Adjustable stiffness flexible drive mechanism and method of use

Abstract

The present application relates to the technical field of precision machining, and provides a flexible driving mechanism with adjustable rigidity and a use method, which has one or more driving units, the driving unit comprises a flexible wire body and one or two functional bodies, one end of the flexible wire body is connected with a functional body or two ends of the flexible wire body are respectively connected with two functional bodies; a workpiece to be machined is provided with a through hole, the flexible wire body penetrates through the through hole, the end of the flexible wire body can be twisted and wound under the driving of the functional body, so that the flexible wire body is changed in diameter, and under the driving of the functional body, the flexible wire body can have displacement in the axial direction, wherein the workpiece to be machined is synchronously moved with the flexible wire body or relatively moved with the flexible wire body. The flexible driving mechanism in the present application can realize flexible and smooth machining of a hole wall, solves the problem of precision and smooth machining of a complex hole wall, and has simple driving structure, convenient operation and low equipment cost.

Description

Technical Field

[0001] This invention relates to the field of precision machining technology, and more specifically, to a flexible drive mechanism with adjustable stiffness and its method of use. Background Technology

[0002] Machining of workpiece surfaces and / or through holes is generally accomplished using cutting tools. For precision workpieces, the requirements for dimensional accuracy are quite strict, and the surface finish is also very demanding. In particular, the machining of irregular through hole inner walls requires very high tolerance and roughness of the cutting tools, which is difficult to achieve with ordinary cutting tools.

[0003] Existing technologies for finishing holes often involve complex structures and cumbersome operations, requiring complex driving and control processes, resulting in a lack of cost advantages. Given these shortcomings, effectively solving the finishing problem of irregular through-hole surfaces is of great significance for improving part and product quality. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the purpose of this invention is to provide a flexible drive mechanism with adjustable stiffness and a method of using it.

[0005] According to the present invention, an adjustable stiffness flexible drive mechanism has one or more drive units, each drive unit comprising a flexible line and one or two functional bodies, wherein one end of the flexible line is connected to the functional body or both ends are respectively connected to two functional bodies;

[0006] The workpiece is provided with a through hole, and the flexible wire passes through the through hole. The end of the flexible wire can be twisted and wound under the drive of the functional body, thereby changing the diameter of the flexible wire and simultaneously displacing the flexible wire in the axial direction under the drive of the functional body. The workpiece moves synchronously with the flexible wire or moves relative to the flexible wire.

[0007] Preferably, at least one of the two functional bodies is capable of driving the flexible line to translate and / or rotate.

[0008] Preferably, the workpiece further includes a first magnet, and a second magnet is provided on the workpiece. The first magnet can drive the second magnet to move the workpiece by magnetic force.

[0009] Preferably, the second magnet is embedded inside the workpiece or disposed outside the workpiece.

[0010] Preferably, the through hole is a regular through hole or an irregular through hole.

[0011] Preferably, the flexible wire takes at least one of the following forms:

[0012] It is a single-root structure;

[0013] It is a multi-root structure;

[0014] The exterior is covered with particles;

[0015] It has one or more knots, and the outer diameters of the knots are all the same, partially the same, or all different.

[0016] It is a single or multiple nested network cable conduit, the interior of which is filled with particles or the particles are arranged between two adjacent layers of network cable conduit, the ends of which can extend to the outside of the network cable conduit through the mesh holes of the network cable conduit, wherein the particles are larger than the mesh holes.

[0017] Preferably, the particles are solid particles or solid-liquid mixtures.

[0018] Preferably, the flexible wire is made of at least one of nylon wire, carbon fiber wire, PE wire, and steel wire.

[0019] Preferably, the flexible lines of different drive units are connected to the same workpiece or to different workpieces.

[0020] According to the present invention, a method for using an adjustable stiffness flexible drive mechanism, wherein the workpiece is provided with a through hole and a flexible wire passes through the through hole, comprising the following steps:

[0021] S1: The flexible wire is twisted by the functional body so that the outer surface of the flexible wire is in close contact with the inner wall of the through hole;

[0022] S2: When the functional body drives the flexible wire to move axially, the flexible wire moves relative to the workpiece to process the inner wall of the through hole; and / or

[0023] When the functional body is controlled to drive the flexible line to move axially, the flexible line can drive the workpiece to move synchronously or asynchronously, so that the workpiece can perform surface finishing on itself in the processing environment outside itself.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The adjustable stiffness flexible drive mechanism provided in this invention can achieve flexible wire winding and diameter change through translational rotation drive operation to achieve adaptive clamping with through hole and achieve flexible finishing of hole wall in translation. It can also change its own stiffness, solve the problem of precision finishing of complex hole wall surface, and the drive structure is simple, easy to operate and low in equipment cost. Attached Figure Description

[0026] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0027] Figure 1 This is a schematic diagram of the flexible line when it has not twisted.

[0028] Figure 2 This is a schematic diagram of the structure of the flexible wire after twisting, where F represents the tensile force exerted by the twisted flexible wire on the functional bodies at both ends;

[0029] Figure 3 A schematic diagram of the structure when a functional body drives a flexible linear body to rotate horizontally;

[0030] Figure 4 This is a schematic diagram of the structure when the flexible line passes through the workpiece and the functional body drives the flexible line to rotate horizontally.

[0031] Figure 5 Schematic diagrams of several forms of flexible linear bodies;

[0032] Figure 6 This is a schematic diagram of a structure when two drive units simultaneously process a workpiece.

[0033] Figure 7 A schematic diagram of a structure in which three drive units simultaneously process three through holes on a workpiece;

[0034] Figure 8 A schematic diagram of the structure when an external magnetic field is added to drive the workpiece, wherein the circumferential motion of the workpiece is guided by guide rollers;

[0035] Figure 9 A schematic diagram of the structure when a magnetic field is added to one side of the workpiece;

[0036] Figure 10 A schematic diagram of the structure when a magnetic field is added to the circumference of the workpiece;

[0037] Figure 11 This is a structural diagram showing the connection of one end of a flexible wire to a functional body, where F... f The extrusion force between the through hole wall and the flexible wire body causes friction between the flexible wire body and the hole wall;

[0038] Figure 12 This is a structural diagram showing the connection of functional bodies to both ends of a flexible wire, where F... f The extrusion force between the through hole wall and the flexible wire body causes friction between the flexible wire body and the hole wall, resulting in the right side of the workpiece twisting.

[0039] Figure 13This is a structural diagram showing the connection of functional bodies to both ends of a flexible wire, where F... f The extrusion force between the through hole wall and the flexible wire body causes friction between the flexible wire body and the hole wall, resulting in the twisting of the left side of the workpiece.

[0040] Figure 14 This is a schematic diagram of the structure when the first magnet is in contact with the workpiece.

[0041] Figure 15 A schematic diagram of a structure when adding a degree-of-freedom constraint between multiple workpieces.

[0042] The diagram shows:

[0043] Functional Entity 1

[0044] Workpiece 2

[0045] Through hole 21

[0046] Second magnet 22

[0047] Guide roller 23

[0048] Support plate 24

[0049] 25 Degrees of Freedom Restriction Components

[0050] Flexible line 3

[0051] Knot 31

[0052] First magnet 4 Detailed Implementation

[0053] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0054] Example 1:

[0055] This invention provides a flexible drive mechanism with adjustable stiffness, such as... Figure 1 As shown, the device has one or more driving units, each including a flexible wire 3 and one or two functional bodies 1. One end of the flexible wire 3 is connected to a functional body 1, or both ends are connected to two functional bodies 1 respectively. A through hole 21 is provided on the workpiece 2, through which the flexible wire 3 passes. The end of the flexible wire 3 can twist under the drive of the functional body 1, thereby causing the flexible wire 3 to wind and change its diameter. Figure 2 , Figure 3As shown, the flexible line 3 can be displaced along the axial direction under the drive of the functional body 1, wherein the torsional power and the driving force along the axial direction are preferably provided by a motor.

[0056] like Figure 4 As shown, due to the change in diameter after the flexible wire 3 is twisted, the flexible wire 3, after the change in diameter, contacts and is squeezed against the inner wall of the through hole, and has a certain rigidity. The friction between the flexible wire 3 and the inner wall of the through hole 21 increases. Specifically, when the flexible wire 3 moves in the axial direction, the workpiece 2 can move synchronously with the flexible wire 3 due to the friction between it and the flexible wire 3. When the friction between the workpiece 2 and the flexible wire 3 is not large enough, there is relative movement between the workpiece 2 and the flexible wire 3. At this time, the flexible wire 3 has the effect of smoothing the inner wall of the through hole 21.

[0057] It should be noted that when the workpiece 2 and the flexible line 3 move synchronously, the reciprocating motion of the workpiece 2 can be achieved by the driving force of the functional body 1. By adjusting the degree of torsion of the flexible line 3, the stiffness of the flexible line 3 in the axial and radial directions can be adjusted, so that the workpiece 2 and the flexible line 3 have the same natural frequency, resulting in better vibration effect. When the vibrating workpiece 2 is placed in an environment with abrasive particles, a highly efficient grinding effect on the outer surface of the workpiece 2 can be achieved.

[0058] Furthermore, when the friction between the workpiece 2 and the flexible wire 3 is not large enough, when the flexible wire 3 reciprocates under the drive of the functional body 1, there is relative motion between the workpiece 2 and the flexible wire 3, that is, the workpiece 2 moves along the outer surface of the flexible wire 3. At this time, the outer surface of the flexible wire 3 can achieve a smoothing treatment of the inner wall of the through hole 21 on the workpiece 2, and when the flexible wire 3 is driven to twist by the functional body 1, the twisting of the flexible wire 3 can adapt to the internal space of the through hole 21, so that the inner surface of the through hole 21 is smoothed. Even with complex and tortuous surfaces, the flexible wire 3 can fill various positions of the through hole 21 during its own twisting and winding, allowing the interior of the workpiece 2 to be smoothed when the flexible wire 3 moves axially relative to the workpiece 2. Thus, the present invention achieves the adjustment of the stiffness of the flexible wire 3 by driving the flexible wire 3 to translate and / or rotate through the functional body 1, while also achieving adaptive deformation to match the shape of the through hole 21. For complex and irregular through hole structures, it achieves seamless fitting and smoothing of various parts of the inner wall of the through hole 21 during translation.

[0059] It should be noted that the through hole 21 can be both irregular and regular, achieving a good finishing effect. Irregular through holes include curved through holes and through holes with uneven inner walls; regular through holes include cylindrical through holes and regular polyhedral through holes. It should also be noted that the through hole 21 in this invention can also be an intersecting hole, which can also produce a variable-diameter rotary extrusion effect, achieving a finishing process.

[0060] In practical applications, the flexible line 3 can take various forms, such as Figure 5 As shown, it can be a single-root structure. Figure 5 As shown in 'a', it can be a multi-root structure. Figure 5 As shown in b and e; the flexible line 3 can also take the form of externally attached particles 5, where "attachment" can be achieved through methods such as spraying, coating, bonding, sintering, crystal growth, etc. Figure 5 As shown in c, d, and e, the particle 5 is preferably an abrasive, which is beneficial for finishing. The flexible wire 3 can also be configured to have one or more knots 31. The knots 31 of the flexible wire 3 can be knots wound from the wire or a combination of wire and knot. The knots 31 can be made of a different material than the flexible wire 3. The flexible wire 3 and the knots 31 can be bonded or joined by means of bonding, sleeve, etc. Figure 5 As shown in d, the outer diameter of the knot 31 can be set to be all the same, partially the same, or all different. The specific design can be flexibly designed according to the internal structure of the actual through hole 21 or the finishing requirements to meet the actual processing needs.

[0061] Furthermore, the flexible wire 3 is made of at least one of nylon wire, carbon fiber wire, PE wire, and steel wire, and the specific type can be flexibly selected according to the actual application scenario.

[0062] Specifically, the flexible lines 3 of different drive units can be connected to the same workpiece 2, such as... Figure 6 As shown, when multiple drive units are connected to the same workpiece 2, the movement of the workpiece 2 within different spatial ranges can be controlled, realizing the finishing of the outer surface of the workpiece 2 in an external finishing environment. Different drive units can also be connected to different workpieces 2 for independent driving processing. Different drive units can also perform finishing processing on different through holes 21 of the same workpiece 2, such as... Figure 7 As shown, the workpiece 2 has 4 through holes 21, and 3 of the through holes 21 are finished by 3 driving units. The finishing and polishing effect of the inner wall of the through hole 21 is achieved by setting knots 31 of different sizes and attaching different types of abrasive particles 5, depending on the size of the space inside the through hole 21.

[0063] The present invention also provides a method of using an adjustable stiffness flexible drive mechanism. First, the flexible wire 3 is driven to twist by the functional body 1 so that the outer surface of the flexible wire 3 is in close contact with the inner wall of the through hole 21. Second, when the functional body 1 drives the flexible wire 3 to move axially, the flexible wire 3 and the workpiece 2 move relative to each other to process the inner wall of the through hole 21. And / or when the functional body 1 drives the flexible wire 3 to move axially, the flexible wire 3 can drive the workpiece 2 to move synchronously or asynchronously so that the workpiece 2 can perform surface finishing in the processing environment outside itself.

[0064] Example 2:

[0065] This embodiment is a variation of Embodiment 1.

[0066] This embodiment also includes a first magnet 4, and a second magnet 22 is provided on the workpiece 2. Specifically, the second magnet 22 is embedded inside the workpiece 2 or disposed outside the workpiece 2. The first magnet 4 can drive the second magnet 22 to move the workpiece 2 through magnetic force. This movement can be axial movement, radial movement, or a combination of both. The first magnet 4 can be a permanent magnet or an electromagnetic magnet, and the second magnet 22 is preferably an electromagnetic magnet. By passing an alternating current through the electromagnetic coil in the electromagnetic magnet, the direction of the magnetic field can be changed, thereby realizing the transformation of the magnetic poles and achieving a predetermined movement or vibration trajectory. Specifically, as shown... Figure 8 The diagram shows an arrangement of the first magnet 4 and the second magnet 22. The second magnet 22 is embedded inside the workpiece 2. The workpiece 2 is surrounded by a guide roller 23 via a support plate 24. The first magnet 4 or its housing provides a guide track for the guide roller 23. The first magnet 4 is an electromagnet. When an alternating current is applied to the first magnet 4, it can drive the workpiece 2 to vibrate in the radial direction and / or move in the axial direction. At this time, the guide roller 23 rolls on the guide track to achieve the corresponding processing requirements.

[0067] like Figure 9 , Figure 10 The diagram shows another arrangement of the first magnet 4 and the second magnet 22, compared to... Figure 8 The omission of structures such as support plate 24 and guide roller 23 allows the workpiece 2 to be driven by the second magnet 22 under the action of the magnetic field of the first magnet 4. This is not only suitable for the finishing of the outer surface of the workpiece 2, but also beneficial to the effect of finishing due to the vibration of the workpiece 2 during the processing of the through hole 21.

[0068] The present invention adds permanent magnet or ferromagnetic attachments to the workpiece 2. When an external magnetic field is applied, macro-motion low frequency and bias magnetic field or multi-coil rotating magnetic field are added to achieve integrated translation and rotation. The workpiece 2 has a complex state combining large displacement macro-motion, micro-displacement vibration and self-rotation, which makes the workpiece 2 have better finishing quality.

[0069] In this embodiment, the flexible wire body 3 is a single or multiple nested mesh tubes. The mesh tubes are filled with particles 5 or the particles 5 are arranged between two adjacent mesh tubes. The ends of the particles 5 can extend to the outside of the mesh tubes through the mesh holes. The outer diameter of the particles 5 is larger than the diameter of the mesh holes. For example, the flexible wire body 3 is a single mesh tube, which forms a mesh frame structure and is filled with particles. When the mesh tube is twisted and fed, it holds the filling particles. During the horizontal rotation of the flexible wire body 3, the part of the internal particles protruding outside the mesh holes can scrape, rub and remove particles from the inner wall of the through hole 21, thus achieving a smoothing process. The particles 5 can be selected as solid particles or fluid-solid composites.

[0070] In practical applications, when two functional bodies 1 are used, both ends of functional body 1 can be driving bodies, or one end of functional body 1 can be only a mass block or a functional body that can only achieve translational motion. When the mechanism is placed vertically, functional body 1, acting as a mass block, can provide a reverse torque, a tension force in the opposite direction of motion, or a reverse translational rotational gravity / inertial force, etc. When in a non-vertical direction, functional body 1 can also be a negative pressure driving force. The negative pressure driving process is controllable, realizing the axial translational motion of the flexible line 3. Specifically, depending on actual needs, the negative pressure driving body and the rotary motor can be integrated to become a translational rotation driving body, thereby realizing the motion requirements of the finishing process.

[0071] The working principle of this invention is as follows:

[0072] like Figure 11As shown, the driving unit includes a flexible wire 3 and a functional body 1. One end of the flexible wire 3 is connected to the functional body 1, and the other end of the flexible wire 3 passes through the through hole 21 of the workpiece 2 and extends to the outside of the workpiece 2. The flexible wire 3 has a knot 31 on the left half of the through hole 21. When the rotary motor configured on the functional body 1 of the workpiece 2 rotates, it can drive the flexible wire 3 to twist and wind, and finally cause the flexible wire 3 on the right side of the workpiece 2 to wind and extend and thicken in the radial direction, and gradually have a certain... Regarding stiffness, when the right half of the flexible yarn 3 is tightly wound, the continued rotation of the motor will drive the left half of the flexible yarn 3 through the through hole 21 until the entire flexible yarn 3 passes through the through hole 21. During this process, the knot 31 and the flexible yarn 3 with its variable diameter winding rotate and translate within the through hole 21. The flexible yarn 21 achieves grinding and finishing of the through hole 21 during its rotation and translation. Specifically, when the flexible yarn 21 tightly wound and squeezed the inner wall of the through hole 21, a force F is generated between the inner wall of the through hole 21 and the flexible yarn 21. f This increases friction.

[0073] like Figure 12 , Figure 13 As shown, the driving unit includes a flexible wire body 3 and two functional bodies 1. The two ends of the flexible wire body 3 are respectively connected to the two functional bodies 1. The flexible wire body 3 passes through the through hole 21 of the workpiece 2. The flexible wire body 3 has a knot 31. The rotating motor on the right functional body 1 drives the flexible wire body 3 to rotate clockwise, causing the flexible wire body 3 to twist. Due to the frictional force F between the flexible wire body 3 and the through hole 21, f At this point, the flexible thread 3 on the right side of the workpiece 2 is finally wound and thickened radially, gradually gaining a certain rigidity. When the right half of the flexible thread 3 is tightly wound, the continued forward rotation of the right-side rotating motor will drive the knot 31 on the flexible thread 3 and the thickened flexible thread 3 to rotate and translate within the through hole 21. During the rotation and translation process, the flexible thread 21 achieves grinding and finishing of the through hole 21. When the knot 31 reaches the right end of the through hole 21, the right-side motor reverses, and the rotating motor on the left-side functional body 1 rotates forward. Ultimately, the flexible wire 3 on the left side of the workpiece 2 is wound and thickened in the radial direction, gradually gaining a certain rigidity. When the left half of the flexible wire 3 is wound and squeezed tightly, as the left rotating motor continues to rotate forward, it will drive the knot 31 on the flexible wire 3 and the wound and thickened flexible wire 3 to rotate and translate within the through hole 21. During the rotation and translation process, the flexible wire 21 achieves grinding and finishing of the through hole 21 until the entire flexible wire 3 passes through the through hole 21. In this way, the reciprocating grinding motion of the knot 31 in the through hole 21 can be realized.

[0074] It should be noted that when the flexible thread 3 after twisting is relaxed and rotated, it will return to its original length in the opposite direction to the forward twisting and thickening process. There may also be twisting and swaying of the rotating thread, and horizontal rotation of the elongated rotation. The process generates a certain speed and contacts the surface being contacted, so that the surface being contacted has the effects of impact, sweeping, squeezing and scratching, and also achieves a smoothing effect.

[0075] like Figure 14 As shown, the driving unit includes a flexible wire 3 and two functional bodies 1. The two ends of the flexible wire 3 are connected to the two functional bodies 1 respectively. The flexible wire 3 passes through the through hole 21 of the workpiece 2. It drives the rotating motor on the right functional body 1 to rotate forward and the rotating motor on the left functional body 1 to rotate in reverse, causing the flexible wire 3 to twist. By controlling the different speeds of the two rotating motors, the reciprocating motion between the flexible wire 3 and the through hole 21 can be realized, thereby realizing the grinding and finishing of the through hole 21 during the rotation and translation process. In this way, the reciprocating grinding motion of the knot 31 in the through hole 21 can be realized. The magnetic force of the first magnet 4 and the second magnet 22 can realize the control of the movement of the workpiece 2 in the radial and axial directions, thereby enhancing the grinding effect.

[0076] like Figure 15 As shown, the driving unit includes a flexible wire 3 and two functional bodies 1. The two ends of the flexible wire 3 are respectively connected to the two functional bodies 1. There are multiple workpieces 2, and these workpieces 2 are fastened together by a degree-of-freedom constraint 25. The through holes 21 of each of the multiple workpieces 2 are arranged facing each other. Multiple knots 31 are spaced apart on the flexible wire 3. The flexible wire 3 passes through the through holes 21 of the multiple workpieces 2, and... Figure 12 , Figure 13 The same control principle can also achieve the effect of reciprocating grinding of the through holes 21 of multiple workpieces 2.

[0077] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0078] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A flexible drive mechanism with adjustable stiffness, characterized in that, It has one or more driving units, the driving unit includes a flexible wire (3) and one or two functional bodies (1), one end of the flexible wire (3) is connected to the functional body (1) or both ends are connected to two functional bodies (1) respectively, and the flexible wire (3) has one or more knots (31). The workpiece (2) is provided with a through hole (21), and the flexible wire (3) passes through the through hole (21). The end of the flexible wire (3) can be twisted and wound under the drive of the functional body (1), thereby changing the diameter of the flexible wire (3) and simultaneously under the drive of the functional body (1), the flexible wire (3) can have displacement in the axial direction. The workpiece (2) moves synchronously with the flexible wire (3) or moves relative to the flexible wire (3).

2. The adjustable stiffness flexible drive mechanism according to claim 1, characterized in that, At least one of the two functional bodies (1) is capable of driving the flexible line body (3) to translate and / or rotate.

3. The adjustable stiffness flexible drive mechanism according to claim 1, characterized in that, It also includes a first magnet (4), and a second magnet (22) is provided on the workpiece (2). The first magnet (4) can drive the second magnet (22) to move the workpiece (2) by magnetic force.

4. The adjustable stiffness flexible drive mechanism according to claim 3, characterized in that, The second magnet (22) is embedded inside the workpiece (2) or disposed outside the workpiece (2).

5. The adjustable stiffness flexible drive mechanism according to claim 1, characterized in that, The through hole (21) can be a regular through hole or an irregular through hole.

6. The adjustable stiffness flexible drive mechanism according to claim 1, characterized in that, The flexible line (3) takes at least one of the following forms: It is a single-root structure; It is a multi-root structure; The exterior is covered with particles (5); The outer diameters of the knots (31) are all the same, partially the same, or all different. It is a single or multiple nested network tube, the inside of which is filled with particles (5) or the particles (5) are arranged between two adjacent network tubes, the ends of the particles (5) can extend to the outside of the network tube through the mesh holes of the network tube, wherein the outer diameter of the particles (5) is larger than the diameter of the mesh holes.

7. The adjustable stiffness flexible drive mechanism according to claim 6, characterized in that, The particles (5) are solid particles (5) or solid-liquid mixtures.

8. The adjustable stiffness flexible drive mechanism according to claim 1, characterized in that, The flexible wire (3) is made of at least one of nylon wire, carbon fiber wire, PE wire, and steel wire.

9. The adjustable stiffness flexible drive mechanism according to claim 1, characterized in that, The flexible lines (3) of different drive units are connected to the same workpiece (2) or to different workpieces (2).

10. A method of using a flexible drive mechanism with adjustable stiffness, characterized in that, The workpiece (2) is provided with a through hole (21), and the flexible wire (3) passes through the through hole (21), including the following steps: S1: The flexible wire (3) is twisted by the functional body (1) so that the outer surface of the flexible wire (3) is in close contact with the inner wall of the through hole (21); S2: When the control unit (1) drives the flexible wire (3) to move axially, the knot (31) on the flexible wire (3) is used to move relative to the workpiece (2) to process the inner wall of the through hole (21); and / or When the control function (1) drives the flexible line (3) to move axially, the flexible line (3) can drive the workpiece (2) to move synchronously or asynchronously, so that the workpiece (2) can perform surface finishing on itself in the processing environment outside itself.

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