moving part 12 and the lines of force of guide part 11 are substantially aligned. With this configuration, power can be transmitted without being affected by forces other than the lines of force acting on the transmission path.

[0036] Next, the operation will be described. The power transmission mechanism 10 has a double chain structure in which the chain-like moving part 12 moves through the guide holes 11a of the chain-like guide part 11, and power can be transmitted by the moving part 12 moving through the guide holes 11a. Furthermore, by moving the moving part 12 back and forth, pushing and pulling power can be transmitted. As a result, the power transmission mechanism 10 can transmit pushing and pulling power even if the path is not a loop.

[0037] Furthermore, because the guide portion 11 of the power transmission mechanism 10 is chain-shaped and can be bent or curved, the guide portion 11 can be bent or curved to fit the surface shape of the location where the force is to be transmitted. This allows the push / pull power to be transmitted along paths of various shapes, such as straight or curved paths. It can also flexibly accommodate changes in the path through which the power is transmitted. Because the moving portion 12 of the power transmission mechanism 10 is chain-shaped, it is less likely to bend or buckle when transmitting power, unlike a wire.

[0038] In the power transmission mechanism 10, the transmission part 12a moves through the successive slits 21b together with the moving part 12 that moves through the guide hole 11a, so that power can be extracted from the transmission part 12a and used to drive a load, as shown in Figure 9. Also, power can be extracted and used from the entire path of the guide part 11 via the slits 21b.

[0039] 3, 4, and 6, in the power transmission mechanism 10, when adjacent outer connecting members 21 are bent relative to one another, each outer connecting member 21 is formed to cover as much of the gap between the adjacent outer 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 move smoothly.

[0040] 5 and 7, in the power transmission mechanism 10, Pi<Po is satisfied, so the moving part 12 is more easily deformed than the guide part 11, and the moving part 12 can move in flexibly response to deformation of the guide part 11. Furthermore, because λ (= Po / Pi) is an irrational number, when the moving part 12 moves, it is possible to prevent the coupling positions of the inner coupling members 22 from simultaneously hitting the coupling parts of the outer coupling members 21, and it is possible to prevent the guide part 11 from pulsating.

[0041] 7(b) and 7(c), if the force applied to the moving movable part 12 is Fi, the power transmission mechanism 10 can reduce the torque generated in the guide part 11 by Fi when the moving part 12 passes through a bent part of the guide part 11 by making Pi smaller than Po. That is, if the torque generated in the case of FIG. 7(b) is To and the torque generated in the case of FIG. 7(c), where Pi is smaller than that in FIG. 7(b), is T'o, then To>T'o. This reduces the effect on the guide part 11 when the moving part 12 moves, and prevents the guide part 11 from moving or bending.

[0042] 8 and 9, 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 makes it possible to prevent the guide part 11 from moving or bending from its arranged position, and maintain the power transmission path.

[0043] The power transmission mechanism 10 can transmit push / pull power even if the path is not a loop, but may transmit power via a loop path as shown in FIG. 2 . In the example shown in FIG. 2 , the power transmission mechanism 10 includes a passive unit 51 connected to two guide units 11, one end of which is connected to the drive means 13. The passive unit 51 includes a freely rotatable passive sprocket (not shown) and a guide hole (not shown) communicating with the guide hole 11 a of the connected guide unit 11. The moving unit 12 is introduced from the guide hole 11 a into the guide hole and meshes with the passive sprocket. Thus, the power transmission mechanism 10 can move the moving unit 12 along the mutually communicating guide holes 11 a, introduction hole 13 a, and guide hole by rotating the drive sprocket 24 with the motor 23 of the drive means 13.

[0044] 2, the power transmission mechanism 10 may have a continuous loop shape in which the moving part 12 goes around once along each guide hole 11a. In the case shown in FIG. 2, each guide part 11 between the driving means 13 and the passive unit 51 may have a path of any shape. Note that the introduction hole 13a and the guide hole have a U-shaped shape penetrating the inside of the driving means 13 and the passive unit, respectively, but are not limited to a U-shape and may have any shape, such as an L-shape or an I-shape.

[0045] Furthermore, as shown in FIG. 10, the power transmission mechanism 10 may be configured to have two or more moving parts 12, each of which can move through the guide hole 11a. In this case, two or more powers can be extracted corresponding to each moving part 12. A differential mechanism can also be configured using power extracted from separate moving parts 12. Each moving part 12 may be moved by the same driving means 13, for example, or, as shown in FIG. 10, each moving part 12 may be moved by a separate driving means 13.

[0046] The power transmission mechanism 10 can transmit push and pull 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 fabrics or membranes of tents, flexible plates, etc. More specifically, it can be used in mobile systems on flexible membranes that can be deployed and retracted, such as 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, and nursing and assistance robots. It can also be arranged to transmit power along paths that pass through frequently deforming movable parts, such as hinges, or paths that pass through restricted spaces, such as narrow sections.

[0047] REFERENCE SIGNS LIST 10 (chain) power transmission mechanism 11 guide portion 11a guide hole 21 outer connecting member 21a through hole 21b slit 21c shaft hole 21d circular convex portion 31a, 31b, 31c, 31d side wall 12 moving portion 12a transmission portion 22 inner connecting member 32 shaft member 33 roller 13 driving means 13a introduction hole 23 motor 24 driving sprocket 51 passive unit

Claims

1. A chain-based power transmission mechanism comprising: 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 is inserted into said guide hole and is capable of moving in the direction of extension of said guide hole even when said guide section is curved or bent, said moving section having a plurality of inner connecting members connected in a row, each of which is connected so that the angle formed by each inner connecting member with an adjacent inner connecting member can be changed within a first angle range.

2. A chain power transmission mechanism as set forth in claim 1, characterized in that the guide section has a plurality of outer connecting members connected in a row, each outer connecting member having a through hole passing through from one end to the other end, the through holes of which are connected to each other, the one end of one adjacent outer connecting member being connected to the other end of the other outer connecting member, the angle formed by the through direction of the through hole of one outer connecting member and the through direction of the through hole of the other outer connecting member being variable within a second angle range, and the guide hole being formed by the through hole of each of the connected outer connecting members.

3. A chain power transmission mechanism as described in claim 2, characterized in that the distance between the connection position of each outer connecting member at one end with an adjacent outer connecting member and the connection position of each outer connecting member at the other end with an adjacent outer connecting member is greater than the distance between the connection position of each inner connecting member at one end with an adjacent inner connecting member and the connection position of each inner connecting member at the other end with an adjacent inner connecting member.

4. A chain power transmission mechanism as described in claim 2, characterized in that the ratio of the distance between the connection position of each outer connecting member at one end with an adjacent outer connecting member and the connection position of the other end with an adjacent outer connecting member to the distance between the connection position of each inner connecting member at one end with an adjacent inner connecting member and the connection position of the other end with an adjacent inner connecting member is an irrational number.

5. A chain power transmission mechanism as described in claim 2, characterized in that each outer 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.

6. A chain power transmission mechanism as described in claim 2, characterized in that each outer connecting member is shaped to cover part or all of the gap between adjacent outer connecting members on the outside of the bend when the adjacent outer connecting members are bent relative to each other at an angle within the second angle range.

7. A chain power transmission mechanism as described in any one of claims 1 to 6, characterized in that when the moving part moves through the guide hole, the force lines of the moving part and the guide part are configured to approximately coincide.

8. A power transmission mechanism using a chain as described in any one of claims 1 to 6, characterized in that the moving parts consist of two or more parts, each of which is configured to be able to move through the guide hole.

9. A power transmission system comprising the chain power transmission mechanism according to claim 1.

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