200821024 九、發明說明： 【發明所屬之技術領域】 本發明係-種撓性仿生水母縮放推進機構，其兼具以 紐元件之撓曲躲逼進真實水母動作、料能源、機構簡 . 單’以及機構體積微小化之功效。 【先前技術】200821024 IX. Description of the invention: [Technical field to which the invention pertains] The present invention is a flexible bionic jellyfish zooming and pushing mechanism, which has both the deflection of the element and the real jellyfish action, the energy source, and the mechanism. And the effect of miniaturization of the body. [Prior Art]
V 傳統式水母造型水下玩具(例如美國專利第6422910號專 _ 利案），如第六、第七及第八圖所示，其包括： 一頭部91 ; 複數個擺鱗組件，餘設於_部91上，每一擺動 桿組92係包括一擺動桿92卜至少一連動捍哪及一第一永 久磁鐵923 ; 一傘狀元件卯，係固定於該複數個擺動桿921上； 一驅動元件94，係具有一轉軸941，該轉軸941上設有分 • 支狀之複數個延伸桿942 ;以及複數個固定於該延伸桿942末 端之第二永久磁鐵943，且該轉轴941末端設有一第一環狀磁 ' 鐵 944 ; 一推進組件95，係具有一第二環狀磁鐵95卜複數推進葉 片952及一連接桿gw。 習用機構產生以下缺失： [1]固定式連桿機構無法逼進真實水母動作。習用機構主 要以固定式連桿驅動其傘狀元件作伸縮動作，固然可使傘狀元 5 200821024 件產生類似水母外傘之伸縮狀態’但因該固定式連桿只有關節 部位會轉動’其餘部位皆是硬體狀態，只能帶動傘狀树作機 械式的伸縮，動作極度呆板，且因傘狀元件的伸縮不產生任何 動力，故’傘狀元件的伸縮動作报可能與水母的前進狀態不協 調，無法產生真實水母的柔軟推進動作。V Traditional jellyfish modeling underwater toy (for example, U.S. Patent No. 6422910), as shown in the sixth, seventh and eighth figures, which includes: a head 91; a plurality of pendulum components, the remainder On the _ portion 91, each of the swinging lever sets 92 includes a swinging lever 92, at least one of which is coupled to a first permanent magnet 923; an umbrella member 卯 is fixed to the plurality of swinging levers 921; The driving member 94 has a rotating shaft 941, and the rotating shaft 941 is provided with a plurality of extending rods 942; and a plurality of second permanent magnets 943 fixed to the end of the extending rod 942, and the end of the rotating shaft 941 A first annular magnetic 'iron 944 is provided; a propulsion assembly 95 has a second annular magnet 95, a plurality of propulsion blades 952 and a connecting rod gw. The conventional mechanism produces the following deficiencies: [1] Fixed linkages cannot force true jellyfish movements. The conventional mechanism mainly uses a fixed connecting rod to drive its umbrella-like element for telescopic movement, although the umbrella element 5 200821024 can produce a telescopic state similar to the jellyfish outer umbrella 'but because the fixed link only the joint part will rotate 'the rest It is a hardware state, which can only drive the umbrella tree for mechanical expansion and contraction. The action is extremely rigid, and the expansion and contraction of the umbrella element may not be coordinated with the advancement state of the jellyfish because the expansion of the umbrella element does not generate any power. It is impossible to produce a soft push action of a real jellyfish.
[2]耗費能源。傳統水母造叙水下玩具，主要以驅動天 件之轉軸透過磁鐵相互則，進而帶動概推進葉片轉動，而 於水下產生動力以推進水母，但是，若實際水流阻力（假設是 在真實海洋中）大於磁鐵之吸引力，财能造成驅動元件轉 動’但受崎元件帶動之磁鐵卻無法刻推輯片跟著轉動， 即驅動元件_而細_母，如此造絲費能源，再者， 固定式連桿只能,_輕元件產生議水母料之伸縮動 切力，織嶋，能源效 率差。 人[]機構複雜。傳統仿水母機構，是由驅動元件轉動，配 ^磁鐵吸引推進葉片轉動，才能推進水母機構，但這只是“推 心=機顯進(特元件產生伸鞠作與此無關），另外還 生^、他的磁鐵吸引帶動複數個連桿，才能帶動伞狀元件產 的機構動=伸%動作，水母機構推進輿外傘元件伸縮是分離 冓，正肢機構相當複雜。 [4]機構體積龐大。傳統仿水母機構，除了必需設置具相 6 200821024 當體積之電動馬達外，還必需設置複數個連桿、磁鐵，其分別 用以產生推力，以及帶動外傘元件伸縮，而連桿愈多，其所需 樞接元件也愈多（為求樞接穩定度，樞接元件可能有相當之體 積），組合起來，使傳統仿水母機構體積龐大。 因此，有必要研發出可解決上述習用缺點之技術。 【發明内容】 本發明之主要目的，在於提供—觀性仿生水母縮放推進 機構其以撓性元件之撓曲特性逼進真實水母動作。 本發明之絲㈣，在於提供—織錄±树縮放推進 機構，其可節省能源。 本發明之又一目的’在於提供-種撓性仿生水母縮放推進 機構，其使機構簡單。 树於提供—種撓性仿生水母縮放推進 機構’其使機構體積微小化。 本發明係提供-種撓性仿生水母縮放推進機構，係包括一 =部、—動力部、—撓性傳動部、—基部及—半圓錐膜部， 該帶動部，係設於該基部内，該帶動部至少包括 =、Γ上連接件及複數個端面部；於接近該上連接件的圓週部 ===㈣定部，以該複數細定部帶動該挽性 趣數個端面部係以預定間隔形成於該帶動體之圓週 ，且每-端面部恰對應每—固定部，並以每—端面部與該 7 200821024 撓性傳動部作相對運動； 該動力部，係設於該基部内，該動力部至少包括一主固定 件、複數個側固定件及一動力源；該主固定件概呈空心元件， 該複數個側固定件係依預定間隔設於該主固定件之圓週部位 上，每一側固定件恰對應每一固定部；該動力源係設於該主固 定件内； 忒撓性傳動部，係設於該半圓錐膜部内，該撓性傳動部至 夕包括複數個撓性元件，每—撓性元件都具有可撓_一第一 端邛帛一端部、一第三端部及一第四端部；該第一端部係 供該撓性元件受對應的固定部帶動；該第二端部係供該挽性元 牛口疋於對應的 >[則固疋件，該第三端部係供該撓性元件與對應 的端面部作相對位移；該細畴係供該撓性元件連結於該半 =錐膜狀喊面，當職性元件受該帶動部_並產生挽曲 變开為’即帶賴伟賴部往復收縮喊生推進力。 本舍明之上述目的與優點，不難從下述所選用實施例之詳 細說明與附圖中，獲得深入瞭解。 ° 從以下列霄施例並配合圖式詳細說明本發明於後·· 【實施方式】 ' 本土月主要在没計撓性仿生水母縮放推進機構，析使 母機構的縮絲進獅更近似於真實水母㈣水推進。 —|先，挑選-組構造合成之水母機構，進行尺寸設計 者’依據水母機翻物雜，_τ定需賴設計。然後， 8 200821024 進行假剛齡’麟斜設計絲舰__雜型。再進 -步’以假_模魏行靜力分析，分析出各桿件與等效彈菩 之受力情形。最後’進行撓性機構的強度料，縛出挽性機 構力與變形之關係式。除此之外，可再將設計之機構匯入細$ 軟體’進行模擬驗證(相關之·機構轉撓性機構過程，請參 閱附件，恕不贅述）。 月>[2] Energy consumption. The traditional jellyfish narrative underwater toy mainly uses the rotating shaft of the driving piece to pass through the magnets, and then drives the blade to rotate, and generates power under water to propel the jellyfish. However, if the actual water flow resistance (assumed to be in the real ocean) ) is greater than the attractive force of the magnet, and the energy causes the driving element to rotate 'but the magnet driven by the element is unable to push the piece to follow the rotation, that is, the driving element _ and the thin _ mother, so the wire is energy-consuming, and further, the fixed type The connecting rod can only be used, and the light component produces the telescopic dynamic cutting force of the water masterbatch, which is woven and has poor energy efficiency. People [] institutions are complex. The traditional imitation jellyfish mechanism is driven by the driving element, and the magnet is attracted to push the blade to rotate, in order to advance the jellyfish mechanism, but this is only "pushing the heart = machine display (the special component produces the extension is not related to this), in addition to the ^ The magnet attracts a plurality of connecting rods to drive the mechanism of the umbrella element to produce the % movement, the jellyfish mechanism pushes the outer umbrella element to expand and contract, and the orthosis mechanism is quite complicated. [4] The mechanism is bulky. In the traditional imitation jellyfish mechanism, in addition to the electric motor with a volume of 6200821024, it is necessary to provide a plurality of connecting rods and magnets, respectively, for generating thrust and for driving the outer umbrella element to expand and contract, and the more the connecting rod, the more The more pivoting components are required (the pivoting components may have a considerable volume for the purpose of pivotal stability), which combine to make the traditional imitation jellyfish mechanism bulky. Therefore, it is necessary to develop a technology that can solve the above disadvantages. SUMMARY OF THE INVENTION The main object of the present invention is to provide an observing bionic jellyfish zooming mechanism that forces the real jellyfish with the flexural characteristics of the flexible component. The wire (4) of the present invention consists in providing a weaving-and-wedding zooming mechanism which saves energy. Another object of the present invention is to provide a flexible bionic jellyfish zooming and pushing mechanism which makes the mechanism simple. Provided is a flexible bionic jellyfish zooming and pushing mechanism which makes the mechanism small in size. The present invention provides a flexible bionic jellyfish zooming and pushing mechanism, which comprises a part, a power part, a flexible transmission part, a base part. And a semi-conical film portion, the driving portion is disposed in the base portion, the driving portion includes at least a =, an upper connecting member and a plurality of end face portions; and a circumferential portion close to the upper connecting member === (4) And the plurality of end portions are formed on the circumference of the driving body at a predetermined interval by the plurality of fine portions, and each of the end portions corresponds to each of the fixing portions, and each end face and the 7 200821024 are scratched The power transmission portion is disposed in the base portion, and the power portion is configured to include at least one main fixing member, a plurality of side fixing members and a power source; the main fixing member is a hollow member, the plurality of side The fixing member is disposed on the circumferential portion of the main fixing member at a predetermined interval, and each side fixing member corresponds to each fixing portion; the power source is disposed in the main fixing member; the flexible transmission portion is disposed on the In the semi-conical portion, the flexible transmission portion includes a plurality of flexible members, each of the flexible members having a flexible first end, a third end, and a fourth end The first end portion is for the flexible member to be driven by the corresponding fixing portion; the second end portion is for the plucking element of the horn; and the third end portion is Providing the flexible element to be displaced relative to the corresponding end surface; the fine domain is for the flexible element to be coupled to the half-cone-shaped surface, and the functional element is subjected to the pulling portion 'Through the Lai Wei Lai Department reciprocating contraction shouting propulsion. The above objects and advantages of the present invention are not difficult to obtain a detailed understanding from the detailed description and the drawings of the selected embodiments below. ° The present invention will be described in detail below with reference to the following embodiments. [Embodiment] 'The local month mainly focuses on the flexible bionic jellyfish zooming mechanism, and the mother's shrinking wire is more similar to the lion. Real jellyfish (four) water propulsion. —|First, select-group to construct the synthetic jellyfish mechanism, and the size designer's according to the jellyfish machine, the _τ is determined by the design. Then, 8 200821024 carried out the pseudo-aged 麟 斜 oblique design ship __ miscellaneous. Into the step - step by the static _ model Wei line static analysis, analyze the force of each member and the equivalent of the bomb. Finally, the strength material of the flexible mechanism is tied to the relationship between the mechanical force and the deformation. In addition, the design organization can be re-introduced into the thin software to perform simulation verification (the relevant mechanism of the mechanism to flex the mechanism, please refer to the attachment, will not go into details). Month>
•由結果顯示’本發明所設計之一種『撓性仿生水母縮放推 進機構』’能有效地產生近似水母的職推輯動，如第—、 第二及第三圖，其包括—帶動部1G、-動力部2G、-撓性傳 動邛30、一基部4〇及一半圓錐膜部5〇。 、，卿動邵，係設於該基部4〇内，該帶動部ι〇至 已括f動體1卜-上連接件12及複數個端面部13 ;於接 近紅連接件12的騎雜’每隔預定間隔設—固定部la， :複數mu卩121帶動雜轉動部亂·鋪數個端面 #13係以預定間隔形成於該帶動體11之圓週面上，且每一端 面部13恰對應每―固定部121，且以每—端與 傳動部3G作麵勒。 雜• The result shows that 'the flexible bionic jellyfish zooming propulsion mechanism designed by the present invention' can effectively generate the approximation of the jellyfish, such as the first, second and third figures, which includes the -1G - a power portion 2G, a flexible transmission port 30, a base portion 4A, and a half conical film portion 5A. , Qingdong Shao, is located in the base 4〇, the driving part ι〇 has been included in the body 1 - upper connector 12 and a plurality of end faces 13; in the proximity of the red connector 12 Each of the predetermined intervals is provided with a fixing portion la, a plurality of mu卩121 driving the miscellaneous rotating portions, and a plurality of end faces #13 are formed on the circumferential surface of the driving body 11 at predetermined intervals, and each end surface portion 13 corresponds to each The fixing portion 121 is made to face the transmission portion 3G at each end. miscellaneous
，丨勺至賴動力部20，係設於該基部40内，該動力部2〇至 ^ 固定件21、複數個側固耕22及一動力源H =疋件21概呈空心元件，該複數個細定件22係依預定間 隔权於該主m轉21之_雜上；每—編紐a恰對應 9 200821024 每固疋部121;該動力源23係設於該主固定件21之空心處。 有關該挽性傳動部30，係設於該半二二The scooping power unit 20 is disposed in the base portion 40. The power unit 2〇 to the fixing member 21, the plurality of side solid tillers 22, and a power source H=the crotch member 21 are substantially hollow members. The plurality of fixed members 22 are assigned to the main m-turn 21 by a predetermined interval; each of the n-keys a corresponds to 9 200821024 per fixed portion 121; the power source 23 is disposed in the hollow of the main fixing member 21 At the office. The accommodating transmission portion 30 is disposed in the half two two
性傳動部30至少包括複數個撓性元件幻，每一挽性元件 都具有可撓曲的-第—端部32、—第二端部⑽、:第三端部 34及-第四端部35 ;該第一端部32係供該撓性元件幻受該 固定部121帶動；該第二端部33係嵌扣於每一側固定件t 該第三端部34係供該撓性元件31與該對應的端面部i3作相 對位移；娜四善35雜該撓性元件31賴辭圓錐膜部 5〇之内表面5卜當該撓性元件31受該帶動部如傳動並產 生撓曲變形時，即帶動該半_膜部5{)往復收縮而產生推進 如此為本發明之撓性仿生水母縮放推進機構。 實務上’該帶_ 10又包括複數個連接管i3i，每一連 接管131皆設於每-端面部13上；且每一撓性元件幻又包括 一連接桿34卜該連接桿34H系設於該第三端部34上；藉由 該連接桿組插設於對應的連接管131中作相對運動，縣一 撓性元件31相對每一端面部13作相對運動。 該側固定件22係具有-固定端部221及一嵌扣端部222; 該側固定件22以該固定端部221固定於該主固定件21的圓週 雜上，且該綱定件22以該嵌扣端部222與該撓性傳動部 30的第一端部32相互嵌扣。 200821024 該動力源23係為電磁鐵。其優點在於電磁鐵可藉由提高 輸^^來提升推力’雖然提高電壓時亦會提升電磁鐵之温 度’但溫度過高_題可藉由水母機構於游泳環境中的水進行 冷卻。 當然本水母機構亦可使祕性騎或其他雜之驅動器 來鶴。此外，當需要使水母機構微小化時’亦可以微機電製 程將驅動元件及相關機構微小化。 錢性元件31係選自高性能石夕橡膠、可撓性機構其中之 —種。 依實際使㈣求’該舰元件31可以是料機構為撓 生也可以疋全撓性機構，機構簡單化，可以射出成型。 ▲㈣第-、第四及第五圖，本發明實際之動作過程係啟動 該動摘23，該動力源23驅動該帶動部1G，使該帶動部10 第位置P1與—第二位置P2間往復動作，並同時產生以 下動作： —[π該上連接件12上的每一固定部121帶動其連結的撓 性:件31之第—端部％，因該第二端部33嵌扣定位於該侧 固定件，，22的嵌扣端部222上(也可以講是該撓性元件31的 被固定）’故，該撓性元件31之第-端部32會產生 預疋之撓曲變形，以猶該上連接件12移位。 [2]該▼動體11的端面部13透過該連接管13卜與該第 200821024 —端部34之連接桿341作相對運動，其間 往復動作該35於一第三位置P3與-第四位置P4間 動作亚▼動該半圓錐膜部5〇往復收縮而產 料間該触树31的每個雜皆配合各 跟 著作微幅的撓曲運動。 W又力而跟The mechanical transmission portion 30 includes at least a plurality of flexible elements, each of which has a flexible - first end portion 32, a second end portion (10), a third end portion 34, and a fourth end portion. The first end portion 32 is configured to transmit the flexible member to the fixing portion 121; the second end portion 33 is embedded in each side fixing member t. The third end portion 34 is provided for the flexible member 31 is relatively displaced with the corresponding end face i3; Na Sishan 35 is mismatched by the flexible member 31 to the inner surface 5 of the conical portion 5 when the flexible member 31 is driven and deflected by the driving portion At the time of deformation, the half-film portion 5{) is reciprocally contracted to generate a flexible bionic jellyfish zooming and pushing mechanism which is thus the present invention. In practice, the belt _ 10 further includes a plurality of connecting tubes i3i, each connecting tube 131 is disposed on each of the end faces 13; and each flexible element includes a connecting rod 34. The connecting rod 34H is attached to the connecting rod 34H. The third end portion 34 is inserted into the corresponding connecting tube 131 for relative movement, and the county flexible element 31 moves relative to each end surface portion 13. The side fixing member 22 has a fixing end portion 221 and a fastening end portion 222. The side fixing member 22 is fixed to the circumferential surface of the main fixing member 21 by the fixing end portion 221, and the frame member 22 is The intermeshing end 222 and the first end 32 of the flexible transmission portion 30 are interlocked with each other. 200821024 This power source 23 is an electromagnet. The advantage is that the electromagnet can increase the thrust by increasing the output. Although the temperature of the electromagnet is increased when the voltage is increased, the temperature is too high. The problem can be cooled by the jellyfish in the swimming environment. Of course, this jellyfish mechanism can also make a secret ride or other miscellaneous drive to the crane. In addition, when the jellyfish mechanism needs to be miniaturized, the MEMS process can also miniaturize the drive components and related mechanisms. The money element 31 is selected from the group consisting of high performance Shixia rubber and flexible mechanism. According to the actual situation, the ship component 31 can be either a material mechanism or a full flexible mechanism. The mechanism is simplified and can be injection molded. ▲ (4) The first, fourth, and fifth figures, the actual operation process of the present invention activates the dynamic picking 23, and the power source 23 drives the driving portion 1G so that the driving portion 10 is between the first position P1 and the second position P2. Reciprocating action, and at the same time, the following actions are performed: - [π each of the fixing portions 121 on the upper connecting member 12 drives the flexible connection thereof: the first end portion % of the member 31, because the second end portion 33 is buckled and positioned The end portion 222 of the side fixing member 22 is also fixed (the flexible member 31 is fixed). Therefore, the first end portion 32 of the flexible member 31 is deflected. The deformation is displaced by the upper connecting member 12. [2] The end surface portion 13 of the moving body 11 passes through the connecting tube 13 and moves relative to the connecting rod 341 of the second end portion 34 of the 200821024, and the reciprocating motion 35 is in a third position P3 and -4 position. The movement between the P4 moves the reciprocating contraction of the semi-conical film portion 5, and each of the teeth of the contact tree 31 is matched with the slight deflection movement of each of the works. W is also strong
钱’若細踢撓性元叙結觀度，断該撓性元件 h又金屬片（例如鋼片’圖面未示，合先陳明）即可。 本發明之優點及功效如下所述： Π]以撓性元件之撓轉性逼進真實水補作。本發明之 ^^半_物_謝顧力，錐膜 ^則由撓轉_之驗树所鶴，該舰元射產生如直 實水母之肌_撓_象’配麵力敎準確鶴，使水母的 +圓錐膜部在伽觸時，魏更真實的水母職與柔軟度。 曰[2]節省能源。本發明之水母機構於收縮過程中，可將能 =應二此(Strain energy)儲存，藉此，在半圓錐膜放鬆過 程時:無需提供動力來源’由機構直接將應變能轉為動能，達 J拳A之動作而在半圓錐膜收縮的過程中，亦能藉由挽性元 件發揮預定之彈力，節省半_膜收縮所需之動力。 [3^機制單。本發明之每—撓性元件，都是—體成型射 出可罪性尚’可簡化製程，減少組裝時間，而挽性元件以挽 12 200821024 曲變形產生運動，沒有機件的相對運動，不會摩擦，也沒有磨 耗問題，故不需潤滑，當然也無嗓音，可減少維修次數；機構 大幅簡單化。 [4 ]機構體積微小化。本發明以一體成型取代複數個連禪 組的組裝，省略了樞接元件而使連桿組沒有間隙，精度提高， 可作精細動作，整個機構及驅動元件亦可以微機電製程微小If the money's fine kicking of the flexible element, the flexible element h and the metal piece (for example, the steel sheet 'not shown, the first Chen Ming) can be used. The advantages and effects of the present invention are as follows: Π] The true water complement is forced by the flexibility of the flexible element. The ^^ 半_物_Xie Guli of the invention, the cone film ^ is carried out by the test of the swaying _, the ship element shoots the muscle of the straight jellyfish _ _ _ _ ' 配 敎 敎 敎 accurate crane, When the jellyfish's + conical section is in the gaze, Wei is more realistic of the jellyfish position and softness.曰[2] saves energy. In the shrinking process of the present invention, the jellyfish can be stored in Strain energy, thereby, in the process of relaxing the semi-conical membrane: no need to provide a power source, the mechanism directly converts the strain energy into kinetic energy. In the process of the contraction of the semi-conical film, the movement of the J-box A can also exert the predetermined elastic force by the sizing element, thereby saving the power required for the contraction of the semi-film. [3^Mechanism list. Each of the flexible elements of the present invention is capable of simplification of the process and reduces the assembly time, while the slidable element generates motion by the deformation of the 12 200821024, without the relative movement of the mechanism, and will not There is no wear problem with friction, so there is no need for lubrication, and of course there is no noise, which can reduce the number of repairs; the mechanism is greatly simplified. [4] The size of the organization is small. The invention replaces the assembly of a plurality of continuous zen groups by integral molding, omits the pivoting components, so that the connecting rod group has no gap, the precision is improved, and the fine action can be performed, and the whole mechanism and the driving component can also be micro-electromechanical processes.
化，體積小，重量輕，使元件數量大量減少，佔用的空間也大 里減少，水母機構的體積可以微小化。 以上僅是藉由較佳實施例詳細說明本發明，對於該實施例 所做的任何簡單修改盘變 痛例 、_ 义化白不脫離本發明之精神與範圍。 由X上洋細说明，可使熟知 蓺^ 達成前述目的，而本___定==瞭柄明的確可 徵’未見於同類技術而具新•:界 能供產觀份_，實細賤步性，並 申請，謹請輪袖糊，繼具文提出 【附件】 j K轉本中請人合法之權益。 關於本發明剛性機 攝轉撓性機構之相關資料 200821024 【圖式簡單說明】 弟一圖係本發明之平面不意圖 第二圖係本發明之主要機構之分解圖 第三圖係本發明之主要機構之立體圖 第四圖係本發明之部分機構之放大示意圖 第五圖係第四圖之平面動作之示意圖 第六圖係習用機構之示意圖 第七圖係習用機構動作前之示意圖 第八圖係習用機構動作後之示意圖 【主要元件符號說明】 10帶動部 11帶動體 12上連接件 121固定部 13端面部 131連接管 20動力部 21主固定件 22側固定件 221固定端部 222嵌扣端部 23動力源 30撓性傳動部 31撓性元件 32第一端部 33第二端部 34第三端部 341連接桿 35第四端部 40基部 50半圓錐膜部 51内表面 91頭部 92擺動桿組件 14 200821024 921擺動桿 922連動桿 923第一永久磁鐵 93傘狀元件 94驅動元件 941轉軸 942延伸桿 943第二永久磁鐵 944第一環狀磁鐵 95推進組件 951第二環狀磁鐵 952推進葉片 953連接桿 P1第一位置 P2第二位置 P4第四位置 P3第三位置 15The small size and light weight make the number of components greatly reduced, and the space occupied is also greatly reduced. The volume of the jellyfish mechanism can be miniaturized. The present invention has been described in detail by the preferred embodiments thereof, and any simplification of the invention may be made without departing from the spirit and scope of the invention. It is explained by X on the foreign fine, which can make the well-known 蓺^ achieve the above-mentioned purpose, and this ___定== 柄明 can indeed be levied 'not found in the same technology and has a new one: the boundary energy supply and production _, real Step by step, and apply, please turn the wheel sleeves, follow the article to submit [attachment] j K transfer this legal person's rights. The related art of the rigid machine rotation flexible mechanism of the present invention 200821024 [Simplified description of the drawings] The drawings of the present invention are not intended to be the second embodiment. The third embodiment of the present invention is an exploded view of the main mechanism of the present invention. The fourth view of the mechanism is a schematic view of a part of the mechanism of the present invention. The fifth figure is a schematic view of the plane action of the fourth figure. The sixth figure is a schematic view of the conventional mechanism. The seventh figure is a schematic diagram of the prior art action. Schematic diagram after the action of the mechanism [Description of the main components] 10 driving part 11 driving body 12 connecting member 121 fixing portion 13 end surface 131 connecting tube 20 power portion 21 main fixing member 22 side fixing member 221 fixing end portion 222 fitting end portion 23 power source 30 flexible transmission portion 31 flexible member 32 first end portion 33 second end portion 34 third end portion 341 connecting rod 35 fourth end portion 40 base portion 50 semi-conical portion 51 inner surface 91 head portion 92 swing Rod assembly 14 200821024 921 swinging rod 922 linkage rod 923 first permanent magnet 93 umbrella element 94 driving element 941 rotating shaft 942 extension rod 943 second permanent magnet 944 first annular magnetic Iron 95 propulsion unit 951 second ring magnet 952 propulsion blade 953 connecting rod P1 first position P2 second position P4 fourth position P3 third position 15