CN213527434U

CN213527434U - Power execution system of bionic mechanism

Info

Publication number: CN213527434U
Application number: CN202020987059.5U
Authority: CN
Inventors: 张宇; 张中豪
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-02
Filing date: 2020-06-02
Publication date: 2021-06-25
Anticipated expiration: 2030-06-02

Abstract

The utility model discloses a power execution system of a bionic mechanism, the bionic mechanism comprises a plurality of movable arms and a plurality of joint parts arranged on the movable arms, the adjacent movable arms are respectively positioned on different planes which are parallel to each other, the joint parts are provided with the power execution system, and the movable arms are connected through the power execution system; the power execution system comprises a hollow circular inner shaft, a hollow circular outer shaft and a bearing, wherein the hollow circular inner shaft is arranged at a joint part at one end of the movable arm, the hollow circular outer shaft is arranged at a 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. The utility model discloses can drive the motion of digging arm, effectively realize the output of power.

Description

Power execution system of bionic mechanism

Technical Field

The utility model relates to a bionical mechanism technical field especially relates to a power execution system of bionical 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 other fields are difficult.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a power execution system of bionic mechanism is provided, can drive the digging arm motion, effectively realize the output of power.

The utility model discloses a power execution system of a bionic mechanism, the bionic mechanism comprises a plurality of movable arms and a plurality of joint parts arranged on the movable arms, the adjacent movable arms are respectively positioned on different planes which are parallel to each other, the joint parts are provided with the power execution system, and the movable arms are connected through the power execution system;

the power execution system comprises a hollow circular inner shaft, a hollow circular outer shaft and a bearing, wherein the hollow circular inner shaft is arranged at a joint part at one end of the movable arm, the hollow circular outer shaft is arranged at a 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.

Specifically, the joint part is used for connecting a power source, and the movable arm and the joint part are internally provided with a power transmission system.

The power transmission system comprises a right-angle transmission mechanism, 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;

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

As an improved scheme of the power execution system, the power execution system further comprises a first mechanical disc, a second mechanical disc, a first electromagnet and a first spring component;

the first mechanical disc is fixedly connected with the power transmission system;

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

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

As a further improvement of the power executing system, the power executing system further comprises a second electromagnet, a second spring component and a ratchet mechanism, wherein the ratchet mechanism comprises a ratchet wheel and a pawl, the ratchet wheel is connected to the outer wall of the inner circular ring shaft of the movable arm, and the pawl, the second electromagnet and the second spring component are fixedly connected to the inner wall of the outer hollow circular ring shaft of the movable arm.

Specifically, 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 connected with the shell of the movable arm.

Specifically, the included angle between two connected movable arms is alpha, and the change range of the included angle alpha is 0-360 degrees.

Further, an expansion system is also included, the expansion system including 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; the rolling rotating part is connected with the movable arm so that the bionic mechanism can move in a three-dimensional space.

Implement the utility model discloses, following beneficial effect has:

(one) the utility model discloses bionical mechanism, including a plurality of digging arms and a plurality of joint position, adjacent digging arm is in respectively on the different planes that are parallel to each other, the digging arm realizes series connection through the power execution system at joint position. The utility model discloses in the aspect of the motion space topological design of digging arm, with the motion range and the orbit of adjacent hookup digging arm, arrange respectively on two planes that are parallel to each other, avoid taking place between them motion to interfere, establish the basis for improving system expansibility, flexibility, commonality.

The utility model discloses a motion between the digging arm is realized to power execution system, and the inside at digging arm and joint position is equipped with power transmission system. The power execution system can be a mechanical coupling connection device, an electromagnetic control connection device or an electromagnetic control direction limiting connection device, power output is effectively achieved, actions of all joints (namely included angles between adjacent movable arms) can be effectively controlled, actions of the bionic mechanism can be executed in place, and tasks of large torque power and high complexity are completed. Furthermore, the utility model discloses the activity orbit space between the digging arm has carried out ingenious isolation with transmission system's rotation orbit space, makes it become two subsystems of mutual independence on the motion orbit space, has reduced the complexity and the cost of whole bionic system in aspects such as design, development, debugging, maintenance, promotes the maintainability and the usability of product.

To sum up, the utility model discloses the task demand of adaptable multiple application scene can realize multiple complex motion law, movement track and special motion.

Drawings

FIG. 1 is a front view of the flexible transmission bionic 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;

mechanical coupling means 40A, inner hollow-torus shaft 41, outer hollow-torus shaft 42, and bearing 43

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

an electromagnetic control direction-limiting coupling device 40C, a second electromagnet 48, a second 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, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings. Only this statement, the utility model discloses the upper and lower, left and right, preceding, back, inside and outside etc. position words that appear or will appear in the text only use the utility model discloses an attached drawing is the benchmark, and it is not right the utility model discloses a concrete restriction.

As shown in fig. 1 and 2, the utility model discloses a power execution system of bionic mechanism, bionic mechanism includes a plurality of digging arms 1 and locates a plurality of joint position 2 on the digging arm 1, and adjacent digging arm 1 is in respectively on the different planes that are parallel to each other, digging arm 1 passes through joint position 2 series connection.

The utility model discloses a quantity of digging arm is N (N is for being greater than 2 integer), and the total quantity at joint position is N + 1. Now, the bionic mechanism 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 in series to form the bionic mechanism.

When N is 9, the movable arm 1 of the bionic mechanism of the present invention includes 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.

The joint part is provided with a power execution system, and the movable arm is connected through the power execution system. In this embodiment, the moveable arm is coupled by a mechanically coupled power actuation system. As shown in fig. 9, 10 and 11, the power executing system is a mechanical coupling device 40A, which 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. 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.

The utility model discloses on two planes that are parallel to each other are arranged in respectively to two digging arms 1 that will connect, avoided their movement track's mutual interference. And at each joint part 2, the function of continuously transmitting power across the movable arm is realized by arranging a power transmission system 30.

The joint region 2 is used for coupling a power source. The movable arm 1 and the joint parts 2 are internally provided with power transmission systems 30, the motion trail spaces of the power transmission systems are mutually independent from the motion trail space of the movable arm, and the power transmission systems 30 transmit single-point power input by a power source at a single joint part to the joint parts 2 and provide power output.

The power transmission system 30 comprises a right-angle transmission mechanism, 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. 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.

According to the above technical scheme, the utility model discloses the digging arm passes through the coupling device 40A of mechanical coupling and connects, forms power actuating system 40. The utility model discloses carry out ingenious isolation with the activity orbit space between the digging arm and transmission system's rotation orbit space, make it become two subsystems of mutual independence on the motion orbit space, reduced complexity and the cost of whole bionic system in aspects such as design, development, debugging, maintenance, promoted the maintainability and the usability of product.

The power executing system 40 is a mechanical coupling device 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.

In the case where the power executing system 40 is preferably an electromagnetically controlled coupling device 40B or an electromagnetically controlled coupling device 40C, the power of the transmission system can be transmitted to the executing system by engaging and disengaging the electromagnetic clutch, and the executing system can be operated. Specifically, as shown in fig. 12 and 13, the power executing system is an electromagnetic control coupling device 40B, which includes a first mechanical disk 44, a second mechanical disk 45, a first electromagnet 46, a first spring member 47, and the mechanically coupled coupling device 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 first 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 chassis of the housing of the movable arm 1 through the first spring part 47, when an external force drives the second mechanical disk 45 to rotate, the second mechanical disk 45 drives the chassis of the housing of the movable arm 1 to rotate together through the first spring part 47 connected with the second mechanical disk 45, and the movable arm tightly 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 first electromagnet 46, and the first spring member 47 together constitute an electromagnetically controlled clutch device.

When the first 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 this time, when the first mechanical disk 44 rotates, power cannot be transmitted to the second mechanical disk 45, and therefore the movable arm 1 cannot rotate together with the first mechanical disk 44.

When the first electromagnet 46 is energized, the clutch is engaged, and the repulsive force generated by the first electromagnet 46 overcomes the resistance of the spring, pushing the second mechanical disk 45 toward the first mechanical disk 44, and bringing the second mechanical disk 45 into close contact with the first mechanical disk 44. 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 ring inner shaft 41 and the fixed base plate member 33 tightly connected together with the second mechanical disk are driven to rotate together, so that the movable arms 1 tightly connected together with the hollow ring inner shaft 41 and the fixed base plate member 33 synchronously rotate along with the hollow ring inner shaft, and at the same time, the included angle between the two connected movable arms 1 is changed along with the included angle.

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 utility model 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, and complete 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, the electromagnetic control direction-limiting coupling device 40C including a second electromagnet 48, a second spring member 49, a ratchet mechanism 50, and the mechanically coupled coupling device 40A/electromagnetic control coupling device 40B;

the ratchet mechanism 50 comprises 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, and the pawl 52, the second electromagnet 48 and the second spring part 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 second electromagnet 48 is powered off, the pawl 52 is pressed against the ratchet 51 under the thrust of the second 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 second electromagnet 48 is powered on, the pawl 52 is attracted to the second electromagnet 48 by electromagnetic force, and the pawl 52 is separated from the ratchet 51, so that the restriction that the hollow annular inner shaft 41 tightly connected with the ratchet 51 can only rotate in a counterclockwise one-way direction is removed, that is: 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 the utility model discloses better embodiment still includes angle detection device (not shown in the figure) to acquire the contained angle parameter between the digging arm 1, make the system can detect and control the precision of bionical mechanism execution action, thereby accomplish some tasks that have the accuracy index requirement. 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, with reference to fig. 15-19 and 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 extension of the degree of freedom 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 extension system is used to extend the degree 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 in a plane coordinate system can be extended into a three-degree-of-freedom bionic mechanism capable of performing three-dimensional motion in a three-dimensional coordinate system.

The utility model discloses flexible driven bionical mechanism still can support multiple application extension.

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 utility model discloses flexible driven bionical mechanism has functions such as curling, flexible, extension, deformation, can obtain using in the shape memory field.

The utility model discloses a flexible transmission's bionical mechanism can buckle and extend to contract and become multiple space topological structure, shape, size, consequently, can develop into products such as bionical house, bionical helping hand apparatus that have remote control function, satisfies the various demands of people's life and work.

The utility model discloses a bionical mechanism of flexible drive can support distributing type, flexibility, dynamization, intelligent rotary type power transmission application scene, to the power transmission of rotary type or extend to a plurality of nodes or remote complicated application scenario, for example: 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.

The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations are also considered as the protection scope of the present invention.

Claims

1. A power execution system of a bionic mechanism is characterized in that the bionic mechanism comprises a plurality of movable arms and a plurality of joint parts arranged on the movable arms, adjacent movable arms are respectively positioned on different planes which are parallel to each other, the joint parts are provided with power execution systems, and the movable arms are connected through the power execution systems;

2. The power-actuated system of a biomimetic mechanism as recited in claim 1, wherein the joint portion is configured to couple to a power source, and a power transmission system is disposed within the movable arm and the joint portion.

3. The power-driven system of bionic mechanism as claimed in claim 2, wherein the power transmission system comprises a right-angle transmission mechanism, the right-angle transmission mechanism comprises at least two sets of right-angle transmission units, each set of right-angle transmission units comprises 2 transmission members with mutually perpendicular rotation shafts, and each transmission member comprises a stator and a rotor; the different groups of right-angle transmission units are mutually connected through rotors;

4. The power actuator system of a biomimetic mechanism as recited in claim 2, wherein said power actuator system further comprises a first mechanical disk, a second mechanical disk, a first electromagnet, a first spring member;

5. The power-actuated system of a biomimetic mechanism as in claim 1 or 4, further comprising a second electromagnet, a second spring member, and a ratchet mechanism, wherein the ratchet mechanism comprises a ratchet wheel and a pawl, wherein the ratchet wheel is coupled to an outer wall of the inner circular shaft of the moveable arm, and wherein the pawl, the second electromagnet, and the second spring member are fixedly coupled to an inner wall of the outer hollow circular shaft of the moveable arm.

6. The power-actuated system of a biomimetic mechanism as recited in claim 3, wherein the movable arm is provided with a fixed base plate member, and the fixed base plate member is connected to the stator of the right-angle actuator and to the housing shell of the movable arm.

7. The power actuator system of a biomimetic mechanism as recited in claim 1, wherein an included angle between two connected movable arms is α, and the variation range of the included angle α is 0-360 °.

8. The power-actuated system of a 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;

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