Mechanical transmissions, and associated devices and methods

Abstract

A mechanical transmission includes one or more transmission housings. Each transmission housing defines a plurality of clevis-like yokes. An elongate axle extends across each clevis-like yoke. In some embodiments, the housing is configured to capture the axle without additional fasteners or modifying the axle after inserting it into the housing. Each in a plurality of linkage arms pivotably extends from each respective axle and matingly engages with at least one other linkage arm in a manner that urges each linkage arm to pivot when one of the linkage arms pivots. Chassis including a network of such linkages and transmission housings also are described.

I currently claim: 
     
         1 . A transmission housing defining an open interior region and comprising a plurality of spaced apart legs positioned outward of the open interior region, each leg in the plurality of legs being spaced apart from another leg in the plurality of legs to define a gap therebetween, wherein each leg in the plurality of legs defines a pair of intersecting bores, each bore in each respective pair of bores defining a corresponding longitudinal axis such that each leg defines a pair of intersecting longitudinal axes, wherein the pair of intersecting longitudinal axes corresponding to one of the legs in the plurality of legs are substantially coplanar with the pair of intersecting longitudinal axes corresponding to another one of the legs in the plurality of legs. 
     
     
         2 . A transmission housing according to  claim 1 , wherein a first one of the bores in each pair of intersecting bores extends through the respective leg from a first open end to an opposed, second open end. 
     
     
         3 . A transmission housing according to  claim 2 , wherein the second one of the bores in each pair of intersecting bores extends from a corresponding open end into the respective leg and intersects the first one of the bores. 
     
     
         4 . A transmission housing according to  claim 3 , wherein the second one of the bores extends from the corresponding open end to a terminal end positioned within the respective leg. 
     
     
         5 . A transmission housing according to  claim 4 , wherein the terminal end of the second one of the bores opens to the first one of the bores. 
     
     
         6 . A transmission housing according to  claim 2 , wherein the plurality of legs defines a corresponding plurality of clevis-like yokes, each clevis-like yoke being configured to pivotably retain a linkage between a corresponding pair of the plurality of legs. 
     
     
         7 . A transmission housing according to  claim 2  being a unitary construct. 
     
     
         8 . A transmission housing according to  claim 7 , wherein the unitary construct is made from die cast aluminum, nylon, 3-D printed titanium, cast titanium, carbon fiber or a combination thereof. 
     
     
         9 . A mechanical transmission, comprising:
 a housing defining a plurality of clevis-like yokes and an internally facing wall corresponding to each clevis-like yoke;   an elongate axle extending longitudinally from a first end to a second end and across each clevis-like yoke, wherein each respective axle defines a longitudinally extending axis-of-rotation, and wherein at least one of the first end and the second end of each axle is positioned in opposed relation to the internally facing wall, inhibiting longitudinal movement of the axle in at least one longitudinal direction; and   a plurality of linkage arms, each linkage arm corresponding to one of the plurality of clevis-like yokes and extending from a proximal geared end to a distal end, wherein each respective axle extends through the proximal geared end of the corresponding linkage arm, pivotably coupling the proximal geared end within the respective clevis-like yoke, wherein the proximal geared end of each linkage arm matingly engages the proximal geared end of at least one other of the plurality of linkage arms.   
     
     
         10 . A mechanical transmission according to  claim 9 , wherein the housing comprises a unitary body defining the plurality of clevis-like yokes, each clevis-like yoke having a pair of legs with a gap therebetween, each leg in the pair of legs defining a bore, wherein each respective axle extends across the gap from the bore in one of the pair of legs to the bore in the other of the pair of legs. 
     
     
         11 . A mechanical transmission according to  claim 9 , wherein the bore in each leg is a first bore and wherein each leg defines a second bore, each respective second bore intersecting the corresponding first bore. 
     
     
         12 . A mechanical transmission according to  claim 11 , wherein each axle defines a proximal region and a distal region, wherein the first end of each axle is a proximal end of the axle and the second end of each axle is a distal end of the axle, wherein the proximal region of each respective axle is positioned in the first bore of one leg in the plurality of legs and the distal region of the respective axle is positioned in the second bore of another leg in the plurality of legs. 
     
     
         13 . A mechanical transmission according to  claim 12 , wherein the distal end of each axle is positioned adjacent the proximal end of another axle. 
     
     
         14 . A mechanical transmission according to  claim 12 , wherein the distal region of each axle extends from the corresponding second bore into the intersected first bore, thereby impeding another axle from moving proximally along the other axle's longitudinal axis. 
     
     
         15 . A mechanical transmission according to  claim 12 , wherein the internally facing wall of each clevis-like yoke is positioned distally of the distal end of the axle corresponding to the respective clevis-like yoke, thereby impeding the axle from moving distally along the axle's longitudinal axis. 
     
     
         16 . A mechanical transmission according to  claim 9 , wherein rotation of one of the proximal geared ends urges the matingly engaged proximal geared end of each at least one other of the plurality of linkage arms to rotate. 
     
     
         17 . A mechanical transmission according to  claim 16 , wherein the housing defining a plurality of clevis-like yokes is a first such housing, the mechanical transmission further comprising a second such housing, wherein at least one of the plurality of linkage arms is coupled with the second such housing. 
     
     
         18 . A mechanical transmission according to  claim 17 , wherein the plurality of linkage arms is a first plurality of linkage arms, the mechanical transmission further comprising a second plurality of linkage arms, wherein the second plurality of linkage arms extend from a proximal geared end to a distal end, wherein each proximal geared end in the second plurality of linkage arms matingly engages the proximal geared end of at least one other of the second plurality of linkage arms, such that rotation of one of the proximal geared ends in the second plurality of linkage arms urges the matingly engaged proximal geared end of each at least one other of the second plurality of linkage arms to rotate. 
     
     
         19 . The mechanical transmission according to  claim 18 , wherein each at least one of the first plurality of linkage arms coupled with the second such housing is pivotably coupled with a corresponding at least one of the second plurality of linkage arms, thereby coupling the respective at least one of the first plurality of linkage arms with the second such housing. 
     
     
         20 . The mechanical transmission according to  claim 18 , wherein the first plurality of linkage arms, the second plurality of linkage arms, or both, is configured to expand from a stowed arrangement toward a use arrangement as the proximal geared ends rotate in a first direction and to contract from the use arrangement toward the stowed arrangement as the proximal geared ends rotate in a second direction opposite to the first direction.