Multi-stage rigidity-variable flexible mechanism and flexible platform

Abstract

The invention provides a multi-stage variable-rigidity flexible mechanism and a flexible platform, the multi-stage variable-rigidity flexible mechanism comprises a first flexible unit, the first flexible unit comprises a first fixing piece, a second fixing piece and a flexible piece, the first fixing piece and the second fixing piece are arranged at an interval in the height direction of the first flexible unit, and the first fixing piece and the second fixing piece are arranged at intervals in the height direction of the first flexible unit; a buffer area is defined between the first fixing piece and the second fixing piece, the flexible piece is connected with the first fixing piece and the second fixing piece and arranged in the buffer area, the flexible piece comprises a first flexible part, a first connecting part and a second flexible part which are sequentially connected, the extending direction of the first connecting part is consistent with the height direction of the first flexible unit, and the extending direction of the second connecting part is consistent with the height direction of the second flexible unit. The first flexible part and the second flexible part are oppositely arranged in the extending direction of the first connecting part, move relatively between the first fixing piece and the second fixing piece, and can be bent. The multi-stage variable-rigidity flexible mechanism has the advantages of being high in adaptability and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible mechanisms, and in particular to a multi-stage variable-rigidity flexible mechanism and a flexible platform. Background Art

[0002] With the advancement of science and technology and the improvement of industrial automation, flexible mechanisms have been widely used in precision engineering, micro-nano manufacturing, biomedicine, robotics and other fields. However, the design of traditional flexible mechanisms often cannot take into account different working conditions, such as load changes, environmental changes, etc., which limits its application scope in complex environments.

[0003] In related technologies, flexible mechanisms require higher flexibility to ensure the accuracy of movement under low load conditions, while higher stiffness is required to provide sufficient support under high load conditions. In addition, under different working conditions, optimizing the energy transfer efficiency of the mechanism is the key to improving work efficiency. Traditional mechanism designs are often unable to dynamically adjust stiffness according to changes in load, resulting in the inability to achieve optimal energy transfer efficiency under both light and heavy load conditions. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, an embodiment of the present invention proposes a multi-stage variable stiffness flexible mechanism and a flexible platform. The multi-stage variable stiffness flexible mechanism has the advantages of strong adaptability and high safety.

[0006] The multi-stage variable stiffness flexible mechanism according to an embodiment of the present invention comprises:

[0007] a first flexible unit, the first flexible unit comprises a first fixing member, a second fixing member and a flexible member, the first fixing member and the second fixing member are arranged at intervals along the height direction of the first flexible unit, a buffer zone is defined between the first fixing member and the second fixing member, the flexible member is connected to the first fixing member and the second fixing member and is placed in the buffer zone, there are a plurality of flexible members, and the plurality of flexible members are arranged relatively in the length direction of the first flexible unit,

[0008] The flexible member includes a first flexible portion, a first connecting portion, and a second flexible portion connected in sequence, the extension direction of the first connecting portion is consistent with the height direction of the first flexible unit, the first flexible portion and the second flexible portion are arranged opposite to each other in the extension direction of the first connecting portion, the first flexible portion and the second flexible portion have the same size in the height direction of the first flexible unit, and relative movement occurs between the first fixing member and the second fixing member, and the first flexible portion and the second flexible portion are bendable.

[0009] There are multiple first flexible units, and the multiple first flexible units are connected in sequence in the height direction of the first flexible units. In two adjacent first flexible units, the absolute value of the difference between the height of the first flexible part of the first first flexible unit and the height of the first flexible part of the second first flexible unit is greater than 0.

[0010] The multi-stage variable stiffness flexible mechanism of the embodiment of the present invention adopts a multi-stage variable stiffness design, so that the flexible mechanism can adjust its stiffness under different displacements. Whether it is a flexible movement under low load conditions or a rigid support under high load, different requirements can be met by adjusting the stiffness, which greatly improves the adaptability and flexibility of the flexible mechanism. In addition, by controlling the change in stiffness, the energy transfer efficiency of the mechanism can be adjusted according to the load conditions. When the load is light, the stiffness is low, which helps to achieve more precise motion control; when the load is heavy, the stiffness increases, providing higher support and stability, thereby optimizing the transfer and utilization of energy and improving work efficiency.

[0011] In some embodiments, among the plurality of first flexible units, heights of the plurality of first flexible portions gradually increase along a height direction of the first flexible units.

[0012] In some embodiments, the first fixing member includes a first fixing body and a first protrusion, the first protrusion is connected to the first fixing body and extends toward the second fixing member, there are a plurality of first protrusions, and the plurality of first protrusions are arranged opposite to each other along the length direction of the first flexible unit;

[0013] The second fixing member includes a second fixing body and a second protrusion, the second protrusion is connected to the second fixing body and extends toward the first fixing member, there are multiple second protrusions, and the multiple second protrusions are relatively arranged along the length direction of the first flexible unit, the first end of the first flexible part is connected to the first protrusion, the second end of the first flexible part is connected to the first connecting part, the first end of the second flexible part is connected to the second protrusion, and the second end of the second flexible part is connected to the first connecting part.

[0014] In some embodiments, the side wall of the first protrusion adjacent to the second fixing member is coplanar with the side wall of the first flexible portion adjacent to the second fixing member.

[0015] The side wall of the second protrusion adjacent to the first fixing member is coplanar with the side wall of the second flexible portion adjacent to the first fixing member.

[0016] In some embodiments, the sum of the distance between the first flexible portion and the first fixed body and the distance between the second flexible portion and the second fixed body is greater than or equal to the distance between the first protruding portion and the second protruding portion.

[0017] In some embodiments, the side wall of the first connecting portion adjacent to the first fixed body is coplanar with the side wall of the first flexible portion adjacent to the first fixed body;

[0018] The side wall of the first connection portion adjacent to the second fixing body is coplanar with the side wall of the second flexible portion adjacent to the second fixing body.

[0019] In some embodiments, there are multiple first flexible portions, and the multiple first flexible portions are arranged at intervals along the height direction of the first flexible unit; there are multiple second flexible portions, and the multiple second flexible portions are arranged at intervals along the height direction of the first flexible unit.

[0020] In some embodiments, the multi-stage variable stiffness flexible mechanism of the embodiment of the present invention also includes a second flexible unit, the second flexible unit includes a connected third flexible portion, a second connecting portion and a fourth flexible portion, the third flexible portion and the fourth flexible portion are both used to connect the first flexible unit and the second connecting portion, and the third flexible portion and the fourth flexible portion are arranged at intervals in the length direction of the first flexible unit, and when the second connecting portion moves relative to the first flexible portion, the third flexible portion and the fourth flexible portion are bendable.

[0021] In some embodiments, the second flexible unit also includes a limiting protrusion, which is connected to the first flexible unit and extends toward the second connecting portion, the length of the limiting protrusion is smaller than the distance between the third flexible portion and the fourth flexible portion, and the height of the limiting protrusion is smaller than the distance from the second connecting portion to the first flexible unit.

[0022] The flexible platform of the embodiment of the present invention comprises: a mounting portion and a plurality of flexible mechanisms, wherein the plurality of flexible mechanisms are connected to the mounting portion and arranged at intervals along the circumference of the mounting portion, and the flexible mechanisms are multi-stage variable stiffness flexible mechanisms according to any one of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of a multi-stage variable stiffness flexible mechanism according to an embodiment of the present invention.

[0024] Figure 2 It is a schematic structural diagram of the first flexible unit of the multi-stage variable stiffness flexible mechanism of an embodiment of the present invention.

[0025] Figure 3It is a schematic diagram of the combined structure of the first flexible unit of the multi-stage variable stiffness flexible mechanism of an embodiment of the present invention.

[0026] Figure 4 It is a schematic diagram of the combined structure compression of the first flexible unit of the multi-stage variable stiffness flexible mechanism of an embodiment of the present invention.

[0027] Figure 5 Schematic diagram of the structure of the flexible platform according to an embodiment of the present invention.

[0028] Reference numerals:

[0029] 1. first flexible unit, 11. first fixing member, 111. first fixing body, 112. first protruding portion, 12. second fixing member, 121. second fixing body, 122. second protruding portion, 13. flexible member, 131. first flexible portion, 132. first connecting portion, 133. second flexible portion, 14. buffer zone,

[0030] 2. second flexible unit, 21. third flexible portion, 22. second connecting portion, 23. fourth flexible portion, 24. limiting protrusion,

[0031] 3. Installation department. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0033] The multi-stage variable stiffness flexible mechanism of an embodiment of the present invention is described below with reference to the accompanying drawings.

[0034] like Figure 1-Figure 4 As shown, the multi-stage variable stiffness flexible mechanism of the embodiment of the present invention includes a first flexible unit 1.

[0035] The first flexible unit 1 includes a first fixing member 11, a second fixing member 12 and a flexible member 13. The first fixing member 11 and the second fixing member 12 are arranged along the height direction (eg Figure 1 The first fixing member 11 and the second fixing member 12 define a buffer zone 14, and the flexible member 13 is connected to the first fixing member 11 and the second fixing member 12 and is placed in the buffer zone 14. There are multiple flexible members 13, and the multiple flexible members 13 are arranged in the length direction of the first flexible unit 1 (such as Figure 1The flexible member 13 is relatively arranged in the left-right direction (in the left-right direction), the flexible member 13 includes a first flexible portion 131, a first connecting portion 132 and a second flexible portion 133 connected in sequence, the extension direction of the first connecting portion 132 is consistent with the height direction of the first flexible unit 1, and the first flexible portion 131 and the second flexible portion 133 are relatively arranged in the extension direction of the first connecting portion 132. The first flexible portion 131 and the second flexible portion 133 have the same size in the height direction of the first flexible unit 1, and move relatively between the first fixing member 11 and the second fixing member 12, the first flexible portion 131 and the second flexible portion 133 are bendable, there are multiple first flexible units 1, and the multiple first flexible units 1 are sequentially connected in the height direction of the first flexible unit 1. In two adjacent first flexible units 1, the absolute value of the difference between the height of the first flexible portion 131 of the first first flexible unit 1 and the height of the first flexible portion 131 of the second first flexible unit 1 is greater than 0.

[0036] Specifically, Figure 1-Figure 4 As shown, the first fixing member 11 and the second fixing member 12 are arranged at intervals in the vertical direction, and the buffer zone 14 is placed between the first fixing member 11 and the second fixing member 12. There are two flexible members 13, and the two flexible members 13 are respectively placed on the left and right sides of the buffer zone 14, and the left end of the flexible member 13 located on the left is respectively connected to the first fixing member 11 and the second fixing member 12, and the right end of the flexible member 13 located on the right is respectively connected to the first fixing member 11 and the second fixing member 12. Taking the flexible member 13 located on the left as an example, the left and right ends of the first flexible portion 131 are respectively connected to the first fixing member 11 and the upper end of the first connecting portion 132, and the second flexible portion 133 is located below the first flexible portion 131, and the left and right ends of the second flexible portion 133 are respectively connected to the second fixing member 12 and the first connecting portion 132.

[0037] It is understandable that if Figure 1-Figure 4 As shown, in the plane where the up-down direction and the left-right direction are located, when the first flexible unit 1 is subjected to a force from bottom to top or from top to bottom, the distance between the first fixing member 11 and the second fixing member 12 will decrease as the force increases, and at the same time, the first flexible portion 131 and the second flexible portion 133 will bend adaptively, thereby providing effective support and stability for the first flexible unit 1. In addition, when the first flexible unit 1 is subjected to an axial torsional force in the up-down direction, the first fixing member 11 and the second fixing member 12 rotate relative to each other, and the first flexible portion 131 and the second flexible portion 133 will also bend adaptively to ensure the stability of the first flexible unit 1.

[0038] like Figure 1-Figure 4As shown, the height of the first flexible portion 131 is a, then, in the multiple first flexible units 1, in the direction from bottom to top, the heights of the first flexible portions 131 are a1, a2, a3, and a4, respectively, then |a1-a2|>0, |a2-a3|>0, |a3-a4|>0. That is to say, in the mechanism composed of multiple first flexible units 1, the heights of the first flexible members 13 in each first flexible unit 1 are different. Therefore, according to the actual application scenario, the heights of the first flexible members 13 in the multiple first flexible units 1 can be adaptively set, for example: in the direction from bottom to top, the heights of the first flexible members 13 in the multiple first flexible units 1 are arranged in ascending order; or, the heights of the first flexible members 13 in the multiple first flexible units 1 are arranged in descending order; or, the heights of the first flexible members 13 in the multiple first flexible units 1 are arranged in order according to size. Of course, other arrangements can also be used.

[0039] Preferably, if Figure 1-Figure 4 As shown, in the plurality of first flexible units 1 , the heights of the plurality of first flexible portions 131 gradually increase along the height direction of the first flexible units 1 .

[0040] That is to say, Figure 1-Figure 4 As shown, when multiple first flexible units 1 are subjected to a force from top to bottom, the smaller the height of the first flexible portion 131, the easier it is for the corresponding first flexible unit 1 to be compressed. Conversely, the larger the height of the first flexible portion 131, the higher the supporting stiffness of the first flexible unit 1, thereby achieving the energy transfer efficiency of the overall mechanism being adjusted according to the load conditions.

[0041] It should be noted that the multiple first flexible units 1 can be connected in a detachable manner by screws, plug-ins or snap-ons. Similarly, the first fixing member 11, the second fixing member 12, the first flexible portion 131, the first connecting portion 132 and the second flexible portion 133 can also be connected in a detachable manner. Among them, the first flexible portion 131 and the second flexible portion 133 can be made of materials with certain elasticity, flexibility and strength according to different usage environments, such as stainless steel, aluminum alloy, copper alloy, silicone, rubber, polyurethane, polyethylene, polypropylene, nylon and carbon fiber composite materials.

[0042] In addition, optionally, the plurality of first flexible units 1 may also be integrally formed.

[0043] Therefore, the multi-stage variable stiffness flexible mechanism of the embodiment of the present invention adopts a multi-stage variable stiffness design, so that the flexible mechanism can adjust its stiffness under different displacements. Whether it is a flexible movement under low load conditions or a rigid support under high load, different requirements can be met by adjusting the stiffness, which greatly improves the adaptability and flexibility of the flexible mechanism. In addition, by controlling the change in stiffness, the energy transfer efficiency of the mechanism can be adjusted according to the load conditions. When the load is light, the stiffness is low, which helps to achieve more precise motion control; when the load is heavy, the stiffness increases, providing higher support and stability, thereby optimizing the transfer and utilization of energy and improving work efficiency.

[0044] In other words, the multi-stage variable stiffness flexible mechanism of the embodiment of the present invention not only adopts a multi-stage variable stiffness design to avoid structural failure caused by environmental changes (such as temperature changes, load fluctuations, etc.). When facing extreme working conditions such as external impacts and overloads, the flexible mechanism can adaptively respond to these changes by adjusting the stiffness, avoid mechanical damage or loss of control, and ensure the safety and reliability of the system. Moreover, the present invention adopts a simple modular design, the assembly method of the first flexible unit 1 is flexible, and the control method is diverse. The most appropriate stiffness adjustment method can be selected according to actual needs. The multi-stage variable stiffness flexible mechanism of the embodiment of the present invention has a low manufacturing cost and high reliability, which is convenient for large-scale production and promotion and application.

[0045] In some embodiments, the first fixing member 11 includes a first fixing body 111 and a first protrusion 112, the first protrusion 112 is connected to the first fixing body 111 and extends toward the second fixing member 12, there are multiple first protrusions 112, and the multiple first protrusions 112 are relatively arranged along the length direction of the first flexible unit 1; the second fixing member 12 includes a second fixing body 121 and a second protrusion 122, the second protrusion 122 is connected to the second fixing body 121 and extends toward the first fixing member 11, there are multiple second protrusions 122, and the multiple second protrusions 122 are relatively arranged along the length direction of the first flexible unit 1, the first end of the first flexible portion 131 is connected to the first protrusion 112, the second end of the first flexible portion 131 is connected to the first connecting portion 132, the first end of the second flexible portion 133 is connected to the second protrusion 122, and the second end of the second flexible portion 133 is connected to the first connecting portion 132.

[0046] Specifically, Figure 1-Figure 4As shown, there are two first protruding portions 112, and the two first protruding portions 112 are respectively connected to the left and right ends of the first fixing member 11, and the first protruding portions 112 extend downward. There are two second protruding portions 122, and the two second protruding portions 122 are respectively connected to the left and right ends of the second fixing member 12, and the second protruding portions 122 extend upward. The first flexible portion 131 is connected to the first protruding portion 112, and the second flexible portion 133 is connected to the second protruding portion 122.

[0047] It is understandable that if Figure 1-Figure 4 As shown, there are gaps between the first flexible portion 131 and the first fixed body 111, between the first flexible portion 131 and the second flexible portion 133, and between the second flexible portion 133 and the second fixed body 121. Then. With the support of the first flexible portion 131 and the second flexible portion 133, the first fixed body 111 and the second fixed body 121 are spaced apart. Thus, when the first fixed body 111 and the second fixed body 121 move relatively, the first protrusion 112 and the second protrusion 122 corresponding in the up and down directions abut against each other, so that the flexible member 13 can be sealed in the buffer zone 14, preventing the flexible member 13 from being affected by external factors, and ensuring the overall safety and stability of the mechanism.

[0048] In some embodiments, the side wall of the first protrusion 112 adjacent to the second fixing member 12 is coplanar with the side wall of the first flexible portion 131 adjacent to the second fixing member 12 , and the side wall of the second protrusion 122 adjacent to the first fixing member 11 is coplanar with the side wall of the second flexible portion 133 adjacent to the first fixing member 11 .

[0049] Specifically, Figure 1-Figure 4 As shown, the lower side wall of the first protrusion 112 is coplanar with the lower side wall of the first flexible portion 131, and the upper side wall of the second protrusion 122 is coplanar with the upper side wall of the second flexible portion 133, so that the connection between the first protrusion 112 and the first flexible portion 131, and between the second protrusion 122 and the second flexible portion 133 is smoother, so that when the first protrusion 112 and the second protrusion 122 are against each other, the gap between the two (i.e., the gap between the first protrusion 112 and the second protrusion 122 and the gap between the first flexible portion 131 and the second flexible portion 133) is reduced as much as possible, further ensuring the overall safety and stability of the mechanism.

[0050] In some embodiments, the sum of the distance between the first flexible portion 131 and the first fixed body 111 and the distance between the second flexible portion 133 and the second fixed body 121 is greater than or equal to the distance between the first protruding portion 112 and the second protruding portion 122 .

[0051] Specifically, Figure 1-Figure 4As shown, the distance between the first flexible portion 131 and the first fixed body 111 is b1, the distance between the second flexible portion 112 and the second fixed body 121 is b2, and the distance between the first protruding portion 112 and the second protruding portion 122 is c, then b1+b2≥c.

[0052] It is understandable that if Figure 2 As shown, when the first fixing member 11 and the second fixing member 12 are squeezed (i.e., the first fixing member 11 and the second fixing member 12 are close to each other), the first flexible portion 131 and the second flexible portion 133 are bent and close to each other until the first protrusion 112 and the second protrusion 122 are against each other. This is the maximum compression position of the first fixing member 11 and the second fixing member 12. Since b1+b2≥c, the first flexible portion 131 and the first fixed body 111 and the second flexible portion 133 and the second fixed body 121 are in contact or still have a certain gap, thereby avoiding interference between the first connecting portion 132 and the first fixed body 111 and the second fixed body 121.

[0053] Optionally, That is to say, b1=b2, so that when the first flexible portion 131 and the second flexible portion 132 are bent, the bending effects of the two portions are kept consistent, and the bending actions are more coordinated.

[0054] It is understandable that if Figure 1-Figure 4 As shown, the upper side wall of the first connection part 132 is coplanar with the upper side wall of the first flexible part 131, and the lower side wall of the first connection part 132 is coplanar with the lower side wall of the second flexible part 133. As a result, the connection between the upper and lower ends of the first connection part 132 and the first flexible part 131 and the second flexible part 133 is smoother, thereby preventing the first connection part 132 from interfering with the first fixed body 111 and the second fixed body 121 during the compression process of the first flexible unit 1.

[0055] Preferably, if Figure 1-Figure 4 As shown, there are multiple first flexible portions 131 , which are arranged at intervals along the height direction of the first flexible unit 1 , and there are multiple second flexible portions 133 , which are arranged at intervals along the height direction of the first flexible unit 1 .

[0056] In some embodiments, the multi-stage variable-rigidity flexible mechanism of an embodiment of the present invention also includes a second flexible unit 2, the second flexible unit 2 includes a third flexible portion 21, a second connecting portion 22 and a fourth flexible portion 23 that are connected, the third flexible portion 21 and the fourth flexible portion 23 are both used to connect the first flexible unit 1 and the second connecting portion 22, and the third flexible portion 21 and the fourth flexible portion 23 are arranged at intervals in the length direction of the first flexible unit 1, and the third flexible portion 21 and the fourth flexible portion 23 are bendable when the second connecting portion 22 moves relative to the first flexible portion 131.

[0057] Specifically, Figure 1-Figure 4 As shown, the upper end of the third flexible portion 21 is connected to the left end of the second connecting portion 22, the lower end of the third flexible portion 21 is connected to the first flexible unit 1, the upper end of the fourth flexible portion 23 is connected to the right end of the second connecting portion 22, and the lower end of the fourth flexible portion 23 is connected to the first flexible unit 1.

[0058] It is understandable that if Figure 1-Figure 4 As shown, when the second connection portion 22 moves along the left-right direction relative to the first flexible unit 1 , the third flexible portion 21 and the fourth flexible portion 23 can bend adaptively to ensure the stability of the second flexible unit 2 .

[0059] In some embodiments, the second flexible unit 2 also includes a limiting protrusion 24, which is connected to the first flexible unit 1 and extends toward the second connecting portion 22. The length of the limiting protrusion 24 is smaller than the distance between the third flexible portion 21 and the fourth flexible portion 23, and the height of the limiting protrusion 24 is smaller than the distance from the second connecting portion 22 to the first flexible unit 1.

[0060] It is understandable that if Figure 1-Figure 4 As shown, the limiting protrusion 24 is located in the space enclosed by the first flexible unit 1, the third flexible portion 21, the second connecting portion 22 and the fourth flexible portion 23, and there is a certain gap between the top and the left and right sides of the limiting protrusion 24 and the second flexible unit 2, so that the second connecting portion 22 can use the limiting protrusion 24 to provide effective support to the third flexible portion 21, the second connecting portion 22 and the fourth flexible portion 23 during the movement or compression process, thereby avoiding excessive displacement of the third flexible portion 21, the second connecting portion 22 and the fourth flexible portion 23, thereby ensuring the support stiffness and overall stability of the second flexible unit 2.

[0061] The flexible platform according to the embodiment of the present invention is described below with reference to the accompanying drawings.

[0062] The flexible platform of the embodiment of the present invention comprises: a mounting portion 3 and a plurality of flexible mechanisms, wherein the plurality of flexible mechanisms are connected to the mounting portion 3 and arranged at intervals along the circumference of the mounting portion 3, and the flexible mechanisms are multi-stage variable stiffness flexible mechanisms according to any one of the above embodiments.

[0063] It is understandable that if Figure 1-Figure 5 As shown, the mounting portion 3 is located at the center of multiple flexible mechanisms, and the multiple flexible mechanisms can be connected to the mounting portion 3 in a detachable manner by screws, plug-in or snap-in, or can be an integrated structure. While ensuring the overall stability of the flexible platform, the mounting portion 3 can also be moved slightly in the plane in the up-down direction and the left-right direction, so that it can be suitable for wearable devices, flexible robots, medical rehabilitation equipment and other mechanical systems that require flexible adjustment.

[0064] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0065] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0066] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0068] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0069] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A multi-stage variable stiffness flexible mechanism, characterized in that: include: a first flexible unit, the first flexible unit comprises a first fixing member, a second fixing member and a flexible member, the first fixing member and the second fixing member are arranged at intervals along the height direction of the first flexible unit, a buffer zone is defined between the first fixing member and the second fixing member, the flexible member is connected to the first fixing member and the second fixing member and is placed in the buffer zone, there are a plurality of flexible members, and the plurality of flexible members are arranged relatively in the length direction of the first flexible unit, The flexible member includes a first flexible portion, a first connecting portion, and a second flexible portion connected in sequence, the extension direction of the first connecting portion is consistent with the height direction of the first flexible unit, the first flexible portion and the second flexible portion are arranged opposite to each other in the extension direction of the first connecting portion, the first flexible portion and the second flexible portion have the same size in the height direction of the first flexible unit, and relative movement occurs between the first fixing member and the second fixing member, and the first flexible portion and the second flexible portion are bendable. There are multiple first flexible units, and the multiple first flexible units are connected in sequence in the height direction of the first flexible units. In two adjacent first flexible units, the absolute value of the difference between the height of the first flexible part of the first first flexible unit and the height of the first flexible part of the second first flexible unit is greater than 0.

2. The multi-stage variable stiffness flexible mechanism according to claim 1, characterized in that: In the plurality of first flexible units, heights of the plurality of first flexible portions gradually increase along a height direction of the first flexible units.

3. The multi-stage variable stiffness flexible mechanism according to claim 2, characterized in that: The first fixing member includes a first fixing body and a first protrusion, the first protrusion is connected to the first fixing body and extends toward the second fixing member, there are a plurality of first protrusions, and the plurality of first protrusions are arranged opposite to each other along the length direction of the first flexible unit; The second fixing member includes a second fixing body and a second protrusion, the second protrusion is connected to the second fixing body and extends toward the first fixing member, there are multiple second protrusions, and the multiple second protrusions are relatively arranged along the length direction of the first flexible unit, the first end of the first flexible part is connected to the first protrusion, the second end of the first flexible part is connected to the first connecting part, the first end of the second flexible part is connected to the second protrusion, and the second end of the second flexible part is connected to the first connecting part.

4. The multi-stage variable stiffness flexible mechanism according to claim 3, characterized in that: The side wall of the first protrusion adjacent to the second fixing member is coplanar with the side wall of the first flexible portion adjacent to the second fixing member. The side wall of the second protrusion adjacent to the first fixing member is coplanar with the side wall of the second flexible portion adjacent to the first fixing member.

5. The multi-stage variable stiffness flexible mechanism according to claim 4, characterized in that: The sum of the distance between the first flexible portion and the first fixed body and the distance between the second flexible portion and the second fixed body is greater than or equal to the distance between the first protruding portion and the second protruding portion.

6. The multi-stage variable stiffness flexible mechanism according to claim 5, characterized in that: The side wall of the first connecting portion adjacent to the first fixed body is coplanar with the side wall of the first flexible portion adjacent to the first fixed body; The side wall of the first connection portion adjacent to the second fixing body is coplanar with the side wall of the second flexible portion adjacent to the second fixing body.

7. The multi-stage variable stiffness flexible mechanism according to claim 6, characterized in that: There are a plurality of first flexible portions, which are arranged at intervals along a height direction of the first flexible unit; there are a plurality of second flexible portions, which are arranged at intervals along a height direction of the first flexible unit.

8. The multi-stage variable stiffness flexible mechanism according to any one of claims 1 to 7, characterized in that: It also includes a second flexible unit, which includes a connected third flexible portion, a second connecting portion and a fourth flexible portion, the third flexible portion and the fourth flexible portion are both used to connect the first flexible unit and the second connecting portion, and the third flexible portion and the fourth flexible portion are arranged at intervals in the length direction of the first flexible unit, and when the second connecting portion moves relative to the first flexible portion, the third flexible portion and the fourth flexible portion are bendable.

9. The multi-stage variable stiffness flexible mechanism according to claim 8, characterized in that: The second flexible unit also includes a limiting protrusion, which is connected to the first flexible unit and extends toward the second connecting portion, the length of the limiting protrusion is smaller than the distance between the third flexible portion and the fourth flexible portion, and the height of the limiting protrusion is smaller than the distance from the second connecting portion to the first flexible unit.

10. A flexible platform, characterized in that: include: A mounting portion and a plurality of flexible mechanisms, wherein the plurality of flexible mechanisms are connected to the mounting portion and are arranged at intervals along the circumference of the mounting portion, and the flexible mechanisms are multi-stage variable stiffness flexible mechanisms according to any one of claims 1-9.

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