Flexible driving mechanism, flexible driving mechanism group and flexible device

Abstract

The invention provides a flexible driving mechanism. The flexible driving mechanism comprises a driving unit, a force amplification unit, a control unit and an energy storage unit. The driving unit amplifies an output force through the force amplification unit, in which a one-way bearing is embedded, to act upon the energy storage unit. The driving unit inputs the energy into the energy storage unit through reciprocating motion; when elastic energy in the energy storage unit reaches a desired requirement, the control unit is remotely controlled through a communication unit to release the elastic energy stored in the energy storage unit at one time so as to realizes a plurality of functions of walking, climbing, rolling, jumping and advancing and to switch the functions. According to the invention, as an intelligent soft material is used as a driver, the invention has the advantages of high electromechanical conversion efficiency, large energy density and low noise. And moreover, most structures can be replaced with flexible materials so that the damage resistance of the flexible driving mechanism is high; and meanwhile, the flexible driving mechanism can simultaneously realize the plurality of functions of walking, climbing, rolling, jumping and advancing through being combined with different housings and can be applied to robots, toys, energy collection and other aspects.

Description

technical field [0001] The invention relates to the field of flexible robots, in particular to a flexible driving mechanism capable of integrating autonomous walking, crawling, rolling, jumping and advancing. Background technique [0002] At present, for similar dangerous activities such as the detection of tombs, the exploration of alien planets, military reconnaissance, and anti-terrorism reconnaissance, people often use robots to replace humans for detection. The above-mentioned occasions generally have complex terrain and various obstacles, which require the detection robot to have multiple motion capabilities and a high degree of freedom of movement to overcome these obstacles. Most of the current robot movement methods can only achieve a single movement method, for example, walking, crawling, rolling or jumping alone, and there are also a small number of robots that can realize two functions at the same time. And the current driving method of the robot is mainly to dr...

AI Technical Summary

Problems solved by technology

And the current driving method of the robot is mainly to drive the rigid structure to move through the motor, which includes many rigid transmission parts such as cams, ratchets, pawls, bearings, hinges, guide posts, etc. The use of rigid materials makes the robot prone to misalignment when it is impacted by the outside world , damage and other issues, and due to the limited lubrication between the rigid structures, it is easy to generate large noise during operation

The robot vertical jumping mechanism reported in Chinese patent CN201010617013.5 has a complex structure, including a variety of rigid transmission parts as mentioned above, difficult processing and assembly, heavy structure, and large energy loss during operation; and it can only jump in the vertical direction. single

[0003] At present, there is no robot that can integrate the functions of walking, crawling, rolling, jumping, and rushing, and has a simple structure and easy processing.

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