Rigid-flexible coupling metamorphic unit and rigid-flexible coupling metamorphic mechanism

Abstract

The invention discloses a rigid-flexible coupling metamorphic unit which comprises a rotating shaft, a sliding block, two annular elastic pieces and m planar connecting rod subunits, and m is larger than or equal to 2. The sliding block is slidably arranged on the rotating shaft; each planar connecting rod subunit is of an end-to-end four-rod structure and comprises a front fixed connecting rod, a rear fixed connecting rod, a front hinge rod and a rear hinge rod; one end of the front fixed connection rod is fixedly connected with the rotating shaft; one end of the rear fixedly-connected rod is fixedly connected with the sliding block, and the other end is hinged with the rear hinge rod; the front fixed connecting rod is parallel to the rear fixed connecting rod; the front hinge rod is hinged to the rear hinge rod; the m front fixed connecting rods are coplanar; the m rear fixed connecting rods are coplanar; grooves, namely a front groove and a rear groove, are formed in the middle parts of the front hinge rod and the rear hinge rod; an annular elastic piece is sleeved on the m front grooves; and the other annular elastic piece is sleeved on the m rear grooves. The invention further discloses a rigid-flexible coupling metamorphic mechanism which comprises n rigid-flexible coupling metamorphic units, and n is larger than or equal to 2. And the n rigid-flexible coupling metamorphic units are connected end to end.

Description

Technical Field

[0001] The invention relates to a rigid-flexible coupling metamorphic cell unit and a rigid-flexible coupling metamorphic cell mechanism. Background Art

[0002] Metamorphic folding and unfolding mechanisms are usually used to achieve adaptive changes in structures and are widely used in the fields of deformable structures, flexible robots, and spacecraft folding. Existing metamorphic folding and unfolding mechanisms are usually based on geometric designs of folding and unfolding, which enable the mechanism to transform the structural form under static and dynamic conditions. These technologies include folding and unfolding mechanisms based on rigid folding surfaces, deformable structures based on smart materials, and dynamic folding designs using certain geometric principles. Current research focuses on how to use limited driving sources to achieve efficient folding and unfolding functions through specific structural designs.

[0003] There are usually the following problems with metamorphic folding and unfolding mechanisms:

[0004] 1. The control of the folding and unfolding process is complex: Most of the metamorphic folding and unfolding mechanisms in the existing technology rely on complex mechanical drive systems, which makes the control of the folding and unfolding process difficult, especially in high-precision applications, which is prone to error accumulation and structural instability.

[0005] 2. Compatibility issues between structural rigidity and flexibility: In multi-DOF metamorphic structures, how to balance the performance of rigid and flexible materials so that the mechanism can maintain good folding and unfolding performance under load is a technical problem that needs to be solved urgently.

[0006] 3. Limited adaptability and adjustability: Existing metamorphic folding and unfolding mechanisms usually lack sufficient flexibility in shape transformation and stiffness adjustment after folding or unfolding, and cannot adapt to changing working environments or load conditions.

[0007] The rigid-flexible coupled metamorphic mechanism aims to solve the limitations of traditional mechanisms in structural deformation, especially the problems of adaptability and flexibility in dealing with complex loads and motion conditions. This technology combines rigid and flexible materials or structural designs to enable the mechanism to achieve adaptive deformation without sacrificing overall stability, thereby improving the performance of the system under various working conditions. This technology is widely used in the fields of robotics, aerospace, deformable structures, and intelligent control, especially in scenarios that require high flexibility and precise control, and has important technical value and application prospects.

[0008] Therefore, providing a rigid-flexible coupling metamorphic mechanism with simple control and good adaptability has become a problem that needs to be solved in the industry. Summary of the invention

[0009] In order to solve the deficiencies in the prior art, the main purpose of the present invention is to provide a rigid-flexible coupling metamorphic unit and a rigid-flexible coupling metamorphic mechanism.

[0010] In order to achieve the above main purpose, on the one hand, the present invention discloses a rigid-flexible coupling metamorphic unit, which comprises: a rotating shaft, a slider, two annular elastic members, m planar connecting rod subunits, m≥2;

[0011] The slider is slidably arranged on the rotating shaft;

[0012] The plane connecting rod subunit is a four-rod structure connected end to end, which includes a front fixed rod (frame part), a rear fixed rod (slider part), a front hinge rod, and a rear hinge rod; one end of the front fixed rod is fixedly connected to the rotating shaft, and the other end is hinged to the front hinge rod; one end of the rear fixed rod is fixedly connected to the slider, and the other end is hinged to the rear hinge rod; the front fixed rod and the rear fixed rod are parallel; the front hinge rod and the rear hinge rod are hinged;

[0013] m front fixed rods are coplanar; m rear fixed rods are coplanar; the middle parts of the front hinged rod and the rear hinged rod are both provided with grooves, namely the front groove and the rear groove; an annular elastic member is sleeved on the m front grooves; another annular elastic member is sleeved on the m rear grooves.

[0014] In the present invention, a connecting rod slider mechanism is used to realize the kinematic pair conversion from the rotating pair to the moving pair, and the increase in the number of kinematic pairs caused by centrifugal force is used to complete the variable topology design of the mechanism. It has a mechanism with efficient motion conversion, simple and reliable structure, and precise motion control.

[0015] According to a specific implementation of the present invention, the rotating shaft is a polished rod, and the sliding block is sleeved on the rotating shaft.

[0016] According to a specific embodiment of the present invention, an angle limiting mechanism is provided between the rear fixed rod and the rear hinged rod.

[0017] According to a specific implementation of the present invention, the angle limiting mechanism is a 91° limiting mechanism.

[0018] According to a specific embodiment of the present invention, the annular elastic member is a rubber band. In the present invention, the elastic force is adjusted by increasing or decreasing the number of rubber bands. It is worth noting that no matter how many rubber bands are put on the m front grooves, they are equivalent to one annular elastic member; similarly, no matter how many rubber bands are put on the m rear grooves, they are equivalent to one annular elastic member.

[0019] According to a specific embodiment of the present invention, m is an even number, and the m planar connecting rod subunits are grouped in pairs, and the eight rods of each group of two planar connecting rod subunits are coplanar. Considering the balance of rotational inertia, m is set to an even number, because uniform mass distribution is beneficial to stability during rotation. If the center of mass is not in the middle, there will be additional torque that will affect the rotational stability, and higher requirements will be placed on the rotating shaft. The more planar connecting rod subunits (even number), the more symmetrical the mass distribution.

[0020] Taking mass distribution and manufacturing cost into consideration, four planar connecting rod subunits are the most preferred. According to a specific embodiment of the present invention, m=4; the four planar connecting rod subunits are spaced 90° apart. When the flywheel mass is divided into two parts, a symmetrical mass distribution is usually formed. If the flywheel is not completely symmetrical or there are slight errors in manufacturing, it may generate unbalanced centrifugal forces, causing vibration and noise, especially when rotating at high speeds. This unbalanced force may cause additional burden on the bearings and accelerate wear. After dividing the mass into four parts, it is beneficial to make the mass distribution more uniform, reduce processing and manufacturing errors, and be symmetrical.

[0021] On the other hand, the present invention provides a rigid-flexible coupling metamorphic mechanism, which includes n rigid-flexible coupling metamorphic units mentioned above, n≥2; the n rigid-flexible coupling metamorphic units are connected end to end, and the n sliders are all slidably set on the rotating shaft and arranged front and back in sequence; in two adjacent rigid-flexible coupling metamorphic units, the rear fixed rod of the previous rigid-flexible coupling metamorphic unit and the front fixed rod of the next rigid-flexible coupling metamorphic unit are merged into one rod.

[0022] In the present invention, two metamorphic units can be combined together to achieve switching between multiple different configurations (see Example 2 for details); similarly, combining multiple metamorphic units together can produce more transformation configurations. The combination of multiple metamorphic units and the number of configurations that can be achieved are analyzed below.

[0023] Since the rotation speed is difficult to stabilize at one point, a single metamorphic unit cannot be stabilized in the intermediate state. The most convenient state to achieve is the folded state and the unfolded state. Assuming that each metamorphic unit has two states that can be adjusted with speed, and multiple metamorphic units can be adjusted separately with different speeds, it can be considered that the number of states of the metamorphic mechanism composed of multiple metamorphic units is: 2 n To achieve this number of configurations, it is necessary to replace the rubber bands of the metamorphic units. Under the operation of a single combination of multiple metamorphic unit mechanisms, the number of configurations that can be achieved is n+1 (the number of configurations that each metamorphic unit can unfold in turn is n, and there is a completely folded configuration in addition).

[0024] The main analysis is the possibility of multiple metamorphic units being adjusted individually at different speeds. First, the metamorphic unit of the head is analyzed. The frame of the metamorphic unit of the head is fixed, and the slider slides under the influence of the rubber band tension and the centrifugal force generated by the connecting rod. The basis for judging the folding and unfolding of the metamorphic unit of the head is:

[0025] Connecting rod centrifugal force > rubber band maximum tension

[0026] Let's analyze the metamorphic unit in the middle. Since the frame part of the metamorphic unit in the middle is connected to the slider of the previous metamorphic unit, and the slider part is connected to the frame of the next metamorphic unit, when analyzing the basis of the folding and unfolding of the middle metamorphic unit, it is necessary to consider the influence of the previous metamorphic unit and the next metamorphic unit on it. The metamorphic unit is subjected to the pulling force of two adjacent metamorphic units, which is an external force. In a stable state, the two external forces cancel each other out. Then the basis for judging whether the metamorphic unit is folded and unfolded is still:

[0027] Connecting rod centrifugal force > rubber band maximum tension

[0028] Similarly, in the stable state, the end of the metamorphic unit is not connected and not subjected to force, so the metamorphic unit connected to the front end is not subjected to tension. Therefore, the basis for judging whether the metamorphic unit is folded or unfolded in the stable state is also:

[0029] Connecting rod centrifugal force > rubber band maximum tension

[0030] From the above analysis, when multiple metamorphic units are combined together, their folding and unfolding states only need to judge the centrifugal force on the connecting rod and the maximum tension of the rubber band. Since multiple metamorphic units are rigidly connected, their rotation speed is the same. If the mass of the connecting rods is the same, the centrifugal force they are subjected to is the same. At this time, you only need to adjust the number of rubber bands to adjust the order of unfolding different metamorphic units. However, since the tension of each rubber band is fixed, when the number of metamorphic units is large, there is a situation where the centrifugal force is not enough to overcome the tension of the rubber band. At this time, you only need to adjust the mass of the connecting rod to increase the centrifugal force to overcome the tension of the rubber band.

[0031] So the theory of multiple metamorphic unit combination is summarized as follows: multiple metamorphic units are combined in a head-to-tail manner, and the number of configurations that can be achieved by adjusting the number of rubber bands for a combination of n metamorphic units is 2 n When the combination operates independently without adjusting the mass of the rubber band and the connecting rod, the number of configurations that can be achieved by controlling the folding and unfolding of different metamorphic units by rotating speed is n+1.

[0032] By combining rigid and flexible components, the present invention can achieve a more precise folding and unfolding process through rotational speed adjustment, and has higher adaptability and adjustment ability while ensuring structural stability; in particular, with the help of the adjustment control of the flexible part and the supporting force of the rigid component, the present invention is significantly superior to traditional technologies in adaptability and folding and unfolding accuracy under variable working conditions; in addition, the present invention can reduce the complexity of mechanical components and improve the efficiency and reliability of the overall folding and unfolding process while ensuring structural stability through optimized geometric design and driving strategy, thereby having broader application prospects in fields such as deformable structures and flexible robots.

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

[0034] 1. Simplify the control process and improve accuracy: The folding and unfolding process in the prior art usually relies on a complex mechanical multi-drive system, with low control accuracy and prone to error accumulation. The present invention optimizes the control strategy of the folding and unfolding process by combining the collaborative work of rigid and flexible components, so that a single motor drive can be used without relying on a complex mechanical structure. By adjusting the speed, more accurate folding and unfolding can be achieved, which reduces the difficulty of operation and improves the overall performance, and can achieve the effect of single motor multiple drives. The rigid-flexible coupling metamorphic mechanism of the present invention is equivalent to a flywheel when connected to the motor. Except that it consumes energy during the folding and unfolding process, it does not affect the output performance of the motor when the folding and unfolding is completed, but only affects the response speed of the motor. When the motor is connected to the metamorphic unit or metamorphic mechanism of the present invention, it can also be connected to other components for output at the same time.

[0035] 2. Optimize the compatibility of rigid and flexible materials and enhance stability: The folding and unfolding mechanisms in the prior art often face the problem of poor compatibility between rigid and flexible materials, which makes the structure easy to become unstable under high load or complex motion conditions. Through the design of rigid-flexible coupling, the present invention effectively overcomes this problem and realizes the organic combination of rigid and flexible components, with rigid components as motion elements and flexible components as control elements.

[0036] 3. Enhanced adaptability and adjustability: The existing metamorphic folding and unfolding mechanism has certain limitations in adaptability and adjustability, and cannot meet the needs under variable working conditions. The present invention improves the adaptability, working force and working space of the mechanism under different environments and loads through the combination of multiple metamorphic units through innovative geometric structure and drive control strategy, ensuring that the mechanism has better performance in practical applications.

[0037] 4. Wide application: The rigid-flexible coupling metamorphic mechanism of the present invention can be widely used in environments where motors exist and require multiple complex drives. Its speed regulation feature makes it have practical application potential in many fields, especially those systems that require high-precision folding and unfolding. The following are some possible applications:

[0038] (1) Adjustable aircraft: In aircraft (such as drones, morphing-wing aircraft, etc.), the motor runs continuously to drive the flapping or rotation of the wings. The rigid-flexible coupling metamorphic mechanism can control the folding and unfolding of the wings or adjust the attitude of the aircraft. The flight performance is optimized by adjusting the speed of the motor, achieving continuous and stable operation of the aircraft.

[0039] (2) Intelligent transportation: In scenarios such as electric vehicles, self-driving cars, or smart scooters, the motor runs continuously and can be used to drive an adjustable body structure or power system with a rigid-flexible coupling metamorphic mechanism. For example, in a self-driving car, the motor can be used to adjust the wheel suspension system to adapt to different road conditions.

[0040] (3) Medical rehabilitation equipment: Certain medical equipment (such as adjustable rehabilitation beds, gait trainers, etc.) may require the motor to run continuously, and use a rigid-flexible coupling metamorphic mechanism to deform the equipment to accurately adjust the patient's posture or movement, ensuring that the equipment works stably for a long time and helps patients with rehabilitation training.

[0041] (4) Wind power generation system: In a wind power generation system, the motor combined with a rigid-flexible coupling variable cell mechanism can be used to adjust the angle of the wind turbine (windward angle) to ensure that it always generates electricity in the most appropriate direction. In particular, when the wind speed is unstable, the motor needs to run continuously to maintain the optimal angle of the turbine.

[0042] In order to more clearly illustrate the purpose, technical solutions and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1A is a schematic structural diagram of the unfolded state of the rigid-flexible coupling metamorphic unit in Example 1;

[0044] Figure 1B is a schematic structural diagram of the folded state of the rigid-flexible coupling metamorphic unit in Example 1;

[0045] Figure 1C is a simplified structural diagram of the folded state of the rigid-flexible coupling metamorphic unit in Example 1;

[0046] Figure 1D is a simplified structural diagram of the rigid-flexible coupling metamorphic unit in the expanded state in Example 1;

[0047] Figure 2A is a force analysis diagram of a single planar connecting rod subunit in a non-elastic folded state in the rigid-flexible coupling metamorphic unit of Example 1;

[0048] Figure 2B It is a force analysis diagram of a single planar connecting rod subunit in a non-elastic unfolded state in the rigid-flexible coupling metamorphic unit of Example 1;

[0049] Figure 2C It is a force analysis diagram of a single planar connecting rod subunit in a rigid-flexible coupling metamorphic unit of Example 1 in an elastically expanded state;

[0050] Figure 2D It is a force analysis diagram of a single planar connecting rod subunit in a rigid-flexible coupling metamorphic unit of Example 1 in an elastically folded state;

[0051] Figure 3 It is a force analysis diagram of a configuration (E1 folded, E2 unfolded) of the rigid-flexible coupling metamorphic mechanism of Example 1;

[0052] Figure 4 These are all the configurations of the rigid-flexible coupled metamorphic mechanism (double metamorphic mechanism) of Example 2;

[0053] Figure 5 These are all the configurations of the rigid-flexible coupled metamorphic mechanism (quadruple metamorphic mechanism) of Example 3. DETAILED DESCRIPTION

[0054] In the following description, many specific details are explained in conjunction with the embodiments to facilitate a full understanding of the present invention. However, it should be understood that the following embodiments and detailed descriptions are only for illustrative purposes and do not limit the scope of protection of the present invention.

[0055] Example 1 (four-plane unit)

[0056] like Figure 1A-1B As shown, this embodiment provides a rigid-flexible coupling metamorphic unit, which includes: a rotating shaft 1, a slider 2, two annular elastic members (such as rubber bands 301, 302), and four planar connecting rod subunits 41, 42, 43, and 44. The slider 2 is slidably arranged on the rotating shaft 1. Specifically, the rotating shaft 1 is a light rod, and the slider 2 is sleeved on the rotating shaft 1.

[0057] The plane connecting rod subunit 41 is a four-rod structure connected end to end, which includes a front fixed rod 411, a rear fixed rod 412, a front hinge rod 413, and a rear hinge rod 414; one end of the front fixed rod 411 is fixedly connected to the rotating shaft 1 (for example, through a coupling), and the other end is hinged to the front hinge rod 413; one end of the rear fixed rod 412 is fixedly connected to the slider 2, and the other end is hinged to the rear hinge rod 414; the front fixed rod 411 and the rear fixed rod 412 are parallel; the front hinge rod 413 and the rear hinge rod 414 are hinged. An angle limiting mechanism (for example, a 91° limiting mechanism) is provided between the rear fixed rod 412 and the rear hinge rod 414.

[0058] The four front fixed rods of the four planar connecting rod sub-units are coplanar, and the four rear fixed rods are coplanar; grooves are provided in the middle of the front hinged rod and the rear hinged rod, namely the front groove 501 and the rear groove 502; the rubber band 301 is sleeved on the four front grooves 501; the rubber band 302 is sleeved on the four rear grooves 502.

[0059] like Figure 1C-Figure 1DAs shown, the metamorphic unit of this embodiment is composed of four planar connecting rod sub-units (planar connecting rod slider mechanisms), and the rotation axis is l1. In a single planar connecting rod sub-unit, the front hinged rod (bc connecting rod) is driven to rotate around point b, pushing the slider e to move outward along the l1 axis. When the rear hinged rod (cd connecting rod) moves to a 91° position with the rear fixed rod (de connecting rod), the 91° limit mechanism is used to limit the movement of the mechanism, thereby reducing the number of kinematic pairs and completing the variable topology design of the mechanism. These four planar connecting rod sub-units are combined in a spatial form, and their planes are perpendicular to each other to form a complete metamorphic unit. In order to realize the simultaneous driving of the four planar connecting rod sub-units, it is considered to connect the metamorphic unit to a motor. Through the rotation of the entire metamorphic unit, centrifugal force is generated on the front hinged rod (bc connecting rod) and the rear hinged rod (cd connecting rod) in the single planar connecting rod sub-unit, thereby realizing the parallel expansion action of the four planar connecting rod mechanisms (such as Figure 2A-2B shown).

[0060] The metamorphic unit with four parallel planar connecting rod subunits realizes the reduction of kinematic pairs based on the law of variable topological kinematic pairs. In order to make the unit more flexible, flexible elements (such as rubber bands) are introduced into the designed metamorphic unit to control the change process of the mechanism and regulate it. Figure 2C-Figure 2D As shown in the figure, after the rubber band is introduced, the rubber band is stuck on it through the groove on the connecting rod. The bc connecting rod and cd connecting rod of the unit are simultaneously subjected to the centrifugal force F and the tension of the rubber band f. By adjusting the relative relationship between the centrifugal force F and the tension f, the changing characteristics of the unit can be flexibly controlled: when the centrifugal force on the bc connecting rod and the cd connecting rod is greater than the elastic force f, the metamorphic unit can be unfolded and the slider is driven outward, as shown in Figure 2C When the centrifugal force F on the bc link and cd link is less than the elastic force f, the unit folds and the slider contracts inward, as shown in Figure 2D Shown in folded state.

[0061] By adjusting the number of rubber bands of the metamorphic unit and the mass of the connecting rod, the centrifugal force F and the rubber band tension f exerted on the connecting rod when the metamorphic unit rotates can be adjusted, thereby adjusting the rotation speed of the metamorphic unit when it is deployed.

[0062] Example 2 (Dual Metamorphosis Mechanism)

[0063] The present embodiment provides a rigid-flexible coupling metamorphic mechanism, which includes two rigid-flexible coupling metamorphic units E1 and E2 of Embodiment 1; the two rigid-flexible coupling metamorphic units E1 and E2 are connected end to end, and two sliders are slidably set on the rotating shaft and arranged front and back in sequence; in the two rigid-flexible coupling metamorphic units, the rear fixed rod of the previous rigid-flexible coupling metamorphic unit E1 and the front fixed rod of the next rigid-flexible coupling metamorphic unit E2 are merged into one rod.

[0064] When the mass of the connecting rod is the same, the centrifugal force required by the metamorphic unit when it is bound by different numbers of rubber bands is different, resulting in different rotation speeds. When two metamorphic units are combined together and different numbers of rubber bands are bound to the two metamorphic units, it can be achieved that at a specific speed, one metamorphic unit is unfolded while the other is still bound. The combination of the two metamorphic units is connected end to end, that is, the frame part of the latter metamorphic unit E2 is connected to the slider part of the former metamorphic unit E1, such as Figure 3 The de rod shown is the slider part of the metamorphic unit E1, and is also the frame part of the metamorphic unit E2. Since the two parts are connected together, when the de rod of the metamorphic unit E1 slides, the metamorphic unit E2 will also be driven to slide.

[0065] This combined dual metamorphic mechanism achieves multiple motion states by changing the number of rubber bands, and the telescopic length can be changed by changing the rotation speed of the mechanism itself. In terms of displacement characteristics, the folded and extended length of the mechanism is extended to twice the original length, from 34mm to 70.8mm; in terms of configuration conversion, the mechanism can stay in two configurations, that is, the end slider can be extended to 52.4mm or 70.8mm. Due to the different number of rubber bands, the rotation speed of these two configurations is quite different, and they can be stably maintained in any configuration, allowing certain fluctuations in the rotation speed.

[0066] Through this combination, the dual metamorphosis mechanism of this embodiment can realize four configurations, namely, configuration 1 in which both metamorphosis units E1 and E2 are folded, configuration 2 in which both metamorphosis units E1 and E2 are unfolded, configuration 3 in which metamorphosis unit E1 is folded and metamorphosis unit E2 is unfolded, and configuration 4 in which metamorphosis unit E1 is unfolded and metamorphosis unit E2 is folded. Figure 4 shown.

[0067] Example 3 (Quadruple Metamorphosis Mechanism)

[0068] The difference between this embodiment and embodiment 2 is that n=4. That is, the rigid-flexible coupling metamorphic mechanism of this embodiment includes four rigid-flexible coupling metamorphic units of embodiment 1.

[0069] The quadruple metamorphosis mechanism of this embodiment can realize 16 configurations, and the number of configurations that a single metamorphosis unit can realize through speed adjustment is 5. Figure 5 As shown, the configurations 15, 14, 5, 1, and 16 are the four configurations achieved when the metamorphic units 4, 3, 2, and 1 are unfolded in the order.

[0070] Although the present invention has been described above through embodiments, the above embodiments are only used to exemplarily describe the feasible implementation schemes of the present invention, and are not used to limit the protection scope of the present invention. Any equivalent substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the protection scope defined by the claims of the present invention.

Claims

1. A rigid-flexible coupled metamorphic unit, characterized in that: The rigid-flexible coupling metamorphic unit comprises: a rotating shaft, a slider, two annular elastic members, and m planar connecting rod subunits, where m≥2; The slider is slidably arranged on the rotating shaft; The planar connecting rod subunit is a four-rod structure connected end to end, which includes a front fixed rod, a rear fixed rod, a front hinged rod, and a rear hinged rod; one end of the front fixed rod is fixedly connected to the rotating shaft, and the other end is hinged to the front hinged rod; one end of the rear fixed rod is fixedly connected to the slider, and the other end is hinged to the rear hinged rod; the front fixed rod and the rear fixed rod are parallel; the front hinged rod and the rear hinged rod are hinged; The m front fixing rods are coplanar; the m rear fixing rods are coplanar; the middle parts of the front hinged rod and the rear hinged rod are provided with grooves, which are a front groove and a rear groove respectively; one annular elastic member is sleeved on the m front grooves; and another annular elastic member is sleeved on the m rear grooves.

2. The rigid-flexible coupling metamorphic unit according to claim 1, characterized in that: The rotating shaft is a polished rod, and the sliding block is sleeved on the rotating shaft.

3. The rigid-flexible coupled metamorphic unit according to claim 1, characterized in that: An angle limiting mechanism is arranged between the rear fixed rod and the rear hinged rod.

4. The rigid-flexible coupled metamorphic unit according to claim 3, characterized in that: The angle limiting mechanism is a 91° limiting mechanism.

5. The rigid-flexible coupled metamorphic unit according to claim 1, characterized in that: The annular elastic member is a rubber band.

6. The rigid-flexible coupled metamorphic unit according to claim 1, characterized in that: m is an even number, and the m planar connecting rod sub-units are grouped in pairs, and the eight rods of each group of two planar connecting rod sub-units are coplanar.

7. The rigid-flexible coupling metamorphic unit according to claim 6, characterized in that: m=4; the four planar connecting rod subunits are spaced 90° apart.

8. A rigid-flexible coupling metamorphic mechanism, characterized in that: The rigid-flexible coupling metamorphic mechanism comprises n rigid-flexible coupling metamorphic units as described in any one of claims 1-7, n≥2; the n rigid-flexible coupling metamorphic units are connected end to end, and the n sliders are all slidably arranged on the rotating shaft and arranged in sequence front to back; in two adjacent rigid-flexible coupling metamorphic units, the rear fixed rod of the previous rigid-flexible coupling metamorphic unit and the front fixed rod of the next rigid-flexible coupling metamorphic unit are merged into one rod.

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