CN111878555A

CN111878555A - Flexible transmission bionic mechanism

Info

Publication number: CN111878555A
Application number: CN202010487777.0A
Authority: CN
Inventors: 张宇
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-02
Filing date: 2020-06-02
Publication date: 2020-11-03

Abstract

The invention discloses a flexible transmission bionic mechanism, which comprises a plurality of movable arms and a plurality of joint parts arranged on the movable arms, wherein the adjacent movable arms are respectively positioned on different planes which are parallel to each other, and the joint parts are used for connecting a power source or outputting power; the power transmission system transmits single-point power input by the power source at a single joint part to a plurality of joint parts and outputs the power; and a power execution system is arranged at the joint part, and the movable arms can move mutually through the power execution system. The invention can reduce the complexity of the bionic system in structure and control, obviously improve the function indexes of the system such as expansibility, flexibility and universality, support large torque load and realize various complex motion rules, motion tracks and special motions.

Description

Flexible transmission bionic mechanism

Technical Field

The invention relates to the technical field of bionic mechanisms, in particular to a flexible transmission bionic mechanism.

Background

Over the years, many researchers have actively explored bionic mechanisms from aspects of kinematics, mechanics, dynamics, materials science, biology and the like to obtain certain research results, but have not made substantial breakthrough progress in the fields of mechanical snakes, peristaltic robots, artificial muscles, memory materials and the like, and related research results are difficult to obtain common application.

For the technical scheme of adopting the joint driving motor, because an independent power driving device (such as a steering engine, a motor and the like) must be provided for each joint point, the contradiction between the volume weight of the driving device and the requirement of large torque load is very prominent, and a good balance and solution is difficult to find.

For the wire driving mode, when facing a plurality of nodes which move continuously, the precision and the reliability are difficult to be stably ensured, the connection and the crossing of each transmission wire are complex, the transmission wires are easy to be intertwined, the transmission wires interfere with each other in motion, the requirement on the parameter tolerance of the manufacturing process is high, the complexity is high, and the running problems are more, such as: the transmission cord or the belt is aged, skidded, abraded, has poor overload performance, high failure rate and high maintenance cost, the maintenance process is also complex, and the requirements of diversity and flexibility of application scenes are difficult to meet.

For the realization mode adopting the connecting rod combination mechanism, the mechanical topological structure of the connecting rod combination mechanism is complex, so that the forward and reverse solving processes of kinematics and dynamics are complex, difficult and inefficient, and the modeling complexity of a control algorithm is high. In addition, when the device runs, the components are easy to wear and lock, and are difficult to search and judge when faults occur, and the device has poor maintainability, reliability and expansibility.

In summary, the prior art solutions have many problems and need to consider too many factors when designing, such as: the technical indexes of the bionic mechanism are often contradictory and restricted, and parameters are difficult to balance, so that the bionic mechanism with good comprehensive technical indexes is difficult to design and manufacture; the system has high complexity, has high requirements on design, development and engineering personnel, and is difficult to be competent by common technicians; the development of related technical theories and design and implementation methods is lagged, and the practical engineering application or the product implementation is difficult to guide; many technical schemes are usually only from the perspective of a single subject, the research target is usually limited to solving some local technical problems, limited to a certain part or a local bionic component, the research on the global property, the integrity and the systematicness is less, and the research content is not in place; therefore, the subject fusion degree of the prior art scheme is insufficient, the achievement limitation is large, the reference property is poor, the expansibility, the popularization and the universality are not satisfactory, and the popularization and the application in related fields are difficult.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a flexible transmission bionic mechanism, reduce the complexity of a bionic system in structure and control, obviously improve the functional indexes of the system such as expansibility, flexibility and universality, adapt to the task requirements of various application scenes, and realize various complex motion rules, motion tracks and special motions.

In order to solve the technical problem, the flexible transmission bionic mechanism provided by the invention is a motion bionic mechanism which has a serial topological structure and adopts a flexible transmission mode. The bionic mechanism of the invention connects a plurality of movable arm components in series in sequence at the joint, and can realize various complex motion laws, motion tracks and special motions.

The invention discloses a flexible transmission bionic mechanism which comprises a plurality of movable arms and a plurality of joint parts, wherein the adjacent movable arms are respectively positioned on different planes which are parallel to each other, and the movable arms are connected in series through the joint parts;

the joint part is used for connecting a power source or outputting power;

the power transmission system transmits single-point power input by the power source at a single joint part to a plurality of joint parts and outputs the power;

the joint part is provided with a power execution system, the movable arms can move mutually through the power execution system, the included angle between the two connected movable arms is alpha, and the change range of the included angle alpha is 0-360 degrees.

Specifically, the power transmission system comprises a right-angle transmission mechanism, wherein the right-angle transmission mechanism transmits power from one movable arm to the next movable arm connected in series with the movable arm, and the power is transmitted step by step in such a way, so that single-point power input by a power source at a single joint part can be transmitted to a plurality of joint parts and the power is output;

the right-angle transmission mechanism comprises at least two groups of right-angle transmission units, each group of right-angle transmission units comprises 2 transmission pieces with mutually vertical rotating shafts, and each transmission piece comprises a stator and a rotor; the different groups of right-angle transmission units are mutually connected through rotors.

Preferably, the right-angle transmission mechanism is a magnetic wheel right-angle transmission mechanism or a mechanical bevel gear right-angle transmission mechanism;

the magnetic wheel right-angle transmission mechanism comprises at least two magnetic wheel sets, each magnetic wheel set comprises 2 magnetic wheels with mutually vertical rotating shafts, and each magnetic wheel comprises a magnetic wheel stator and a magnetic wheel rotor; two groups of magnetic wheels which are fixedly connected with different movable arms are connected with each other through a coupler to complete power transmission across the movable arms;

mechanical bevel gear right angle drive mechanism includes two at least bevel gear sets, and each bevel gear set includes 2 pivot mutually perpendicular's bevel gear, and each bevel gear includes bevel gear stator and bevel gear rotor, and fixed connection gets up two sets of bevel gear rotor interconnect through the shaft coupling between two sets of bevel gear mechanisms on different digging arms to accomplish the power transmission who strides across the digging arm.

Preferably, the movable arm is provided with a fixed bottom plate component, and the fixed bottom plate component is connected with the stator of the right-angle transmission mechanism and is fixedly connected with the shell of the movable arm.

Preferably, the movable arm is U-shaped, S-shaped or Z-shaped.

Further, the power executing system is a mechanical coupling connecting structure, an electromagnetic control connecting device or an electromagnetic control direction limiting connecting device.

Preferably, the mechanical coupling structure comprises a hollow circular inner shaft, a hollow circular outer shaft and a bearing, the hollow circular inner shaft is arranged at the joint part at one end of the movable arm, the hollow circular outer shaft is arranged at the joint part at the other end of the movable arm, and the bearing is arranged on the inner wall of the hollow circular outer shaft;

the inner wall of the bearing is matched with the outer wall of the inner shaft of the hollow circular ring and used for tightly connecting the movable arm;

and the rotor of the right-angle transmission mechanism is arranged inside the hollow circular ring inner shaft.

Preferably, the electromagnetic control coupling device comprises a first mechanical disk, a second mechanical disk, an electromagnet, a spring component and the mechanical coupling structure;

the first mechanical disc is fixedly connected with a rotor of the right-angle transmission mechanism;

the second mechanical disc is connected with the inner wall of the movable arm through a spring part;

the first mechanical disc and the second mechanical disc are correspondingly arranged.

Preferably, the electromagnetic control direction-limiting connecting device comprises an electromagnet, a spring component, a ratchet mechanism and the mechanical coupling connecting structure/electromagnetic control connecting device;

the ratchet mechanism comprises a ratchet wheel and a pawl, the ratchet wheel is connected to the outer wall of the inner shaft of the hollow circular ring of the movable arm, and the pawl, the electromagnet and the spring part are fixedly connected to the inner wall of the outer shaft of the hollow circular ring of the movable arm.

As an improvement of the above scheme, the flexibly-driven bionic mechanism further comprises an angle detection device to obtain an angle parameter between the movable arms, and the angle detection device is installed in a space region formed between the inner shaft of the hollow circular ring and the outer shaft of the hollow circular ring.

As an improvement of the scheme, the flexibly-driven bionic mechanism further comprises an expansion system, and the expansion system comprises an expansion component or a rolling rotating component; the expansion component is arranged outside the movable arm and is a component matched with the movable arm, or the expansion component is used for installing the electromechanical device;

the rolling rotating part is connected with the movable arm so that the flexible transmission bionic mechanism can move in a three-dimensional space.

The implementation of the invention has the following beneficial effects:

the flexible transmission bionic mechanism comprises a plurality of movable arms and a plurality of joint parts, wherein the adjacent movable arms are respectively positioned on different parallel planes, and the movable arms are connected in series through bearings of the joint parts. In the aspect of the motion space topology design of the movable arm, the motion ranges and the tracks of the adjacent connected movable arms are respectively arranged on two planes which are parallel to each other, so that the motion interference between the adjacent connected movable arms is avoided, and a foundation is laid for improving the expansibility, the flexibility and the universality of a system.

And (II) power transmission systems are arranged inside the movable arms and the joint parts, the motion trail space of the power transmission systems is independent of the motion trail space of the movable arms, power execution systems are arranged at the joint parts, the movable arms move relative to each other through the power execution systems, and the motion trail spaces of the power transmission systems and the movable arms are isolated and independent from each other. The invention separates the moving track space between the moving arms and the rotating track space of the power transmission system skillfully, so that the moving track space becomes two subsystems which are independent from each other.

The power transmission system of the invention is not influenced by the topological structure and the shape of the bionic mechanism, and can independently or parallelly control each joint part, namely: the bionic motion control device can provide strong power output for each joint part by using only one power source, and can effectively control the motion of each joint (namely the included angle between adjacent movable arms), thereby supporting the bionic motion control device to complete the bionic motion execution task with large torque power and high complexity. The power transmission system adopts a right-angle transmission and shaft coupling linkage mode, can ensure that the power from the upper movable arm is smoothly switched at a joint part and is transmitted to the lower movable arm, and by analogy, the power can be continuously transmitted downwards step by step along each movable arm until all the movable arms are reached.

Therefore, the invention provides a design principle, a realization method or a scheme of distributed and modularized power transmission and layout capable of realizing one-point input and multi-point output in the aspect of power transmission, and can meet the optimization requirements of distributed and modularized working modes for independent separation, independent design, independent realization and independent debugging of transmission, execution and control, so that the invention can greatly improve the universality, expansibility, flexibility and adaptability of the system while reducing the design and realization difficulty.

And fourthly, the power execution system is singly stripped to be used as a subsystem which can be a mechanical coupling connection structure, an electromagnetic control connection device or an electromagnetic control direction limiting connection device, and the moving track space between the moving arms and the rotating track space of the transmission system are skillfully isolated to form two mutually independent subsystems in the moving track space, so that the complexity and the cost of the whole bionic system in the aspects of design, development, debugging, maintenance and the like are reduced, and the maintainability and the usability of the system are improved.

The invention designs two main schemes in the aspect of adaptability of transmission load, the right-angle transmission mechanism can be a magnetic wheel right-angle transmission mechanism or a mechanical bevel gear right-angle transmission mechanism, and can be used for application occasions with small torque, non-contact transmission and no damage in overload when a magnetic wheel transmission mode is adopted, and can be used for application occasions with large torque when a mechanical bevel gear transmission mode is adopted. Therefore, compared with the prior art, the technical scheme of the invention has stronger flexibility and adaptability, and can meet the indexes of higher torque load, specific torque and specific power (or power-weight ratio).

The invention also comprises an expansion system which comprises an expansion component or a rolling rotation component, has the characteristics of high expandability, flexibility, adaptability, universality and the like, supports various flexible electromechanical expansion modes, supports the freedom degree expansion of three-dimensional space motion, supports the establishment and the solution of a forward/reverse algorithm model of kinematics, and supports the establishment and the solution of a dynamic mass distribution/load characteristic algorithm model of mechanics and dynamics. In addition, in the aspect of design of application extension, various application extension developments can be supported, such as: artificial muscles, a peristaltic robot, a bionic advancing mechanism, a bionic electromechanical device, a shape memory and deformation mechanism, a bionic home, a bionic power assisting instrument, a distributed intelligent dynamic flexible power transmission mechanism and the like.

In conclusion, the invention can reduce the complexity of the bionic system in structure and control, obviously improve the function indexes of the system such as expansibility, flexibility and universality, support large torque load, adapt to the task requirements of various application scenes and realize various complex motion rules, motion tracks and special motions.

Drawings

FIG. 1 is a front view of a flexibly driven biomimetic mechanism of the present invention;

FIG. 2 is a schematic view of the angle between the movable arms;

FIG. 3 is a perspective view of the magnetic wheel right angle drive mechanism transmitting power across the moveable arm;

FIG. 4 is a schematic perspective view of a mechanical bevel gear right angle drive mechanism transmitting power across a moveable arm;

FIG. 5 is a perspective view of the power transmission system being a magnetic wheel right angle drive and having a stationary base member;

FIG. 6 is a schematic view of the movable arm being U-shaped;

FIG. 7 is a schematic view of the movable arm being S-shaped;

FIG. 8 is a schematic view of the movable arm being Z-shaped;

FIG. 9 is a front view of the three stage movable arm mechanically coupled;

FIG. 10 is a top view of the single moveable arm of FIG. 9;

FIG. 11 is a top cross-sectional view of the three-stage moveable arm mechanically coupled;

FIG. 12 is a right side cross-sectional view of the movable arm being coupled using the solenoid control coupling means and the solenoid control direction limiting coupling means;

FIG. 13 is a rear cross-sectional view of the movable arm being coupled using the solenoid operated coupling arrangement;

FIG. 14 is a schematic view of the movable arm being coupled using a solenoid controlled direction limiting coupling;

FIG. 15 is a front view of an embodiment of the biomimetic mechanism provided with an expansion system;

FIG. 16 is a bottom view of FIG. 15;

FIG. 17 is a bottom view of another embodiment of a biomimetic mechanism provided with an expansion system;

FIG. 18 is a front view of a biomimetic mechanism provided with yet another embodiment of an expansion system;

figure 19 is a front view of a biomimetic mechanism provided with yet another embodiment of an expansion system.

Wherein the reference numbers are as follows:

the movable arm 1, the movable arm 11, the movable arm 12, the movable arm 13, the movable arm 14, the movable arm 15, the movable arm 16, the movable arm 17, the movable arm 18 and the movable arm 19;

joint part 2, joint part 20, joint part 21, joint part 22, joint part 23, joint part 24, joint part 25, joint part 26, joint part 27, joint part 28, joint part 29;

power transmission system 30, magnetic wheel set 31, magnetic wheel 31A, magnetic wheel 31B, magnetic wheel 31A ', magnetic wheel 31B', magnetic wheel stator 311A, magnetic wheel rotor 312A, magnetic wheel stator 311B, magnetic wheel rotor 312B, magnetic wheel stator 311A ', magnetic wheel rotor 312A', magnetic wheel stator 311B ', magnetic wheel rotor 312B';

a fixed base member 33, a propeller shaft Q1, a propeller shaft Q2, a propeller shaft Q3;

bevel gear set 32, bevel gears 32A, bevel gears 32B, bevel gears 32A ', bevel gears 32B', bevel gear stators 321A, bevel gear rotors 322A, bevel gear stators 321B, bevel gear rotors 322B, bevel gear stators 321A ', bevel gear rotors 322A', bevel gear stators 321B ', bevel gear rotors 322B';

a power execution system 40;

a mechanical coupling structure 40A, a hollow circular inner shaft 41, a hollow circular outer shaft 42, and a bearing 43

An electromagnetic control coupling device 40B, a first mechanical disk 44, a second mechanical disk 45, an electromagnet 46, a spring component 47 and a transmission shaft Q;

an electromagnetic control direction-limiting connecting device 40C, an electromagnet 48, a spring component 49, a ratchet mechanism 50, a ratchet 51 and a pawl 52;

an expansion system 60, an expansion member 61, a rolling rotation element 62.

Detailed Description

In order to make the objects, principles, methods, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings. It is only noted that the invention is intended to be limited to the specific forms set forth herein, including any reference to the drawings, as well as any other specific forms of embodiments of the invention.

As shown in fig. 1 and 2, the invention discloses a flexible transmission bionic mechanism, which comprises a plurality of movable arms 1 and a plurality of joint parts 2 arranged on the movable arms 1, wherein the adjacent movable arms 1 are respectively positioned on different planes which are parallel to each other, and the movable arms 1 are connected in series through the joint parts 2;

the joint part 2 is used for connecting a power source or outputting power;

the movable arm 1 and the joint part 2 are internally provided with a power transmission system 30, the motion trail space of the power transmission system is independent of the motion trail space of the movable arm, and the power transmission system 30 transmits single-point power input by a power source at a single joint part to a plurality of joint parts 2 and outputs the power;

the joint part 2 is provided with a power execution system 40, the movable arms 1 realize mutual movement through the power execution system 40, the included angle between the two connected movable arms 1 is alpha, and the change range of the included angle alpha is 0-360 degrees.

The number of the movable arms is N (N is an integer larger than 2), and the total number of the joint parts is N + 1. The bionic mechanism of flexible transmission when N is 9 will be explained in detail. As shown in fig. 1, each movable arm 1 contains two joint sites, namely: the superior and inferior joints. The upper joint of the movable arm 1 is connected with the lower joint of the upper-stage movable arm; the lower joint of the movable arm is connected with the upper joint of the next movable arm. According to the mode, all the movable arms can be connected together in series to form the flexible transmission bionic mechanism.

When N is 9, the movable arm 1 of the flexible transmission bionic mechanism comprises a movable arm 11, a movable arm 12, a movable arm 13, a movable arm 14, a movable arm 15, a movable arm 16, a movable arm 17, a movable arm 18 and a movable arm 19; the joint parts 2 include

joint parts

20, 21, 22, 23, 24, 25, 26, 27, 28, and 29. The movable arm 11 is the starting end movable arm of the bionic mechanism, and is used for connecting an input power source at the joint part 20. The movable arm 19 is the end movable arm of the bionic mechanism, and the joint part 29 outputs power outwards.

As shown in fig. 2, the included angle between two connected movable arms 1 is α, the variation range of the included angle α is 0-360 °, and 360-degree full-range motion is realized.

According to the invention, the two connected movable arms 1 are respectively arranged on two planes which are parallel to each other, so that the mutual interference of the motion tracks of the two movable arms is avoided. And at each joint part 2, by providing the power transmission system 30, the function of continuously transmitting power across the movable arm is realized.

Specifically, the power transmission system 30 includes a right-angle transmission mechanism, the right-angle transmission mechanism includes at least two sets of right-angle transmission units, each set of right-angle transmission units includes 2 transmission members with mutually perpendicular rotating shafts, and each transmission member includes a stator and a rotor; the different groups of right-angle transmission units are mutually connected through rotors. The power transmission system 30 adopts a right-angle transmission and shaft coupling linkage mode, so that the power from the upper movable arm can be smoothly transferred at the joint part, and the power is transmitted to the lower movable arm, and so on, the power can be continuously transmitted downwards step by step along each movable arm until all the movable arms are reached. That is, the right-angle transmission mechanism transmits the single-point power input by the power source at a single joint position to a plurality of joint positions and outputs the power.

There are various embodiments of the right angle drive 30, preferably a magnetic wheel right angle drive or a mechanical bevel gear right angle drive, as will be described below in conjunction with fig. 3-5.

Preferably, the right-angle transmission mechanism is a magnetic wheel right-angle transmission mechanism, as shown in fig. 3, fig. 3 shows the magnetic wheel right-angle transmission mechanism with two serially connected movable arms at a joint position, the magnetic wheel right-angle transmission mechanism includes at least two magnetic wheel sets 31, each magnetic wheel set 31 includes 2 magnetic wheels with mutually perpendicular rotating shafts, and each magnetic wheel includes a magnetic wheel stator and a magnetic wheel rotor; the different groups of magnetic wheels are connected with each other through magnetic wheel rotors. Two groups of magnetic wheels which are fixedly connected on different movable arms are connected with each other through a coupler to complete the power transmission across the movable arms.

Preferably, the movable arm is further provided with a fixed bottom plate member 33, and the fixed bottom plate member 33 is used for connecting a magnetic wheel stator of a fixed magnetic wheel right-angle transmission mechanism or a bevel gear stator of a mechanical bevel gear right-angle transmission mechanism, and is fixedly connected with the shell of the movable arm 1. As shown in fig. 5, the magnetic wheel right-angle transmission mechanism is provided with a fixed bottom plate member 33, and a magnetic wheel power transmission system is connected to the fixed bottom plate member of the movable arm.

The working principle of the magnetic wheel right-angle transmission mechanism is as follows:

referring to fig. 3, the magnetic wheel right-angle transmission mechanism includes two magnetic wheel sets 31, and each magnetic wheel set 31 includes 2 magnetic wheels with mutually perpendicular rotation axes. That is, the magnetic wheel right-angle transmission mechanism includes one magnetic wheel set composed of the

magnetic wheels

31A and 31B, and another magnetic wheel set composed of the magnetic wheels 31A 'and 31B'. Wherein, magnetic wheel 31A includes magnetic wheel stator 311A and magnetic wheel rotor 312A, and magnetic wheel 31B includes magnetic wheel stator 311B and magnetic wheel rotor 312B, and magnetic wheel 31A 'includes magnetic wheel stator 311A' and magnetic wheel rotor 312A ', and magnetic wheel 31B' includes magnetic wheel stator 311B 'and magnetic wheel rotor 312B'.

Referring to fig. 5, the magnetic wheel rotor 312A of the magnetic wheel 31A is closely coupled to the magnetic wheel rotor of the magnetic wheel of the upper movable arm, and the transmission shaft Q1 formed after coupling can transmit the rotary power from the upper movable arm to the magnetic wheel rotor 312A of the present movable arm, and then the magnetic wheel rotor 312A transmits the rotary power to the corresponding magnetic wheel rotor 312B through the right-angle transmission mechanism formed by the magnetic wheel 31A and the magnetic wheel 31B, and then transmits the power to the magnetic wheel rotor 312B' through the transmission shaft Q2.

Since the transmission shaft Q2 is closely coupled to the magnetic wheel rotor 312B ' of the magnetic wheel 31B ', the magnetic wheel rotor 312B ' can transmit the rotary power to the magnetic wheel rotor 312A ' of the corresponding magnetic wheel 31A ' through the right-angle transmission mechanism formed by the magnetic wheel 31A ' and the magnetic wheel 31B '; since the magnetic wheel rotor 312A' is closely coupled with the magnetic wheel rotor of the next-stage movable arm, the transmission shaft Q3 formed by the magnetic wheel rotor and the magnetic wheel rotor can transmit the rotary power of the movable arm to the next-stage movable arm.

Aiming at the application occasions of large power loads, a mechanical bevel gear right-angle transmission mode can be adopted to replace a magnetic wheel right-angle transmission mode, so that the flexible transmission mechanism can transmit larger torque power.

Preferably, the right angle transmission mechanism is a mechanical bevel gear right angle transmission mechanism, as shown in fig. 4, fig. 4 shows the mechanical bevel gear right angle transmission mechanism with two serially connected movable arms at a joint part, the mechanical bevel gear right angle transmission mechanism includes at least two bevel gear sets 32, each bevel gear set 32 includes 2 bevel gears with mutually perpendicular rotating shafts, that is, the bevel gear right angle transmission mechanism includes one bevel gear set composed of a bevel gear 32A and a bevel gear 32B, and another bevel gear set composed of a bevel gear 32A 'and a bevel gear 32B'. Wherein, bevel gear 32A includes bevel gear stator 321A and bevel gear rotor 322A, and bevel gear 32B includes bevel gear stator 321B and bevel gear rotor 322B, and bevel gear 32A 'includes bevel gear stator 321A' and bevel gear rotor 322A ', and bevel gear 32B' includes bevel gear stator 321B 'and bevel gear rotor 322B'.

It should be noted that the overall transmission operating principle of the mechanical bevel gear right-angle transmission mechanism is basically the same as that of the magnetic wheel right-angle transmission mechanism, and is not described herein again.

The shape of the movable arm 1 may take various forms, such as a U-shape as shown in fig. 6, an S-shape as shown in fig. 7, or a Z-shape as shown in fig. 8.

The power execution system 40 is independently stripped to serve as a subsystem, the motion track space between the movable arms and the rotation track space of the transmission system are ingeniously isolated, so that the two subsystems are mutually independent in the motion track space, the complexity and the cost of the whole bionic system in the aspects of design, development, debugging, maintenance and the like are reduced, and the maintainability and the usability of the product are improved.

The power executing system 40 is a mechanical coupling structure 40A, and in this case, for the flexible power transmission system, the included angle between the two movable arms does not cause any interference or influence on the smooth transmission of power.

The power executing system 40 is an electromagnetic control coupling device 40B or an electromagnetic control direction limiting coupling device 40C, and at this time, the power of the transmission system can be transmitted to the executing system through the engaging and disengaging actions of the electromagnetic clutch, and the executing system can be operated.

Specifically, as shown in fig. 9, 10 and 11, the mechanical coupling structure 40A includes a hollow circular inner shaft 41, a hollow circular outer shaft 42 and a bearing 43, the hollow circular inner shaft 41 is disposed at the joint portion 2 at one end of the movable arm 1, the hollow circular outer shaft 42 is disposed at the joint portion 2 at the other end of the movable arm 1, and the bearing 43 is disposed on the inner wall of the hollow circular outer shaft 42; the inner wall of the inner ring of the bearing 43 is matched with the outer wall of the hollow ring inner shaft 41 of the next-stage movable arm and is used for being tightly connected with the next-stage movable arm 1. The rotor of the right-angle transmission mechanism is arranged inside the hollow circular ring inner shaft 41.

The movable arm is mechanically coupled with the upper movable arm and the lower movable arm at joint positions, and the outer wall of a hollow annular inner shaft 41 on the movable arm is closely connected with the inner wall of an inner ring of a bearing 43 on the upper movable arm. After the coupling connection is completed, the movable arm and the upper movable arm can flexibly rotate with each other under the support of the bearing 43. When the two movable arms rotate relative to each other, the included angle alpha between the two movable arms changes. Similarly, the movable arm and the next movable arm are connected in the same way.

As shown in fig. 12 and 13, the power execution system is an electromagnetic control coupling device 40B, which includes a first mechanical disk 44, a second mechanical disk 45, an electromagnet 46, a spring member 47, and the mechanical coupling structure 40A; the first mechanical disc 44 is fixedly connected with a rotor of the right-angle transmission mechanism; the second mechanical disc 45 is connected with the inner wall of the movable arm 1 through a spring part 47; the first mechanical disk 44 and the second mechanical disk 45 are correspondingly arranged.

The first mechanical disc 44 of the mobile arm 1 is tightly coupled to the magnetic rotor, which is also tightly coupled to the drive shaft Q, so that when the drive shaft Q rotates, the first mechanical disc 44 is also driven to rotate.

The second mechanical disk 45 on the movable arm 1 is tightly connected with the inner wall of the shell chassis of the movable arm 1 through the spring part 47, when an external force drives the second mechanical disk 45 to rotate, the second mechanical disk 45 drives the shell chassis of the movable arm 1 to rotate together through the spring part 47 connected with the second mechanical disk 45, and the movable arm tightly and fixedly connected with the second mechanical disk rotates along with the second mechanical disk.

In fig. 12 and 13, the first mechanical disk 44, the second mechanical disk 45, the electromagnet 46 and the spring member 47 together constitute an electromagnetically controlled clutch device.

When the electromagnet 46 is powered off, the clutch is in a separated state, the second mechanical disk 45 is under the action of spring tension, so that the first mechanical disk 44 and the second mechanical disk 45 are in a mechanically separated state, at the moment, when the first mechanical disk 44 rotates, power cannot be transmitted to the second mechanical disk 45, and the movable arm 1 cannot rotate together with the first mechanical disk 44.

When the electromagnet 46 is energized, the clutch is engaged, and the repulsive force generated by the electromagnet 46 overcomes the resistance of the spring, pushing the second mechanical disk 45 toward the first mechanical disk 44, and making the second mechanical disk 45 and the first mechanical disk 44 closely contact with each other. When the first mechanical disk 44 rotates, the first mechanical disk 44 drives the second mechanical disk 45 to rotate together by virtue of the friction between the first mechanical disk 44 and the second mechanical disk 45. When the second mechanical disk 45 rotates, the hollow circular inner shaft 41 and the fixed bottom plate member 33 which are tightly and fixedly connected with the second mechanical disk are driven to rotate together, so that the hollow circular inner shaft 41, the fixed bottom plate member 33 and the movable arms 1 which are tightly and fixedly connected with the second mechanical disk rotate synchronously, and at the moment, the included angle between the two connected movable arms 1 changes.

The direction in which the relative rotation between the two coupled movable arms 1 occurs (the included angle becomes larger or smaller) is controlled by the direction of rotation of the power source, that is: the control of the movement direction and speed of the included angle between the movable arms can be realized by controlling the rotation direction (clockwise or anticlockwise) of the power source input from the movable arm at the starting end.

Therefore, the invention can construct topological structures with various shapes and form changes thereof by carrying out various ordered control combinations (such as single-point and multi-point concurrent control) on the clutch devices at each joint of the bionic mechanism, thereby completing complex actions or movement tasks.

Further, as shown in fig. 12 and 14, the power execution system may also be an electromagnetic control direction-limiting coupling device 40C, and the electromagnetic control direction-limiting coupling device 40C comprises an electromagnet 48, a spring part 49, a ratchet mechanism 50 and the mechanical coupling structure 40A/electromagnetic control coupling device 40B;

the ratchet mechanism 50 includes a ratchet wheel 51 and a pawl 52, the ratchet wheel 51 is coupled to the outer wall of the hollow circular inner shaft 41 of the movable arm 1, and the pawl 52, the electromagnet 48 and the spring member 49 are fixedly coupled to the inner wall of the hollow circular outer shaft 42 of the movable arm 1.

Taking the example of limiting the inner shaft of the hollow circular ring to rotate only in a single direction along the counterclockwise direction, the electromagnetic control direction-limiting coupling device 40C works as follows:

when the electromagnet 48 is powered off, the pawl 52 is pressed against the ratchet 51 under the action of the thrust of the spring member 49, so that the hollow annular inner shaft 41 tightly connected with the ratchet 51 can only rotate in a single direction along the counterclockwise direction, i.e. the included angle between the movable arm at the current stage and the movable arm at the previous stage is limited to only change in a single direction along the increasing direction.

When the electromagnet 48 is powered on, the pawl 52 is attracted to the electromagnet 48 by the electromagnetic force, and the pawl 52 is separated from the ratchet 51, so that the limitation that the hollow annular inner shaft 41 tightly connected with the ratchet 51 can only rotate along the counterclockwise one-way direction is removed, namely: the limitation that the included angle between the movable arm at the current stage and the movable arm at the previous stage can only change in a single direction along the increasing direction is removed.

As shown in fig. 12 and 14, the two ratchet mechanisms 50 can perform bidirectional control on the clockwise and counterclockwise rotation directions of the movable arm under the electromagnetic control, so that various different combination states such as forward limitation, reverse limitation, bidirectional limitation and bidirectional unlimited can be generated to meet different motion control requirements.

As a better embodiment of the present invention, the present invention further comprises an angle detection device (not shown in the figure) to obtain the parameters of the included angle between the movable arms 1, so that the system can detect and control the precision of the execution action of the bionic mechanism, thereby completing some tasks with accuracy index requirements. The angle detecting means may be installed in a space region formed between the hollow circular inner shaft 41 and the hollow circular outer shaft 42, and the angle detecting means may be an angle detecting related component such as a gear potentiometer, and a member thereof, but is not limited thereto.

Further, in conjunction with fig. 15-19, the present invention further includes an extension system 60, which has high expandability, flexibility, adaptability, and versatility, and can support multiple flexible electromechanical extension modes and support the freedom extension of three-dimensional space motion.

The expansion system 60 comprises an expansion member 61 or a rolling rotation element 62;

as shown in fig. 15, 16 and 17, the extension member 61 is mounted on the outside of the movable arm, and is a member adapted to the movable arm, so that the size, length, model, specification, and joint type of each movable arm can be flexibly designed, selected and combined according to different application requirements.

The expanding component is used for installing the electromechanical device, and devices and mechanisms such as a clutch, a direction limiting and limiting mechanism, a power supply and signal feeder line, a circuit device (electromagnetic attraction control, a potentiometer and the like), a sensor and the like can be installed on the expanding component.

As shown in fig. 18, the expansion system is used to expand the degrees of freedom, and on the basis of the bionic mechanism of the present invention, a rolling rotation component 62 capable of rolling and rotating in the axial direction of the movable arm is added, so that the original bionic mechanism capable of performing two-dimensional motion only in a plane coordinate system can be expanded into a three-degree-of-freedom bionic mechanism capable of performing three-dimensional spatial motion in a three-dimensional coordinate system.

The flexible transmission bionic mechanism can also support various application extensions.

The mechanism formed by connecting a plurality of movable arms in series can generate various shape changes in the aspects of topological structure, shape, size expansion and the like, so that the mechanism can be used in the field of artificial muscles to form an artificial muscle with controllable expansion and contraction (as shown in figure 1).

For a bionic mechanism formed by connecting a plurality of movable arms in series, when the topological structure, the shape and the size of the bionic mechanism are changed, the gravity center distribution, the stress point distribution, the stress surface distribution, the friction force and the magnitude and the direction of the acting force of the bionic mechanism are changed, and when the bionic mechanism conforms to the corresponding kinematics and mechanics principles, the bionic mechanism can complete corresponding advancing movement. Therefore, the device can be developed into a peristaltic robot, a bionic advancing mechanism, a bionic actuator and the like, and fig. 19 is a schematic diagram of a telescopic peristaltic mechanism.

The flexible transmission bionic mechanism has the functions of curling, stretching, extending, deforming and the like, and can be applied to the field of shape memory.

The flexible transmission bionic mechanism can be bent, extended and contracted into various spatial topological structures, shapes and sizes, so that the flexible transmission bionic mechanism can be developed into bionic household appliances, bionic power-assisted instruments and other products with remote control functions, and the flexible transmission bionic mechanism meets various requirements of life and work of people.

The bionic mechanism with flexible transmission can support the application scenes of distributed, flexible, dynamic and intelligent rotary power transmission, and transmit or extend the rotary power to a plurality of nodes or remote complex application occasions, such as: in emergency rescue occasions, the rotary type power can be quickly deployed to corresponding positions on the site through or without complex terrains or special environments.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

1. A flexible transmission bionic mechanism is characterized by comprising a plurality of movable arms and a plurality of joint parts arranged on the movable arms, wherein the adjacent movable arms are respectively positioned on different planes which are parallel to each other, and the movable arms are connected in series through the joint parts;

the joint part is used for connecting a power source or outputting power;

2. The flexibly driven biomimetic mechanism as recited in claim 1, wherein the power transfer system comprises a right angle drive mechanism, the right angle drive mechanism enabling power transfer between the moveable arms and providing power output at the joint location;

3. The flexibly driven biomimetic mechanism as recited in claim 2, wherein the right angle drive is a magnetic wheel right angle drive or a mechanical bevel gear right angle drive;

the magnetic wheel right-angle transmission mechanism comprises at least two magnetic wheel sets, each magnetic wheel set comprises 2 magnetic wheels with mutually vertical rotating shafts, and each magnetic wheel comprises a magnetic wheel stator and a magnetic wheel rotor; different groups of magnetic wheels are connected with each other through magnetic wheel rotors;

mechanical bevel gear right angle drive mechanism includes two at least bevel gear sets, and each bevel gear set includes 2 pivot mutually perpendicular's bevel gear, and each bevel gear includes bevel gear stator and bevel gear rotor, through bevel gear rotor interconnect between the different bevel gear mechanisms of group.

4. The flexibly driven bionic mechanism as claimed in claim 2, wherein the movable arm is provided with a fixed base plate member, and the fixed base plate member is connected with the stator of the right-angle drive mechanism and is connected with the shell body of the movable arm.

5. The flexibly driven biomimetic mechanism as recited in claim 1, wherein the moveable arm is U-shaped, S-shaped, or Z-shaped.

6. The flexibly driven bionic mechanism as claimed in claim 2, wherein the power executing system is a mechanical coupling structure, an electromagnetic control coupling device or an electromagnetic control direction limiting coupling device.

7. The flexibly driven bionic mechanism according to claim 6, wherein the mechanical coupling structure comprises a hollow circular inner shaft, a hollow circular outer shaft and a bearing, the hollow circular inner shaft is arranged at the joint part of one end of the movable arm, the hollow circular outer shaft is arranged at the joint part of the other end of the movable arm, and the bearing is arranged on the inner wall of the hollow circular outer shaft;

8. The flexibly driven biomimetic mechanism as recited in claim 7, wherein the electromagnetically controlled linkage comprises a first mechanical disk, a second mechanical disk, an electromagnet, a spring member, and the mechanically coupled linkage;

9. The flexibly driven biomimetic mechanism as recited in claim 7, wherein the electromagnetically controlled directional coupling means comprises an electromagnet, a spring member, a ratchet mechanism, and the mechanically coupled coupling structure/electromagnetically controlled coupling means;

10. The flexibly driven biomimetic mechanism as recited in claim 7, further comprising an angle detection device to obtain an angle parameter between the moveable arms;

the angle detection device is installed in a space area formed between the hollow circular ring inner shaft and the hollow circular ring outer shaft.

11. The flexibly driven biomimetic mechanism as recited in claim 1, further comprising an expansion system, the expansion system comprising an expansion member or a rolling rotation member;

the expansion component is arranged outside the movable arm and is a component matched with the movable arm, or the expansion component is used for installing the electromechanical device;