Variable-rigidity flexible mechanism and flexible platform

Abstract

The invention provides a variable-rigidity flexible mechanism and a flexible platform, the variable-rigidity flexible mechanism comprises a fixed seat, a swing seat, a first deformation piece and a second deformation piece, and the fixed seat and the swing seat are arranged at an interval in the height direction of the fixed seat; the first end of the first deformation part is connected with the fixed seat, the second end of the first deformation part is connected with the swing seat, the swing seat moves relative to the fixed seat, the first deformation part can be bent, and the second deformation part and the first deformation part are spaced in the length direction of the fixed seat. A matching groove is formed in the side, close to the fixed seat, of the swing seat, the first end of the second deformation part is connected with the fixed seat, the second end of the second deformation part is arranged in the matching groove, and a gap is formed between the side wall of the second end of the second deformation part and the side wall of the matching groove. The variable-stiffness flexible mechanism has the advantages of being compact in structure and high in motion repeatability.

Description

Technical Field

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

[0002] Nanotechnology has become increasingly important in modern science and industry. It has been widely regarded as an important strategic technology due to its huge potential scientific, economic and social value. Among them, nanomanipulation is the process of moving or changing samples at the atomic or molecular scale. It is widely used in the fields of atomic manipulation, nanowire manipulation, nanolithography, nanocharacterization, semiconductor preparation and semiconductor testing. Nanomanipulation is also a frontier hotspot in the cross-disciplinary research of mechanics, physics, chemistry, materials science and biology.

[0003] In related technologies, in order to achieve nano-preparation at a macroscopic scale, it is necessary to build a motion system with both nano-precision and macroscopic motion range. To meet this challenge, a rigid platform or a flexible platform can be considered. Rigid platforms include traditional guide rail motion platforms, air-floating motion platforms, and magnetic levitation motion platforms. However, due to the inevitable friction of the guide rail motion platform, it is difficult to achieve nano-level precision. The air-floating motion platform requires an air source and has certain requirements for the external environment. The magnetic field of the magnetic levitation motion platform may affect the operation. 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 provides a variable stiffness flexible mechanism and a flexible platform. The variable stiffness flexible mechanism has the advantages of compact structure and high motion repeatability.

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

[0007] A fixed seat and a swing seat, wherein the fixed seat and the swing seat are arranged at intervals in the height direction of the fixed seat;

[0008] A first deformable member, wherein a first end of the first deformable member is connected to the fixed seat, a second end of the first deformable member is connected to the swing seat, the swing seat moves relative to the fixed seat, and the first deformable member is bendable;

[0009] A second deformation member, the second deformation member is spaced apart from the first deformation member in the length direction of the fixed seat, the swing seat has a matching groove on one side adjacent to the fixed seat, the first end of the second deformation member is connected to the fixed seat, the second end of the second deformation member is placed in the matching groove, and there is a gap between the side wall of the second end of the second deformation member and the side wall of the matching groove.

[0010] The variable stiffness flexible mechanism of the embodiment of the present invention can realize a flexible mechanism with variable overall stiffness by using the first bending member and the second bending member, that is, when the first deformable member is bent, it has one stiffness, and when the first bending member and the second bending member are bent at the same time, it has a second stiffness. Therefore, the stiffness of the variable stiffness flexible mechanism of the embodiment of the present invention can increase with the increase of its own displacement.

[0011] In some embodiments, the variable stiffness flexible mechanism of the embodiment of the present invention also includes a flexible unit, which is connected to the fixed seat, and the flexible unit includes 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 fixed seat, 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 multiple flexible members, and the multiple flexible members are relatively arranged in the length direction of the fixed seat, the flexible member includes a first flexible part, a first connecting part and a second flexible part connected in sequence, the extension direction of the first connecting part is consistent with the height direction of the fixed seat, the first flexible part and the second flexible part are relatively arranged in the extension direction of the first connecting part, the first flexible part and the second flexible part are equal in size in the height direction of the fixed seat, and relative movement occurs between the first fixing member and the second fixing member, and the first flexible part and the second flexible part are bendable.

[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 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 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 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.

[0015] 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;

[0016] A side wall of the first connection portion adjacent to the second fixing body is coplanar with a side wall of the second flexible portion adjacent to the second fixing body.

[0017] In some embodiments, there are a plurality of the first deformation members, and the plurality of the first deformation members are arranged at intervals along the length direction of the fixing seat.

[0018] In some embodiments, there are multiple second deformation members, there are multiple matching grooves, the multiple matching grooves correspond one-to-one to the multiple second deformation members, and the multiple second deformation members are arranged at intervals along the length direction of the fixing seat.

[0019] In some embodiments, along the length direction of the fixing seat, at least one second deformation member is arranged between two adjacent first deformation members.

[0020] In some embodiments, a plurality of flexible groups are further included, one of the flexible groups includes a connecting member and a plurality of second deformable members, and the second ends of the plurality of second deformable members are connected to the connecting member and are placed in the matching groove.

[0021] The flexible platform of an embodiment of the present invention includes: multiple connecting seats and multiple flexible mechanisms, wherein the flexible mechanisms are variable stiffness flexible mechanisms according to any one of the above embodiments, and the multiple connecting seats are divided into a first connecting group and a second connecting group, the first connecting group and the second connecting group are spaced apart in a first direction, the first connecting group and the second connecting group each include multiple connecting seats, and the multiple connecting seats of the first connecting group correspond one-to-one to the multiple connecting seats of the second connecting group, the multiple connecting seats are arranged at circumferential intervals along the first direction, and one flexible mechanism is connected between two adjacent connecting seats. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a partial structural diagram of the variable stiffness flexible mechanism of an embodiment of the present invention.

[0023] Figure 2 It is a partial structural schematic diagram of a variable stiffness flexible mechanism of other embodiments of the present invention.

[0024] Figure 3 It is a partial structural diagram of a variable stiffness flexible mechanism according to another embodiment of the present invention.

[0025] Figure 4 It is a schematic structural diagram of a variable stiffness flexible mechanism according to an embodiment of the present invention.

[0026] Figure 5 It is a schematic structural diagram of a flexible unit of a variable stiffness flexible mechanism according to an embodiment of the present invention.

[0027] Figure 6 It is a structural schematic diagram of a flexible unit combination of a variable stiffness flexible mechanism according to an embodiment of the present invention.

[0028] Figure 7 It is a compression schematic diagram of the flexible unit combination of the variable stiffness flexible mechanism according to an embodiment of the present invention.

[0029] Figure 8 It is a schematic diagram of the use structure of the variable stiffness flexible mechanism of an embodiment of the present invention.

[0030] Fig. 9 Schematic diagram of the structure of the flexible platform according to an embodiment of the present invention.

[0031] Fig.10 It is a schematic structural diagram of a flexible platform according to another embodiment of the present invention.

[0032] Reference numerals:

[0033] 1. Fixed seat,

[0034] 2. Swing seat, 21. Matching groove,

[0035] 3. The first deformation member,

[0036] 4. The second deformation member,

[0037] 5. Connectors,

[0038] 6. Flexible unit, 61. First fixing member, 611. First fixing body, 612. First protrusion, 62. Second fixing member, 621. Second fixing body, 622. Second protrusion, 63. Flexible member, 631. First flexible part, 632. First connecting part, 633. Second flexible part, 64. Buffer zone,

[0039] 7. Installation department,

[0040] 8. Connecting seat,

[0041] 9. Flexible mechanism. DETAILED DESCRIPTION

[0042] 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.

[0043] The variable stiffness flexible mechanism of an embodiment of the present invention is described below with reference to the accompanying drawings.

[0044] like Figure 1-Figure 8As shown, the variable stiffness flexible mechanism of the embodiment of the present invention includes a fixed seat 1 and a swing seat 2.

[0045] The fixed seat 1 and the swing seat 2 are arranged in the height direction of the fixed seat 1 (such as Figure 1 The first deformable member 3 has a first end connected to the fixed seat 1, and a second end connected to the swing seat 2. The swing seat 2 moves relative to the fixed seat 1, and the first deformable member 3 is bendable. The second deformable member 4 has a first end connected to the fixed seat 1 (such as the vertical direction). Figure 1 The swing seat 2 is spaced apart in the left-right direction, and a side of the swing seat 2 adjacent to the fixed seat 1 has a matching groove 21, the first end of the second deformation member 4 is connected to the fixed seat 1, the second end of the second deformation member 4 is placed in the matching groove 21, and there is a gap between the side wall of the second end of the second deformation member 4 and the side wall of the matching groove 21.

[0046] Specifically, Figure 1-Figure 7 As shown, the swing seat 2 is located above the fixed seat 1, the upper end of the first deformable member 3 is connected to the swing seat 2, and the lower end of the first deformable member 3 is connected to the fixed seat 1. The lower end of the second deformable member 4 is connected to the fixed seat 1, and the matching groove 21 is opened on the lower side wall of the swing seat 2. The upper end of the second deformable member 4 is placed in the matching groove 21, and there is a certain gap between the wall surface of the second deformable member 4 placed in the matching groove 21 and the side wall of the matching groove 21.

[0047] It can be understood that when the first deformable member 3 just begins to bend, the second deformable member 4 does not bend synchronously with the first deformable member 3. When the first deformable member 3 bends to a certain extent, the upper end of the second deformable member 4 abuts against the matching groove 21, thereby bending along with the first deformable member 3, thereby enhancing the overall rigidity.

[0048] It should be noted that the fixed seat 1 is a fixed end, and the swing seat 2 is a movable end, and the swing seat 2 can move in the left and right direction relative to the fixed seat 1. Figure 1-Figure 7 As shown, there are two first bending parts, and the two first bending parts are respectively placed on the left and right sides of the second bending part, and the left side wall of the first bending part on the left side is coplanar with the left side walls of the fixed seat 1 and the swing seat 2, and the right side wall of the first bending part on the right side is coplanar with the right side walls of the fixed seat 1 and the swing seat 2, so as to ensure the connection strength between the first bending part and the fixed seat 1 and the swing seat 2.

[0049] Then, the variable stiffness flexible mechanism of the embodiment of the present invention has the following stiffness variation:

[0050] When the first deformable member 3 is bent and the upper end of the second deformable member 4 is not in contact with the matching groove 21: the stiffness of the variable stiffness flexible mechanism of the embodiment of the present invention is k1, that is,

[0051]

[0052] When the first deformable member 3 is bent and the upper end of the second deformable member 4 abuts against the matching groove, the stiffness of the variable stiffness flexible mechanism of the embodiment of the present invention is k2, that is,

[0053]

[0054] Wherein, E is the Young's modulus of the material of the variable stiffness flexible mechanism of the embodiment of the present invention, and b is the length of the flexible mechanism (i.e. Figure 1 The dimensions of the fixing seat in the left and right directions are shown in FIG), h is the thickness of the flexible mechanism (i.e. Figure 1 The dimensions of the fixing seat in the orthogonal left-right direction and up-down direction are shown), l is the height of the flexible mechanism (i.e. Figure 1 The dimension between the bottom surface of the fixed seat and the top surface of the swing seat is shown in ).

[0055] It should be noted that, according to the actual usage scenario, the overall stiffness of the flexible mechanism can be adjusted by changing the Young's modulus, length, thickness and height of the material. In other words, when designing a flexible mechanism, the stiffness of the flexible mechanism can be adjusted by changing one or more variables among the Young's modulus, length, thickness and height of the first deformable member and the second deformable member. Of course, the Young's modulus, length, thickness and height of the first deformable member and the second deformable member in the flexible mechanism can also be kept consistent.

[0056] That is to say, according to the actual working conditions, different numbers of first deforming members 3 and second deforming members 4 are selected so that the flexible mechanism 9 can adjust its own stiffness under different displacements. The sizes of the first bending member and the second bending member can also be adjusted to meet different requirements by adjusting the stiffness, thereby greatly improving the adaptability and flexibility of the flexible mechanism 9.

[0057] Optionally, there are multiple first deformable members 3 , and the multiple first deformable members 3 are arranged at intervals along the length direction of the fixing seat 1 .

[0058] Alternatively, if Figure 1-Figure 7 As shown, there are multiple second deformable members 4 and multiple matching grooves 21 . The multiple matching grooves 21 correspond one-to-one to the multiple second deformable members 4 . The multiple second deformable members 4 are arranged at intervals along the length direction of the fixing seat 1 .

[0059] In some embodiments, at least one second deformation member 4 is disposed between two adjacent first deformation members 3 along the length direction of the fixing seat 1 .

[0060] It is understandable that one or more second bending members may be provided between two adjacent first bending members so as to be applicable to different scenarios.

[0061] In other embodiments, Figure 1-Figure 7 As shown, the variable stiffness flexible mechanism of the embodiment of the present invention further includes a plurality of flexible groups, one flexible group includes a connecting member 5 and a plurality of second deforming members 4, and the second ends of the plurality of second deforming members 4 are connected to the connecting member 5 and placed in the matching groove 21. It can be understood that in one flexible group, the connecting member 5 is connected to the upper ends of the plurality of second bending members, so that the strength of the entire flexible group is improved, and the upper ends of the second bending members are prevented from being separated from the matching groove 21 when the flexible group is bent, thereby improving the working efficiency of the flexible mechanism 9.

[0062] That is to say, the variable stiffness flexible mechanism of the embodiment of the present invention can realize the flexible mechanism 9 with variable overall stiffness by using the first bending member and the second bending member, that is, when the first deformable member 3 is bent, it has one stiffness, and when the first bending member and the second bending member are bent at the same time, it has a second stiffness. Therefore, the stiffness of the variable stiffness flexible mechanism of the embodiment of the present invention can increase with the increase of its own displacement.

[0063] In some embodiments, the variable stiffness flexible mechanism of the embodiment of the present invention further includes a flexible unit 6, which is connected to the fixed seat 1. The flexible unit 6 includes a first fixing member 61, a second fixing member 62 and a flexible member 63. The first fixing member 61 and the second fixing member 62 are arranged at intervals along the height direction of the fixed seat 1. A buffer zone 64 is defined between the first fixing member 61 and the second fixing member 62. The flexible member 63 is connected to the first fixing member 61 and the second fixing member 62 and is placed in the buffer zone 64. There are multiple flexible members 63, and the multiple flexible members 63 are relatively arranged in the length direction of the fixed seat 1. The flexible member 63 includes a first flexible portion 631, a first connecting portion 632 and a second flexible portion 633 connected in sequence. The extension direction of the first connecting portion 632 is consistent with the height direction of the fixed seat 1. The first flexible portion 631 and the second flexible portion 633 are relatively arranged in the extension direction of the first connecting portion 632. The first flexible portion 631 and the second flexible portion 633 have equal sizes in the height direction of the fixed seat 1, and relative movement occurs between the first fixing member 61 and the second fixing member 62, and the first flexible portion 631 and the second flexible portion 633 are bendable.

[0064] Specifically, Figure 1-Figure 7As shown, the first fixing member 61 and the second fixing member 62 are arranged at intervals in the up-down direction, and the buffer zone 64 is placed between the first fixing member 61 and the second fixing member 62. There are two flexible members 63, and the two flexible members 63 are placed on the left and right sides of the buffer zone 64, respectively. The left end of the flexible member 63 located on the left side is connected to the first fixing member 61 and the second fixing member 62, respectively, and the right end of the flexible member 63 located on the right side is connected to the first fixing member 61 and the second fixing member 62, respectively. Taking the flexible member 63 located on the left side as an example, the left and right ends of the first flexible portion 631 are connected to the first fixing member 61 and the upper end of the first connecting portion 632, respectively, and the second flexible portion 633 is located below the first flexible portion 631, and the left and right ends of the second flexible portion 633 are connected to the second fixing member 62 and the first connecting portion 632, respectively.

[0065] It is understandable that if Figure 1-Figure 7 As shown, in the plane where the up-down direction and the left-right direction are located, when the flexible unit 6 is subjected to a force from bottom to top or from top to bottom, the distance between the first fixing member 61 and the second fixing member 62 will decrease as the force increases, and at the same time, the first flexible portion 631 and the second flexible portion 633 will bend adaptively, thereby providing effective support and stability for the flexible unit 6. In addition, when the flexible unit 6 is subjected to an axial torsional force in the up-down direction, the first fixing member 61 and the second fixing member 62 rotate relative to each other, and the first flexible portion 631 and the second flexible portion 633 will also bend adaptively to ensure the stability of the flexible unit 6.

[0066] Alternatively, if Figure 1-Figure 7 As shown, the height of the first flexible portion 631 is a, then, in the multiple flexible units 6, in the direction from bottom to top, the heights of the first flexible portion 631 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 flexible units 6, the height of the first flexible member 63 in each flexible unit 6 is different. Therefore, according to the actual application scenario, the height of the first flexible member 63 in the multiple flexible units 6 can be adaptively set, for example: in the direction from bottom to top, the heights of the first flexible members 63 in the multiple flexible units 6 are arranged in ascending order; or, the heights of the first flexible members 63 in the multiple flexible units 6 are arranged in descending order; or, the heights of the first flexible members 63 in the multiple flexible units 6 are arranged in order according to size. Of course, other arrangements can also be used.

[0067] Preferably, if Figure 1-Figure 7 As shown, in the plurality of flexible units 6 , the heights of the plurality of first flexible portions 631 gradually increase along the height direction of the flexible units 6 .

[0068] That is to say, Figure 1-Figure 7As shown, when multiple flexible units 6 are subjected to force from top to bottom, the smaller the height of the first flexible portion 631, the easier it is for the corresponding flexible unit 6 to be compressed. Conversely, the larger the height of the first flexible portion 631, the higher the supporting strength of the flexible unit 6, thereby achieving the energy transfer efficiency of the overall mechanism being adjusted according to the load conditions.

[0069] It should be noted that the multiple flexible units 6 can be connected in a detachable manner by screws, plug-ins or snap-ons. Similarly, the first fixing member 61, the second fixing member 62, the first flexible portion 631, the first connecting portion 632 and the second flexible portion 633 can also be connected in a detachable manner. Among them, the first flexible portion 631 and the second flexible portion 633 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.

[0070] In addition, optionally, a plurality of flexible units 6 may also be integrally formed.

[0071] In some embodiments, the first fixing member 61 includes a first fixing body 611 and a first protrusion 612, the first protrusion 612 is connected to the first fixing body 611 and extends toward the second fixing member 62, there are multiple first protrusions 612, and the multiple first protrusions 612 are relatively arranged along the length direction of the flexible unit 6; the second fixing member 62 includes a second fixing body 621 and a second protrusion 622, the second protrusion 622 is connected to the second fixing body 621 and extends toward the first fixing member 61, there are multiple second protrusions 622, and the multiple second protrusions 622 are relatively arranged along the length direction of the flexible unit 6, the first end of the first flexible portion 631 is connected to the first protrusion 612, the second end of the first flexible portion 631 is connected to the first connecting portion 632, the first end of the second flexible portion 633 is connected to the second protrusion 622, and the second end of the second flexible portion 633 is connected to the first connecting portion 632.

[0072] Specifically, Figure 1-Figure 7 As shown, there are two first protrusions 612, which are respectively connected to the left and right ends of the first fixing member 61, and the first protrusions 612 extend downward. There are two second protrusions 622, which are respectively connected to the left and right ends of the second fixing member 62, and the second protrusions 622 extend upward. The first flexible portion 631 is connected to the first protrusion 612, and the second flexible portion 633 is connected to the second protrusion 622.

[0073] It is understandable that if Figure 1-Figure 7As shown, there are gaps between the first flexible portion 631 and the first fixed body 611, between the first flexible portion 631 and the second flexible portion 633, and between the second flexible portion 633 and the second fixed body 621. Then. Under the support of the first flexible portion 631 and the second flexible portion 633, the first fixed body 611 and the second fixed body 621 are spaced apart. Therefore, when the first fixed body 611 and the second fixed body 621 move relatively, the first protrusion and the second protrusion corresponding in the up and down directions abut against each other, so that the flexible member 63 can be blocked in the buffer zone 64, preventing the flexible member 63 from being affected by external factors, and ensuring the safety and stability of the entire mechanism.

[0074] Preferably, if Figure 1-Figure 7 As shown, the lower side wall of the first protrusion 612 is coplanar with the lower side wall of the first flexible portion 631, and the upper side wall of the second protrusion 622 is coplanar with the upper side wall of the second flexible portion 633, so that the connection between the first protrusion 612 and the first flexible portion 631, and between the second protrusion 622 and the second flexible portion 633 is smoother, so that when the first protrusion 612 and the second protrusion 622 are against each other, the gap between the two (i.e., the gap between the first protrusion 612 and the second protrusion 622 and the gap between the first flexible portion 631 and the second flexible portion 633) is reduced as much as possible, further ensuring the overall safety and stability of the mechanism.

[0075] In some embodiments, the sum of the distance between the first flexible portion 631 and the first fixed body 611 and the distance between the second flexible portion 633 and the second fixed body 621 is greater than or equal to the distance between the first protruding portion 612 and the second protruding portion 622 .

[0076] Specifically, Figure 1-Figure 7 As shown, the distance between the first flexible portion 631 and the first fixed body 611 is b1, the distance between the second flexible portion and the second fixed body 621 is b2, and the distance between the first protruding portion 612 and the second protruding portion 622 is c, then b1+b2≥c.

[0077] That is to say, when the first fixed body 611 and the second fixed body 621 are compressed by force, the first protrusion 612 and the second protrusion 622 approach each other until the two are in contact. At this time, since b1+b2≥c, when the first fixed body 611 and the second fixed body 621 are in the extreme compression position, the first flexible portion 631 and the second flexible portion 633 still have a certain gap margin compared with the first fixed body 611 and the second fixed body 621, or just contact with the first fixed body 611 and the second fixed body 621, thereby avoiding interference between the flexible part 63 and the first fixed body 611 and the second fixed body 621, thereby ensuring the service life.

[0078] Optionally, That is to say, b1=b2, so that when the first flexible portion 631 and the second flexible portion 632 are bent, the bending effects of the two portions are kept consistent, and the bending actions are more coordinated.

[0079] In some embodiments, the side wall of the first connection portion 632 adjacent to the first fixed body 611 is coplanar with the side wall of the first flexible portion 631 adjacent to the first fixed body 611 ; the side wall of the first connection portion 632 adjacent to the second fixed body 621 is coplanar with the side wall of the second flexible portion 633 adjacent to the second fixed body 621 .

[0080] like Figure 1-Figure 7 As shown, the upper side wall of the first connection part 632 is coplanar with the upper side wall of the first flexible part 631, and the lower side wall of the first connection part 632 is coplanar with the lower side wall of the second flexible part 633. As a result, the connection between the upper and lower ends of the first connection part 632 and the first flexible part 631 and the second flexible part 633 is smoother, thereby preventing the first connection part 632 from interfering with the first fixed body 611 and the second fixed body 621 during the compression process of the flexible unit 6.

[0081] Optionally, the variable stiffness flexible mechanism of the embodiment of the present invention also has multiple combinations, such as Figure 8 As shown, a mounting portion 7 is provided in the middle of a plurality of flexible mechanisms 9, and the plurality of flexible mechanisms 9 are arranged at intervals along the circumference of the mounting portion 7, so that the mounting portion 7 can move slightly within a plane in the up-down direction and the left-right direction, thereby providing the required motion trajectory for the precision mobile device.

[0082] The flexible platform according to the embodiment of the present invention is described below with reference to the accompanying drawings.

[0083] like Figure 1-Figure 9 As shown, the flexible platform of an embodiment of the present invention includes: a plurality of connecting seats 8 and a plurality of flexible mechanisms 9, the flexible mechanism 9 is a variable stiffness flexible mechanism 9 according to any one of the above embodiments, the plurality of connecting seats 8 are divided into a first connecting group and a second connecting group, the first connecting group and the second connecting group are spaced apart in the first direction, the first connecting group and the second connecting group both include a plurality of connecting seats 8, and the plurality of connecting seats 8 of the first connecting group correspond one-to-one to the plurality of connecting seats 8 of the second connecting group, the plurality of connecting seats 8 are arranged at circumferential intervals along the first direction, and a flexible mechanism 9 is connected between two adjacent connecting seats 8.

[0084] Specifically, Figure 1-Figure 9 As shown, taking the example that both the first connection group and the second connection group include four connection seats 8, in the first connection group, the four connection seats 8 are arranged in a square in the same plane, then the connection seats 8 in the second connection group are placed above the first connection group and correspond one-to-one with the four connection seats 8 in the first connection group in the up and down directions.

[0085] It is understandable that if Figure 1-Figure 7 As shown, according to the arrangement of the connecting seat 8, the extension direction of the flexible mechanism 9 can be arranged in the left-right direction, in the up-down direction, and in the front-back direction. Therefore, the flexible platform of the embodiment of the present invention can provide a multi-angle multi-stage variable stiffness structure, and through the multi-stage variable stiffness design, the flexible platform can adjust its stiffness under different displacements. Whether it is required to move flexibly under low load conditions or to require 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 9.

[0086] In other embodiments, between two adjacent connection seats 8, a flexible mechanism with different structures may be used, such as Fig.10 As shown, the flexible mechanism 9 omits a plurality of flexible units 6 so that the entire flexible platform can bend in the left-right direction, the up-down direction, and the front-back direction, thereby making the flexibility applicable to more scenarios.

[0087] Of course, the flexible platform of the embodiment of the present invention can also adopt other arrangements according to the actual use environment, for example, multiple flexible units are arranged in sequence between two adjacent connecting seats so that the flexible platform can be stretched in the left and right directions, the up and down directions, and the front and back directions, or have a small twisting function.

[0088] 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. The multi-level variable stiffness design can also avoid structural failure caused by environmental changes (such as temperature changes, load fluctuations, etc.). When faced with extreme working conditions such as external shocks and overloads, the flexible platform can adaptively respond to these changes by adjusting the stiffness, avoiding mechanical damage or loss of control, and ensuring the safety and reliability of the system.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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 variable stiffness flexible mechanism, characterized in that: include: A fixed seat and a swing seat, wherein the fixed seat and the swing seat are arranged at intervals in the height direction of the fixed seat; A first deformable member, wherein a first end of the first deformable member is connected to the fixed seat, a second end of the first deformable member is connected to the swing seat, the swing seat moves relative to the fixed seat, and the first deformable member is bendable; A second deformation member, the second deformation member is spaced apart from the first deformation member in the length direction of the fixed seat, the swing seat has a matching groove on one side adjacent to the fixed seat, the first end of the second deformation member is connected to the fixed seat, the second end of the second deformation member is placed in the matching groove, and there is a gap between the side wall of the second end of the second deformation member and the side wall of the matching groove.

2. The variable stiffness flexible mechanism according to claim 1, characterized in that: It also includes a flexible unit, which is connected to the fixed seat. The flexible unit includes 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 fixed seat. 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 multiple flexible members, and the multiple flexible members are relatively arranged in the length direction of the fixed seat. The flexible member includes a first flexible part, a first connecting part and a second flexible part connected in sequence. The extension direction of the first connecting part is consistent with the height direction of the fixed seat. The first flexible part and the second flexible part are relatively arranged in the extension direction of the first connecting part. The first flexible part and the second flexible part are equal in size in the height direction of the fixed seat, and relative movement occurs between the first fixing member and the second fixing member. The first flexible part and the second flexible part are bendable.

3. The 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 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 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 variable stiffness flexible mechanism according to claim 3, 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.

5. The variable stiffness flexible mechanism according to claim 4, characterized in that: The side wall of the first connecting portion adjacent to the first fixing body is coplanar with the side wall of the first flexible portion adjacent to the first fixing body; A side wall of the first connection portion adjacent to the second fixing body is coplanar with a side wall of the second flexible portion adjacent to the second fixing body.

6. The variable stiffness flexible mechanism according to claim 5, characterized in that: There are a plurality of the first deformable members, and the plurality of the first deformable members are arranged at intervals along the length direction of the fixing seat.

7. The variable stiffness flexible mechanism according to claim 6, characterized in that: There are a plurality of the second deformable members and a plurality of the matching grooves. The matching grooves correspond to the second deformable members one by one. The second deformable members are arranged at intervals along the length direction of the fixing seat.

8. The variable stiffness flexible mechanism according to claim 7, characterized in that: At least one second deformation member is arranged between two adjacent first deformation members along the length direction of the fixing seat.

9. The variable stiffness flexible mechanism according to claim 7, characterized in that: It also includes a plurality of flexible groups, one of which includes a connecting member and a plurality of second deformable members, and the second ends of the plurality of second deformable members are connected to the connecting member and are placed in the matching groove.

10. A flexible platform, characterized in that: include: A plurality of connection seats and a plurality of flexible mechanisms, wherein the flexible mechanisms are variable stiffness flexible mechanisms according to any one of claims 1 to 9, wherein the plurality of connection seats are divided into a first connection group and a second connection group, wherein the first connection group and the second connection group are spaced apart in a first direction, wherein the first connection group and the second connection group both include a plurality of connection seats, and the plurality of connection seats of the first connection group correspond one-to-one to the plurality of connection seats of the second connection group, wherein the plurality of connection seats are arranged at circumferential intervals along the first direction, and one flexible mechanism is connected between two adjacent connection seats.

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