A bionic mechanism with flexible transmission

Abstract

The present invention discloses a bionic mechanism with flexible transmission, including multiple movable arms and multiple joints arranged on the movable arms, the adjacent movable arms are respectively located on different parallel planes, the joints are used to connect a power source or output power; a power transmission system is arranged inside the movable arms and the joints, the motion trajectory space of the power transmission system is independent of the motion trajectory space of the movable arms, the power transmission system transmits the single-point power input by the power source at a single joint to multiple joints and outputs power; a power execution system is arranged at the joints, and multiple movable arms realize mutual movement through the power execution system. The present invention can reduce the complexity of the structure and control of the bionic system, significantly improve the functional indicators such as system extensibility, flexibility, and versatility, can support large torque loads, and can realize a variety of complex motion laws, motion trajectories, and special movements.

Description

Technical Field

[0001] The invention relates to the technical field of bionic mechanisms, in particular to a bionic mechanism with flexible transmission. Background Art

[0002] Over the years, many researchers have made a lot of positive explorations on bionic mechanisms from multiple aspects such as kinematics, mechanics, dynamics, materials science, and biology, and have achieved certain research results. However, no substantial breakthroughs have been made in the fields of robotic snakes, crawling robots, artificial muscles, memory materials, etc., and the relevant research results are difficult to be widely applied.

[0003] For the technical solution of using joint drive motors, since an independent power drive device (such as a servo, motor, etc.) must be provided for each joint point, the contradiction between the volume and weight of the drive device and the large torque load demand is very prominent, and it is difficult to find a good balance and solution. When the volume and weight of the drive device itself are very small, it is difficult to provide strong power to each node distributed in the bionic mechanism, and its technical indicators such as torque load, specific torque, specific power (or power-to-weight ratio) are low.

[0004] For the wire-driven method, when faced with multiple continuously moving nodes, it is difficult to ensure stable accuracy and reliability. The connections and intersections of the transmission wires are complex and easily entangled with each other and cause motion interference with each other. The parameter tolerance requirements of the manufacturing process are high, the complexity is high, and there are many problems during operation, such as: aging, slipping, wear, poor overload performance, high failure rate, and high maintenance cost of the transmission wires or belts. The maintenance process is also very complicated, making it difficult to cope with the diversity and flexibility requirements of application scenarios.

[0005] For the implementation method using a connecting rod combination mechanism, its mechanical topology is often complex, making the forward and reverse solution process of kinematics and dynamics very complex, difficult, and inefficient, and the control algorithm modeling is highly complex. In addition, when running, the components are more prone to wear and jamming, and it is difficult to find and judge when a fault occurs, and the maintainability, reliability, and scalability of the device are all poor.

[0006] In summary, there are many problems with the existing technical solutions. There are too many factors to consider when designing, such as: topological structure, variability and controllability of shape and posture, torque size, transmission and power, center of gravity matching, load characteristics, dynamic volume weight distribution, motion execution accuracy control, beat speed control, etc. The requirements of various technical indicators are often contradictory and mutually restrictive, and it is difficult to balance various parameters. It is very difficult to design and manufacture a bionic mechanism with good comprehensive technical indicators; the system is highly complex, and the requirements for design, development, and engineering personnel are very high, and general technical personnel are difficult to be competent; the development of relevant technical theories and design and implementation methods lags behind, and it is difficult to guide actual engineering applications or product realization; many technical solutions often only start from a single discipline perspective, and the research goals are often limited to solving certain local technical problems, limited to a certain component or local bionic component, and there is less research on the global, holistic, and systematic aspects, and the content of the research is still inadequate; therefore, the disciplinary integration of the existing technical solutions is insufficient, the results are limited, the referenceability is poor, the extensibility, promotion, and versatility are still unsatisfactory, and it is difficult to be popularized and applied in related fields. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a bionic mechanism with flexible transmission, reduce the complexity of the structure and control of the bionic system, significantly improve the functional indicators such as system scalability, flexibility, and versatility, so that it can adapt to the task requirements of various application scenarios and realize a variety of complex motion laws, motion trajectories and special motions.

[0008] In order to solve the above technical problems, the present invention provides a bionic mechanism with flexible transmission, which is a motion bionic mechanism with a serial topological structure and a flexible transmission method. The bionic mechanism of the present invention connects several movable arm components in series at the joints in sequence, and can realize a variety of complex motion laws, motion trajectories and special motions.

[0009] The present invention discloses a bionic mechanism with flexible transmission, comprising a plurality of movable arms and a plurality of joint parts, wherein adjacent movable arms are respectively located on different planes parallel to each other, and the movable arms are connected in series through the joint parts;

[0010] The joint part is used to connect the power source or output power;

[0011] A power transmission system is provided inside the movable arm and the joints, the motion trajectory space of the power transmission system is independent of the motion trajectory space of the movable arm, and the power transmission system transmits the single-point power input by the power source at a single joint to multiple joints and outputs the power;

[0012] A power execution system is provided at the joint part, and a plurality of movable arms realize mutual movement through the power execution system. The angle between two connected movable arms is α, and the variation range of the angle α is 0-360°.

[0013] Specifically, the power transmission system includes a right-angle transmission mechanism, which transmits power from one movable arm to the next movable arm connected in series with it. In this way, the power is transmitted step by step, so that the single-point power input by the power source at a single joint can be transmitted to multiple joints and output power;

[0014] The right-angle transmission mechanism includes at least two groups of right-angle transmission units, each group of right-angle transmission units includes two transmission members with mutually perpendicular rotating shafts, and each transmission member includes a stator and a rotor; different groups of right-angle transmission units are connected to each other through the rotor.

[0015] Preferably, the right-angle transmission mechanism is a magnetic wheel right-angle transmission mechanism or a mechanical bevel gear right-angle transmission mechanism;

[0016] The magnetic wheel right-angle transmission mechanism includes at least two magnetic wheel groups, each of which includes two magnetic wheels with mutually perpendicular rotating shafts, and each of which includes a magnetic wheel stator and a magnetic wheel rotor; the two groups of magnetic wheels fixedly connected to different movable arms are connected to each other through a coupling to complete the power transmission across the movable arm;

[0017] The mechanical bevel gear right-angle transmission mechanism includes at least two bevel gear sets, each bevel gear set includes two bevel gears with mutually perpendicular rotating shafts, each bevel gear includes a bevel gear stator and a bevel gear rotor, and the two sets of bevel gear rotors are connected to each other through a coupling between the two sets of bevel gear mechanisms fixedly connected to different movable arms to complete the power transmission across the movable arm.

[0018] Preferably, a fixed base plate component is provided on the movable arm, and the fixed base plate component is connected to the stator of the right-angle transmission mechanism and is fixedly connected to the outer shell of the movable arm.

[0019] Preferably, the movable arm is U-shaped, S-shaped or Z-shaped.

[0020] Furthermore, the power execution system is a mechanical coupling connection structure, an electromagnetic control connection device or an electromagnetic control limited direction connection device.

[0021] Preferably, the mechanical coupling structure 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 portion at one end of the movable arm, the hollow circular outer shaft is arranged at a joint portion at the other end of the movable arm, and the bearing is arranged on the inner wall of the hollow circular outer shaft;

[0022] The inner wall of the bearing is matched with the outer wall of the hollow circular inner shaft, and is used to tightly connect the movable arm;

[0023] The rotor of the right-angle transmission mechanism is arranged inside the hollow circular inner shaft.

[0024] Preferably, the electromagnetically controlled connection device comprises a first mechanical disc, a second mechanical disc, an electromagnet, a spring component and the mechanical coupling connection structure;

[0025] The first mechanical disc is fixedly connected to the rotor of the right-angle transmission mechanism;

[0026] The second mechanical disc is connected to the inner wall of the movable arm through a spring component;

[0027] The first mechanical disc and the second mechanical disc are arranged correspondingly.

[0028] Preferably, the electromagnetically controlled direction-limiting connection device comprises an electromagnet, a spring component, a ratchet mechanism and the mechanical coupling connection structure / electromagnetically controlled connection device;

[0029] The ratchet mechanism comprises a ratchet and a pawl, wherein the ratchet is connected to the outer wall of the hollow circular inner shaft of the movable arm, and the pawl, the electromagnet and the spring component are fixedly connected to the inner wall of the hollow circular outer shaft of the movable arm.

[0030] As an improvement of the above solution, the flexible transmission bionic mechanism also includes an angle detection device to obtain the angle parameters between the movable arms, and the angle detection device is installed in the space area formed between the hollow circular inner axis and the hollow circular outer axis.

[0031] As an improvement of the above solution, the flexible transmission bionic mechanism further includes an expansion system, which includes an expansion component or a rolling rotation component; the expansion component is installed on the outside of the movable arm and is a component adapted to the movable arm, or the expansion component is used to install an electromechanical device;

[0032] The rolling and rotating component is connected to the movable arm so that the flexible transmission bionic mechanism can move in three-dimensional space.

[0033] The implementation of the present invention has the following beneficial effects:

[0034] (I) The bionic mechanism of flexible transmission of the present invention comprises a plurality of movable arms and a plurality of joints, wherein adjacent movable arms are respectively located on different parallel planes, and the movable arms are connected in series through bearings at the joints. In terms of the topological design of the motion space of the movable arms, the present invention arranges the motion range and trajectory of adjacent connected movable arms on two parallel planes respectively to avoid motion interference between them, thus laying a foundation for improving the scalability, flexibility and versatility of the system.

[0035] (ii) The movable arms and joints of the present invention are provided with a power transmission system, the motion trajectory space of the power transmission system is independent of the motion trajectory space of the movable arms, the joints are provided with a power execution system, and the multiple movable arms realize mutual motion through the power execution system, and the motion trajectory space of the power transmission system and the movable arms are isolated and independent of each other. The present invention ingeniously isolates the motion trajectory space between the movable arms from the rotation trajectory space of the power transmission system, making them two independent subsystems in the motion trajectory space.

[0036] (III) The power transmission system of the present invention is not affected by the topological structure and shape of the bionic mechanism, and can independently or in parallel control each joint part, that is, only one power source can be used to provide powerful power output to each joint part, and the action of each joint (i.e., the angle between adjacent movable arms) can be effectively controlled, so as to support it to complete the task of executing bionic actions with high torque power and high complexity. The power transmission system adopts right-angle transmission and coupling linkage, which can ensure that the power from the upper-level movable arm is smoothly transferred at the joint part, and the power is transmitted to the next-level movable arm, and so on, the power can be continuously transmitted downward step by step along each movable arm until it reaches all movable arms.

[0037] Therefore, in terms of power transmission, the present invention provides a design principle and implementation method or solution for distributed, modular power transmission and layout with one-point input and multiple-point output, which can meet the optimization needs of distributed, modular working modes for separate separation, separate design, separate implementation and separate debugging of transmission, execution and control. While reducing the difficulty of design and implementation, the present invention can also greatly improve the versatility, scalability, flexibility and adaptability of the system.

[0038] (IV) The present invention separates the power execution system into a separate subsystem, which can be a mechanical coupling connection structure, an electromagnetic control connection device or an electromagnetic control limited direction connection device, and cleverly isolates the activity trajectory space between the movable arms from the rotation trajectory space of the transmission system, making them two independent subsystems in the motion trajectory space, reducing the complexity and cost of the entire bionic system in design, development, debugging, maintenance, etc., and improving the maintainability and availability of the system.

[0039] (V) The present invention designs two major schemes in terms of the 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. When the magnetic wheel transmission method is adopted, it can be used in applications with smaller torque, non-contact transmission, and no damage when overloaded. When the mechanical bevel gear transmission method is adopted, it can be used in applications with large torque. Therefore, compared with the existing technical solutions, the technical solution of the present invention has stronger flexibility and adaptability, and can meet higher torque load, specific torque, and specific power (or power-to-weight ratio) indicators.

[0040] (VI) The present invention is also provided with an expansion system, which includes an expansion member or a rolling and rotating member, and has the characteristics of high expandability, flexibility, adaptability, versatility, etc., supports a variety of flexible electromechanical expansion methods, supports the expansion of the degree of freedom of three-dimensional space movement, supports the establishment and solution of forward / reverse algorithm models of kinematics, and supports the establishment and solution of dynamic mass distribution / load characteristic algorithm models of mechanics and dynamics. In addition, in terms of the design of application expansion, it can support the development of a variety of application expansions, such as: artificial muscles, creeping robots, bionic travel mechanisms, bionic electromechanical devices, shape memory and deformation mechanisms, bionic homes, bionic power-assisting equipment, distributed intelligent dynamic flexible power transmission mechanisms, etc.

[0041] In summary, the present invention can reduce the complexity of the structure and control of the bionic system, significantly improve the functional indicators such as system scalability, flexibility, and versatility, support large torque loads, adapt to the task requirements of various application scenarios, and realize a variety of complex motion laws, motion trajectories, and special motions. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a front view of the bionic mechanism of flexible transmission of the present invention;

[0043] Figure 2 is a schematic diagram of the angle between the movable arms;

[0044] Figure 3 It is a three-dimensional schematic diagram of the magnetic wheel right-angle transmission mechanism transmitting power across the movable arm;

[0045] Figure 4 It is a three-dimensional schematic diagram of the mechanical bevel gear right-angle transmission mechanism transmitting power across the movable arm;

[0046] Figure 5 It is a three-dimensional schematic diagram of a power transmission system that is a magnetic wheel right-angle transmission mechanism and is provided with a fixed bottom plate component;

[0047] Figure 6 It is a schematic diagram that the movable arm is U-shaped;

[0048] Figure 7 It is a schematic diagram of the movable arm being S-shaped;

[0049] Figure 8 It is a schematic diagram of the movable arm being in a Z shape;

[0050] Fig. 9 This is the main view of the mechanical coupling connection of the three-stage movable arm;

[0051] Fig.10 yes Fig. 9 A top view of a single movable arm is shown;

[0052] Fig.11 It is a top view of the cross-section of the three-stage movable arm being mechanically coupled;

[0053] Fig.12 It is a right side sectional view when the movable arm is connected by an electromagnetic control connection device and an electromagnetic control direction limiting connection device;

[0054] Fig.13 It is a rear sectional view when the movable arm is connected by an electromagnetically controlled connection device;

[0055] Fig.14 It is a schematic diagram of the movable arm being connected by an electromagnetically controlled direction-limiting connection device;

[0056] Fig.15 It is a front view of an embodiment of a bionic mechanism provided with an expansion system;

[0057] Fig.16 yes Fig.15 Bottom view of

[0058] Fig.17 is a bottom view of another embodiment of the bionic mechanism with an expansion system;

[0059] Fig.18 It is a front view of another embodiment of a bionic mechanism provided with an expansion system;

[0060] Fig.19 It is a front view of another embodiment of a bionic mechanism with an expansion system.

[0061] Wherein, the accompanying drawings are marked as follows:

[0062] Active arm 1, active arm 11, active arm 12, active arm 13, active arm 14, active arm 15, active arm 16, active arm 17, active arm 18, active arm 19;

[0063] Joint 2, joint 20, joint 21, joint 22, joint 23, joint 24, joint 25, joint 26, joint 27, joint 28, joint 29;

[0064] Power transmission system 30, magnetic wheel group 31, magnetic wheel 31A, magnetic wheel 31B, magnetic wheel 31Aˊ, magnetic wheel 31Bˊ, magnetic wheel stator 311A, magnetic wheel rotor 312A, magnetic wheel stator 311B, magnetic wheel rotor 312B, magnetic wheel stator 311Aˊ, magnetic wheel rotor 312Aˊ, magnetic wheel stator 311Bˊ, magnetic wheel rotor 312Bˊ;

[0065] Fixed bottom plate member 33, transmission shaft Q1, transmission shaft Q2, transmission shaft Q3;

[0066] Bevel gear set 32, bevel gear 32A, bevel gear 32B, bevel gear 32Aˊ, bevel gear 32Bˊ, bevel gear stator 321A, bevel gear rotor 322A, bevel gear stator 321B, bevel gear rotor 322B, bevel gear stator 321Aˊ, bevel gear rotor 322Aˊ, bevel gear stator 321Bˊ, bevel gear rotor 322Bˊ;

[0067] Power execution system 40;

[0068] Mechanical coupling structure 40A, hollow ring inner shaft 41, hollow ring outer shaft 42, and bearing 43

[0069] Electromagnetic control coupling device 40B, first mechanical disc 44, second mechanical disc 45, electromagnet 46, spring component 47, transmission shaft Q;

[0070] Electromagnetic controlled direction limiting connection device 40C, electromagnet 48, spring component 49, ratchet mechanism 50, ratchet 51, pawl 52;

[0071] Expansion system 60 , expansion member 61 , rolling and rotating component 62 . DETAILED DESCRIPTION

[0072] In order to make the purpose, principle, method, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It is hereby stated that the directional terms such as up, down, left, right, front, back, inside, outside, etc. that appear or will appear in the text of the present invention are only based on the accompanying drawings of the present invention, and are not specific limitations of the present invention.

[0073] like Figure 1 and Figure 2 As shown, the present invention discloses a bionic mechanism with flexible transmission, comprising a plurality of movable arms 1 and a plurality of joint parts 2 arranged on the movable arms 1, wherein adjacent movable arms 1 are respectively located on different planes parallel to each other, and the movable arms 1 are connected in series through the joint parts 2;

[0074] The joint part 2 is used to connect to a power source or output power;

[0075] A power transmission system 30 is provided inside the movable arm 1 and the joint part 2. The motion trajectory space of the power transmission system is independent of the motion trajectory space of the movable arm. The power transmission system 30 transmits the single-point power inputted by the power source at a single joint part to multiple joint parts 2 and outputs the power.

[0076] The joint part 2 is provided with a power execution system 40, and the multiple movable arms 1 realize mutual movement through the power execution system 40. The angle between two connected movable arms 1 is α, and the variation range of the angle α is 0-360°.

[0077] The number of movable arms of the present invention is N (N is an integer greater than 2), and the total number of joints is N+1. The bionic mechanism of flexible transmission when N=9 is specifically described. Figure 1 As shown, each movable arm 1 has two joints, namely, an upper joint and a lower joint. The upper joint of the movable arm 1 is connected to the lower joint of the upper movable arm; the lower joint of the movable arm is connected to the upper joint of the lower movable arm. In this way, all movable arms can be connected in series to form the flexible transmission bionic mechanism described in the present invention.

[0078] When N=9, the movable arm 1 of the bionic mechanism with flexible transmission described in the present invention includes movable arm 11, movable arm 12, movable arm 13, movable arm 14, movable arm 15, movable arm 16, movable arm 17, movable arm 18, and movable arm 19; the joint part 2 includes 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, and joint part 29. The movable arm 11 is the starting end movable arm of the bionic mechanism, and its joint part 20 is used to connect the input power source. The movable arm 19 is the terminal movable arm of the bionic mechanism, and its joint part 29 outputs power to the outside.

[0079] like Figure 2 As shown, the angle between the two connected movable arms 1 is α, and the variation range of the angle α is 0-360°, realizing a full range of 360-degree movement.

[0080] The present invention places the two connected movable arms 1 on two parallel planes to avoid mutual interference of their motion trajectories, and at each joint 2, a power transmission system 30 is provided to achieve the function of continuously transmitting power across the movable arms.

[0081] Specifically, the power transmission system 30 includes a right-angle transmission mechanism, which includes at least two groups of right-angle transmission units, each group of right-angle transmission units includes two transmission parts with mutually perpendicular rotating shafts, and each transmission part includes a stator and a rotor; different groups of right-angle transmission units are connected to each other through the rotor. The power transmission system 30 adopts a right-angle transmission and a coupling linkage method, which can ensure that the power from the upper-level movable arm is smoothly transferred at the joint part, and the power is transmitted to the next-level movable arm. By analogy, the power can be continuously transmitted step by step downward along each movable arm until it reaches all movable arms. That is, the right-angle transmission mechanism transmits the single-point power input by the power source at a single joint part to multiple joint parts and outputs the power.

[0082] The right-angle transmission mechanism 30 has a variety of implementations, preferably a magnetic wheel right-angle transmission mechanism or a mechanical bevel gear right-angle transmission mechanism. Figure 3-5 To elaborate.

[0083] Preferably, the right-angle transmission mechanism is a magnetic wheel right-angle transmission mechanism, such as Figure 3 As shown, Figure 3 The invention shows a magnetic wheel right angle transmission mechanism at the joint of two movable arms connected in series, wherein the magnetic wheel right angle transmission mechanism comprises at least two magnetic wheel groups 31, each of which comprises two magnetic wheels with mutually perpendicular rotating shafts, and each of which comprises a magnetic wheel stator and a magnetic wheel rotor; different groups of magnetic wheels are connected to each other through magnetic wheel rotors. The two groups of magnetic wheels fixedly connected to different movable arms are connected to each other through couplings to complete the power transmission across the movable arms.

[0084] Preferably, the movable arm is further provided with a fixed bottom plate member 33, which is used to connect and fix the magnetic wheel stator of the magnetic wheel right-angle transmission mechanism or the bevel gear stator of the mechanical bevel gear right-angle transmission mechanism, and is connected and fixed to the outer shell of the movable arm 1. Figure 5 As shown, the magnetic wheel right-angle transmission mechanism is provided with a fixed bottom plate component 33, and the magnetic wheel power transmission system is connected to the fixed bottom plate component of the movable arm.

[0085] The working principle of the magnetic wheel right-angle transmission mechanism is as follows:

[0086] Combination Figure 3The magnetic wheel right-angle transmission mechanism includes two magnetic wheel groups 31, and each magnetic wheel group 31 includes two magnetic wheels whose rotating shafts are perpendicular to each other. That is, the magnetic wheel right-angle transmission mechanism includes a magnetic wheel group consisting of a magnetic wheel 31A and a magnetic wheel 31B, and another magnetic wheel group consisting of a magnetic wheel 31Aˊ and a magnetic wheel 31Bˊ. Among them, the magnetic wheel 31A includes a magnetic wheel stator 311A ​​and a magnetic wheel rotor 312A, the magnetic wheel 31B includes a magnetic wheel stator 311B and a magnetic wheel rotor 312B, the magnetic wheel 31Aˊ includes a magnetic wheel stator 311Aˊ and a magnetic wheel rotor 312Aˊ, and the magnetic wheel 31Bˊ includes a magnetic wheel stator 311Bˊ and a magnetic wheel rotor 312Bˊ.

[0087] Combination Figure 5 The magnetic wheel rotor 312A of the magnetic wheel 31A is tightly connected with the magnetic wheel rotor of the magnetic wheel of the upper movable arm. The transmission shaft Q1 formed after the connection can transmit the rotational power from the upper movable arm to the magnetic wheel rotor 312A of the current movable arm, and then through the right-angle transmission mechanism composed of the magnetic wheel 31A and the magnetic wheel 31B, the magnetic wheel rotor 312A transmits the rotational power to the corresponding magnetic wheel rotor 312B of the group, and then transmits the power to the magnetic wheel rotor 312Bˊ through the transmission shaft Q2.

[0088] Since the transmission shaft Q2 and the magnetic wheel rotor 312Bˊ of the magnetic wheel 31Bˊ are tightly connected together, the magnetic wheel rotor 312Bˊ can transmit the rotational power to the magnetic wheel rotor 312Aˊ of the corresponding magnetic wheel 31Aˊ through the right-angle transmission mechanism composed of the magnetic wheel 31Aˊ and the magnetic wheel 31Bˊ; since the magnetic wheel rotor 312Aˊ and the magnetic wheel rotor of the next-level movable arm are tightly connected together, the rotational power of the movable arm can be continuously transmitted to the next-level movable arm through the transmission shaft Q3 they jointly form.

[0089] For applications with large dynamic loads, a mechanical bevel gear right-angle transmission can be used to replace the magnetic wheel right-angle transmission, so that the flexible transmission mechanism can transmit greater torque power.

[0090] Preferably, the right-angle transmission mechanism is a mechanical bevel gear right-angle transmission mechanism, such as Figure 4 As shown, Figure 4The invention shows a mechanical bevel gear right-angle transmission mechanism of two movable arms connected in series at the joint part, wherein the mechanical bevel gear right-angle transmission mechanism includes at least two bevel gear sets 32, each of which includes two bevel gears with mutually perpendicular rotating shafts, that is, the bevel gear right-angle transmission mechanism includes a bevel gear set consisting of a bevel gear 32A and a bevel gear 32B, and another bevel gear set consisting of a bevel gear 32Aˊ and a bevel gear 32Bˊ. Among them, the bevel gear 32A includes a bevel gear stator 321A and a bevel gear rotor 322A, the bevel gear 32B includes a bevel gear stator 321B and a bevel gear rotor 322B, the bevel gear 32Aˊ includes a bevel gear stator 321Aˊ and a bevel gear rotor 322Aˊ, and the bevel gear 32Bˊ includes a bevel gear stator 321Bˊ and a bevel gear rotor 322Bˊ.

[0091] It should be noted that the overall transmission working principle of the mechanical bevel gear right-angle transmission mechanism is basically the same as the overall transmission working principle of the magnetic wheel right-angle transmission mechanism, which will not be repeated here.

[0092] The movable arm 1 has various shapes, for example Figure 6 The U-shaped Figure 7 S-type or Figure 8 The Z-type shown.

[0093] The present invention separates the power execution system 40 into a separate subsystem, and cleverly isolates the activity trajectory space between the movable arms from the rotation trajectory space of the transmission system, making them two independent subsystems in the motion trajectory space, thereby reducing the complexity and cost of the entire bionic system in design, development, debugging, maintenance, etc., and improving the maintainability and availability of the product.

[0094] The power execution system 40 is a mechanical coupling connection structure 40A. At this time, for the flexible power transmission system, the angle between the two movable arms will not cause any interference or influence on the smooth transmission of power.

[0095] The power execution system 40 is an electromagnetically controlled coupling device 40B or an electromagnetically controlled limited direction coupling device 40C. At this time, the power of the transmission system can be transmitted to the execution system through the engagement and disengagement of the electromagnetic clutch, and the execution system can be operated.

[0096] Specifically, Fig. 9 , 10As shown in Figures 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 arranged at the joint part 2 at one end of the movable arm 1, and the hollow circular outer shaft 42 is arranged at the joint part 2 at the other end of the movable arm 1. The inner wall of the hollow circular outer shaft 42 is provided with the bearing 43; the inner wall of the inner ring of the bearing 43 is matched with the outer wall of the hollow circular 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 inner shaft 41.

[0097] The movable arm is mechanically coupled with the upper movable arm and the lower movable arm at the joint, and the outer wall of the hollow circular inner shaft 41 on the movable arm of the current level is tightly connected with the inner wall of the inner ring of the bearing 43 on the upper movable arm. After the coupling connection is completed, the movable arm and the upper movable arm can be flexibly rotated with each other under the support of the bearing 43. When the two movable arms rotate with each other, the angle α between them will also change. Similarly, the movable arm and the lower movable arm are also connected in this way.

[0098] like Fig.12 , 13 As shown, the power execution system is an electromagnetically controlled connection device 40B, including a first mechanical disc 44, a second mechanical disc 45, an electromagnet 46, a spring component 47 and the mechanical coupling connection structure 40A; the first mechanical disc 44 is fixedly connected to the rotor of the right-angle transmission mechanism; the second mechanical disc 45 is connected to the inner wall of the movable arm 1 through the spring component 47; the first mechanical disc 44 and the second mechanical disc 45 are correspondingly arranged.

[0099] The first mechanical disc 44 on the movable arm 1 is tightly connected to the magnetic wheel rotor, and the magnetic wheel rotor is also tightly connected to the transmission shaft Q. Therefore, when the transmission shaft Q rotates, the first mechanical disc 44 is also driven to rotate.

[0100] The second mechanical disc 45 on the movable arm 1 is tightly connected to the inner wall of the outer chassis of the movable arm 1 through the spring component 47. When an external force drives the second mechanical disc 45 to rotate, the second mechanical disc 45 will drive the outer chassis of the movable arm 1 to rotate together through the spring component 47 connected to it, and the movable arm tightly fixed thereto will also rotate accordingly.

[0101] exist Fig.12 , Fig.13 In the embodiment, the first mechanical disc 44, the second mechanical disc 45, the electromagnet 46 and the spring component 47 together form an electromagnetically controlled clutch device.

[0102] When the electromagnet 46 is powered off, the clutch is in a disengaged state, and the second mechanical disc 45, under the action of the spring tension, causes the first mechanical disc 44 and the second mechanical disc 45 to be in a mechanically separated state. At this time, when the first mechanical disc 44 rotates, power will not be transmitted to the second mechanical disc 45, so the movable arm 1 will not rotate with the first mechanical disc 44.

[0103] When the electromagnet 46 is energized, the clutch enters the engagement state, and the repulsive force generated by the electromagnet 46 overcomes the spring resistance, pushing the second mechanical disc 45 toward the first mechanical disc 44, and making the second mechanical disc 45 and the first mechanical disc 44 closely contact each other. When the first mechanical disc 44 rotates, the first mechanical disc 44 drives the second mechanical disc 45 to rotate simultaneously by relying on the friction between the first mechanical disc 44 and the second mechanical disc 45. When the second mechanical disc 45 rotates, it also drives the hollow annular inner shaft 41 and the fixed bottom plate member 33 that are tightly fixed thereto to rotate together, so the movable arm 1 that is tightly fixed thereto with the hollow annular inner shaft 41, the fixed bottom plate member 33, will also rotate synchronously, and at this time, the angle between the two connected movable arms 1 will also change accordingly.

[0104] The direction of relative rotation between the two connected movable arms 1 (the angle becomes larger or smaller) is controlled by the rotation direction of the power source, that is, by controlling the rotation direction of the power source input from the starting end movable arm (clockwise or counterclockwise), the direction and speed of the angular movement between the movable arms can be controlled.

[0105] Therefore, the present invention can construct topological structures of various shapes and their morphological changes to complete complex movements or motion tasks by performing various orderly control combinations (such as single-point and multi-point concurrent control) on the clutch devices at each joint of the bionic mechanism.

[0106] Further, if Fig.12 , 14 As shown, the power execution system may also be an electromagnetically controlled direction-limiting connection device 40C, and the electromagnetically controlled direction-limiting connection device 40C includes an electromagnet 48, a spring component 49, a ratchet mechanism 50, and the mechanical coupling connection structure 40A / electromagnetically controlled connection device 40B;

[0107] The ratchet mechanism 50 includes a ratchet 51 and a pawl 52 . The ratchet 51 is connected to the outer wall of the hollow circular inner shaft 41 of the movable arm 1 . The pawl 52 , the electromagnet 48 and the spring component 49 are fixedly connected to the inner wall of the hollow circular outer shaft 42 of the movable arm 1 .

[0108] Taking limiting the inner shaft of the hollow ring to rotate only in a counterclockwise direction as an example, the working mode of the electromagnetically controlled direction-limiting connection device 40C is as follows:

[0109] When the electromagnet 48 is powered off, the pawl 52 is pressed against the ratchet 51 under the thrust of the spring component 49, so that the hollow annular inner shaft 41 tightly connected to the ratchet 51 can only rotate in a counterclockwise direction, that is, the angle between the movable arm of this level and the movable arm of the previous level can only change in a unidirectional direction in the increasing direction.

[0110] When the electromagnet 48 is energized, the pawl 52 is attracted to the electromagnet 48 by the electromagnetic force, and the pawl 52 is separated from the ratchet 51. Therefore, the restriction that the hollow circular inner shaft 41 tightly connected to the ratchet 51 can only rotate in one direction counterclockwise is released, that is, the restriction that the angle between the movable arm of this level and the movable arm of the previous level can only change in one direction in the increasing direction is released.

[0111] like Fig.12 , 14 The two ratchet mechanisms 50 shown can bidirectionally control the clockwise and counterclockwise rotation of the movable arm under electromagnetic control, thereby producing a variety of different combination states such as forward restriction, reverse restriction, bidirectional restriction, and bidirectional unlimited to meet different motion control requirements.

[0112] As a more preferred embodiment of the present invention, an angle detection device (not shown in the figure) is further included to obtain the angle parameters between the movable arms 1, so that the system can detect and control the accuracy of the bionic mechanism's execution of actions, thereby completing certain tasks with accuracy index requirements. The angle detection device can be installed in the space area formed between the hollow circular inner shaft 41 and the hollow circular outer shaft 42, wherein the angle detection device can be a gear potentiometer and other angle detection related parts and components, but is not limited thereto.

[0113] Further, combined with Figure 15-19 The present invention also includes an expansion system 60, which is highly expandable, flexible, adaptable, and universal, and can support a variety of flexible electromechanical expansion methods and support the expansion of the freedom of three-dimensional space movement.

[0114] The expansion system 60 includes an expansion member 61 or a rolling rotation member 62;

[0115] like Fig.15 , 16 As shown in Figure 17, the extension component 61 is installed on the outside of the movable arm. It is a component that is compatible with 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 needs.

[0116] The extension component is used to install electromechanical devices, and the clutch, limit limit mechanism, power supply and signal feeder, circuit device (electromagnetic suction control, potentiometer, etc.), sensor and other devices and mechanisms can be installed on the extension component.

[0117] like Fig.18 As shown, the expansion system is used to expand the degree of freedom. On the basis of the aforementioned bionic mechanism of the present invention, a rolling and rotating component 62 that can roll and rotate along the axis of the movable arm is added. In this way, the bionic mechanism that was originally only able to perform two-dimensional motion in a plane coordinate system can be expanded into a three-degree-of-freedom bionic mechanism that can perform three-dimensional motion in a three-dimensional coordinate system.

[0118] The bionic mechanism of the flexible transmission of the present invention can also support a variety of application expansions.

[0119] The mechanism composed of multiple movable arms connected in series can produce various morphological changes in topological structure, shape, size and so on. Therefore, it can be used in the field of artificial muscles to form an artificial muscle with controllable extension (such as Figure 1 ).

[0120] For a bionic mechanism composed of multiple movable arms connected in series, when its topological structure, shape, and size change, its center of gravity distribution, force point distribution, force surface distribution, friction, and the magnitude and direction of the force will also change accordingly. When it conforms to the corresponding kinematic and mechanical principles, the bionic mechanism can complete the corresponding movement. Therefore, it can be developed into devices such as creeping robots, bionic travel mechanisms, and bionic actuators. Fig.19 Schematic diagram of a telescopic peristaltic mechanism.

[0121] The bionic mechanism of the flexible transmission of the present invention has the functions of curling, telescoping, extending, deforming and the like, and can be applied in the field of shape memory.

[0122] The flexible transmission bionic mechanism of the present invention can be bent, extended, contracted and transformed into a variety of spatial topological structures, shapes and sizes. Therefore, it can be developed into products such as bionic home furnishings and bionic power-assisting equipment with remote control functions to meet the diverse needs of people's lives and work.

[0123] The flexible transmission bionic mechanism of the present invention can support distributed, flexible, dynamic and intelligent rotary power transmission application scenarios, and extend the rotary power transmission to complex application scenarios with multiple nodes or long distances. For example, in emergency rescue situations, it can cross or avoid complex terrain or special environments and quickly deploy the rotary power to the corresponding position on site.

[0124] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A bionic mechanism with flexible transmission, characterized in that: It comprises a plurality of movable arms and a plurality of joints arranged on the movable arms, wherein adjacent movable arms are respectively located on different planes parallel to each other, and the movable arms are connected in series through the joints; The joint part is used to connect the power source or output power; A power transmission system is provided inside the movable arm and the joints, the motion trajectory space of the power transmission system is independent of the motion trajectory space of the movable arm, and the power transmission system transmits the single-point power input by the power source at a single joint to multiple joints and outputs the power; The power transmission system includes a right-angle transmission mechanism, which realizes the transmission of power between the movable arms and provides power output at the joints; The right-angle transmission mechanism comprises at least two groups of right-angle transmission units, each group of right-angle transmission units comprises two transmission members with mutually perpendicular rotating shafts, each transmission member comprises a stator and a rotor; different groups of right-angle transmission units are connected to each other through the rotor; A power execution system is provided at the joint, and multiple movable arms realize mutual movement through the power execution system. The angle between two connected movable arms is α, and the variation range of the angle α is 0-360°; The power execution system is a mechanical coupling connection structure, an electromagnetic control connection device or an electromagnetic control limited direction connection device; Also included is an expansion system, the expansion system including an expansion member or a rolling rotation component; The extension member is installed on the outside of the movable arm, and is a member adapted to the movable arm, or the extension member is used to install an electromechanical device; The rolling and rotating component is connected to the movable arm so that the flexible transmission bionic mechanism can move in three-dimensional space.

2. The bionic mechanism with flexible transmission as claimed in claim 1, characterized in that: The right-angle transmission mechanism is a magnetic wheel right-angle transmission mechanism or a mechanical bevel gear right-angle transmission mechanism; Wherein, the magnetic wheel right-angle transmission mechanism comprises at least two magnetic wheel groups, each magnetic wheel group comprises two magnetic wheels whose rotating shafts are perpendicular to each other, and each magnetic wheel comprises a magnetic wheel stator and a magnetic wheel rotor; different groups of magnetic wheels are connected to each other through the magnetic wheel rotors; The mechanical bevel gear right-angle transmission mechanism includes at least two bevel gear sets, each bevel gear set includes two bevel gears with mutually perpendicular rotating shafts, each bevel gear includes a bevel gear stator and a bevel gear rotor, and different bevel gear mechanisms are connected to each other through the bevel gear rotors.

3. The bionic mechanism with flexible transmission as claimed in claim 1, characterized in that: The movable arm is provided with a fixed bottom plate component, and the fixed bottom plate component is connected to the stator of the right-angle transmission mechanism and to the outer shell of the movable arm.

4. The bionic mechanism with flexible transmission as claimed in claim 1, characterized in that: The movable arm is U-shaped, S-shaped or Z-shaped.

5. The bionic mechanism with flexible transmission as claimed in claim 1, characterized in that: The mechanical coupling structure 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 portion of one end of the movable arm, the hollow circular outer shaft is arranged at a joint portion of 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 hollow circular inner shaft, and is used to tightly connect the movable arm; The rotor of the right-angle transmission mechanism is arranged inside the hollow circular inner shaft.

6. The bionic mechanism with flexible transmission as claimed in claim 5, characterized in that: The electromagnetic control connection device comprises a first mechanical disc, a second mechanical disc, an electromagnet, a spring component and the mechanical coupling connection structure; The first mechanical disc is fixedly connected to the rotor of the right-angle transmission mechanism; The second mechanical disc is connected to the inner wall of the movable arm through a spring component; The first mechanical disc and the second mechanical disc are arranged correspondingly.

7. The bionic mechanism with flexible transmission as claimed in claim 5, characterized in that: The electromagnetically controlled direction-limiting connection device comprises an electromagnet, a spring component, a ratchet mechanism and the mechanical coupling connection structure / electromagnetically controlled connection device; The ratchet mechanism comprises a ratchet and a pawl, wherein the ratchet is connected to the outer wall of the hollow circular inner shaft of the movable arm, and the pawl, the electromagnet and the spring component are fixedly connected to the inner wall of the hollow circular outer shaft of the movable arm.

8. The bionic mechanism with flexible transmission as claimed in claim 5, characterized in that: Also included is an angle detection device to obtain angle parameters between the movable 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.

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