CN105729460B

CN105729460B - Flexible gearing and adjustable spring and energy storage component and lock uint and robot

Info

Publication number: CN105729460B
Application number: CN201610248970.2A
Authority: CN
Inventors: 郑世杰
Original assignee: Robottime Beijing Technology Co Ltd
Current assignee: Robottime Beijing Technology Co Ltd
Priority date: 2016-04-20
Filing date: 2016-04-20
Publication date: 2017-11-28
Anticipated expiration: 2036-04-20
Also published as: CN105729460A

Abstract

The present invention relates to a kind of flexible gearing, the robot of the flexible transmission part is set.Flexible gearing includes drive member, the first~five opposed moving members, and the mode that first and second opposed moving members relatively rotate freely along first rotation axis is set；The mode that third and fourth opposed moving members relatively rotates freely along second rotation axis is set；Firstth, the mode that five opposed moving members relatively rotate freely along third rotation axis is set；Second and third opposed moving members is slidably connected；Fourth, fifth opposed moving members are slidably connected.The flexible gearing can between compliant rotational and positive drive state free switching.

Description

Flexible gearing and adjustable spring and energy storage component and lock uint and robot

Technical field

The invention belongs to transmission art.More particularly to a kind of flexible gearing and adjustable spring and energy storage component Robot with locking member and using the flexible gearing.

Background technology

Existing robot and mechanical arm etc., using positive drive, using positive drive in the case of, if running into resistance Hinder, particularly when touching human limb or needing product to be processed, due to the hardness of human limb or the rigidity of product, When resistance caused by institute's energy is less than the transmission capacity of driving force and transmission device, mechanical arm or robot still may proceed to Preceding motion, other components or worker may be caused to damage.

The content of the invention

The present invention is overcomes technical problem present in prior art to provide a kind of flexible gearing and adjustable spring With energy storage component and lock uint and a kind of robot of the application flexible gearing, the flexible gearing can be in flexibility Rotate the free switching between positive drive state.

A kind of flexible gearing or adjustable spring or energy storage component or lock uint, including drive member and multiple relative Moving link, multiple opposed moving members include the first opposed moving members, the second opposed moving members, third phase to moving structure Part, the 4th opposed moving members, the 5th opposed moving members；

First opposed moving members are set with the second opposed moving members in a manner of relatively rotating therebetween freely, the The pivot center that one opposed moving members and the second opposed moving members relatively rotate is first rotation axis；

Third phase is set to moving link and the 4th opposed moving members in a manner of relatively rotating therebetween freely, the The pivot center that three opposed moving members and the 4th opposed moving members relatively rotate is second rotation axis；

5th opposed moving members are set with the first opposed moving members in a manner of relatively rotating therebetween freely, the The pivot center that five opposed moving members and the first opposed moving members relatively rotate is third rotation axis；

There is consistently greater than zero spacing between first rotation axis and third rotation axis；

Second opposed moving members are flexibly connected with third phase to moving link by the first enclosed planar kinematic pair；

4th opposed moving members are flexibly connected with the 5th opposed moving members by the second enclosed planar kinematic pair；

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair and pass through the second enclosed plane motion In a pair of opposed moving members of pair connection, drive member is provided between one pair of which opposed moving members, drive member is used for Change the distance between second rotation axis and first rotation axis or change between second rotation axis and third rotation axis Distance with will change flexible gearing Flexible Transmission flexible limit；

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair and pass through the second enclosed plane motion Another pair opposed moving members or the first opposed moving members and the second relative fortune in a pair of opposed moving members of pair connection To between moving link and the 4th opposed moving members or in the 5th opposed moving members and the between dynamic component or in third phase Spring is provided between one opposed moving members, spring is used to hinder that relative turn occurs by two opposed moving members of spring connection It is dynamic.

Exemplified by setting spring between the first opposed moving members and the second opposed moving members, in first rotation axis With second rotation axis it is misaligned in the case of, change distance between the two, can, spring institute identical in spring deformation amount In the case of the moment of resistance identical that can be provided, third phase rotates to moving link relative to second when regulation balances with the moment of resistance The radial load when movement tendency of axis produces suffered by first rotation axis, that is, have adjusted the 5th opposed moving members transmission The flexible degree of spring deflection corresponding to moment of torsion, i.e. flexible gearing.

Preferable technical scheme, its additional technical feature are：

Drive member is additionally operable to change the distance between second rotation axis and first rotation axis so that Flexible Transmission to be filled Put and switch between positive drive state and Flexible Transmission state,

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair or pass through the second enclosed plane motion In a pair of opposed moving members of pair connection, the direction of relative movement of one pair of which opposed moving members first rotation axis with It is vertical with direction of the first rotation axis away from second rotation axis when second rotation axis overlaps；

Spring is used for when first rotation axis or third rotation axis overlap with second rotation axis, makes edge and second turn Two opposed moving members that the pivot center that shaft line overlaps rotates freely are in following state --- two relative motion structures The direction that part is located remotely from each other is vertical with the direction that second rotation axis leaves first rotation axis；

Or

Drive member is additionally operable to change the distance between second rotation axis and third rotation axis so that Flexible Transmission to be filled Put and switch between positive drive state and Flexible Transmission state,

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair or pass through the second enclosed plane motion In a pair of opposed moving members of pair connection, the direction of relative movement of one pair of which opposed moving members third rotation axis with It is vertical with direction of the third rotation axis away from second rotation axis when second rotation axis overlaps；

Spring is used for when third rotation axis overlaps with second rotation axis, makes to turn along what is overlapped with second rotation axis Two opposed moving members that shaft line rotates freely are in following state --- the side that two opposed moving members are located remotely from each other It is vertical to the direction for leaving third rotation axis with second rotation axis.

Diverse location of 4th opposed moving members relative to the 5th opposed moving members is driven by drive member, can be with Determine whether first rotation axis overlaps with second rotation axis.When first rotation axis overlaps with second rotation axis, the When five opposed moving members are by moment of torsion, because the second opposed moving members and third phase are to the relative glide direction of moving link It is vertical with first rotation axis and second rotation axis so that the relative motion trend of first rotation axis and second rotation axis It will not cause relative slide will not occur between second and third opposed moving members.So second, third opposed moving members will First rotation axis and second rotation axis is caused not to depart from, so the first opposed moving members and the 5th opposed moving members Rotate together, now, the compliant rotational device is in rigidity rotation state.

When first rotation axis and second rotation axis are misaligned, when the 5th opposed moving members are by moment of torsion, due to First rotation axis and second rotation axis are misaligned, and the relative motion trend of first rotation axis and second rotation axis can be led Cause that relative slip occurs between second and third opposed moving members, so the second opposed moving members, third phase will to moving link Original relatively-stationary state can not be kept, so the 4th opposed moving members and third phase between moving link to that will send out Raw to relatively rotate, the second opposed moving members can also relatively rotate with the first opposed moving members.So Flexible Transmission fills The state of Flexible Transmission will be on the whole by putting.

Exemplified by spring is set between the first opposed moving members and the second opposed moving members, work as first rotation axis When being overlapped with second rotation axis, because the arm of force is zero, third phase becomes to moving link relative to the motion of second rotation axis Radial load when gesture produces suffered by first rotation axis, can't be relative to the first relative fortune on the second opposed moving members The rotation of dynamic component provides torque.So as long as infinitesimal deformation occurs for spring, infinitesimal torque is produced, and opposite side The arm of force is zero, then the first opposed moving members and the second opposed moving members at first rotation axis would not occur relatively Rotate.The flexible gearing is in rigid driving condition.

And when first rotation axis and misaligned second rotation axis, because the arm of force is not zero, third phase is to moving structure Radial load when part produces relative to the movement tendency of second rotation axis suffered by first rotation axis, can be second relative Torque is provided relative to the rotation of the first opposed moving members on moving link, so needing spring to deform upon, produces resistance Square.So can be produced relative rotation between the first opposed moving members and the second opposed moving members, flexible gearing it is each Also relative motion can be produced between individual opposed moving members, flexible gearing is in Flexible Transmission state on the whole.

Further preferred technical scheme, its additional technical feature are：

Spring is compression spring or a pair of extension springs, rotated freely along first rotation axis the two of compression spring connection Individual opposed moving members are provided with spring stop part on the outside of the both ends of compression spring；Or compression spring connection along second turn Two opposed moving members that shaft line rotates freely are provided with spring stop part on the outside of the both ends of compression spring；Or compression Two opposed moving members rotated freely along third rotation axis of spring connection are provided with bullet on the outside of the both ends of compression spring Spring stop part；Extension spring includes the first extension spring and the second extension spring, and the first extension spring has first end and second End, the second extension spring have the 3rd end and the 4th end, and the second end and the 3rd end along first rotation axis and second with rotating One of two opposed moving members that a pivot center in axis and third rotation axis rotates freely connect, and first End and the 4th end are connected with the other of two opposed moving members being rotated freely along pivot center, in the first rotary shaft When line, second rotation axis and coplanar third rotation axis, at first rotation axis, second rotation axis and third rotation axis In on the first face, the first extension spring and the second extension spring are symmetrical along the first face, and tilt or be vertically arranged with the first face.

Using compression spring, flexible gearing when connected part remains static, still may be used by compression spring To keep the state being partially compressed, rigidity of the flexible gearing when part is static can be improved, to avoid because taking Flexible drive device and cause relative motion part, when static, the problem of vibration can not be eliminated in time.

Two extension springs are set, can cause connected opposed moving members when moment of torsion is not transmitted in flat Weighing apparatus state, once the movement in some direction occurs relative to another opposed moving members for the opposed moving members, opposite direction Extension spring can add, and apply restoring force for the opposed moving members, also real to ensure the stress balance of the opposed moving members The function of Flexible Transmission is showed.

Preferable technical scheme, its additional technical feature are：First opposed moving members are the first end cap, and second is relative Moving link is the first swing arm, and the first swing arm is hinged with the first end cap, and third phase is the second swing arm to moving link, and the 4th is relative Moving link is the 3rd swing arm, and the 3rd swing arm is hinged with the second swing arm, and the 5th opposed moving members are the second end cap, the second end cap It is hinged with the first end cap.

By the swing arm part for being arranged to be hinged in end cap, and end cap by the first~the 5th opposed moving members, It is easy to each part is integrated, is easily installed on various axial workpieces and mechanical arm.Simultaneously using the shape for being arranged to end cap Formula, lubrication and the reliability of sealing can be also improved in order to be integrated for the lubrication of all parts, sealing.

Further preferred technical scheme, its additional technical feature are：Drive member is to be arranged in the 3rd swing arm Motor, motor are provided with output gear, the engagement of output gear wheel and rack, and rack is arranged on the second end cap；

Or

Drive member is the motor being arranged on the second end cap, and motor is provided with output gear, and output gear wheel and rack engages, Rack is arranged in the 3rd swing arm.

Pass through the combination of motor and rack-and-pinion, in that context it may be convenient to change second rotation axis and first rotation axis The distance between, it is in flexible or rigid drive state, or the flexible degree of flexible gearing to change flexible gearing.

Further preferred technical scheme, its additional technical feature are：A pair of second guide rails are installed on the second end cap, 3rd swing arm is provided with a pair of second sliding blocks, and each second sliding block is slidably arranged on second guide rail respectively；

First swing arm is provided with a pair of first guide rails, and the second swing arm is provided with a pair of first sliding blocks, each first sliding block point It is not slidably arranged on first guide rail.

By setting a pair of second guide rails, the moment of torsion between each opposed moving members can be undertaken, avoids single sliding block The un-reasonable phenomenon for undertaking moment of torsion occurs.And by set two guide rails, make it also possible to by the first swing arm, the second swing arm, 3rd swing arm is arranged to U-shaped or V-arrangement, and Flexible Transmission is arrived to be set to swing arm relative to end cap or the guide part of other swing arms The both sides of device, using two guide rails, every guide rail undertakes smaller load respectively, is easy to reduce the body of flexible gearing Product.

Technical scheme still further preferably, its additional technical feature are：Second end cap includes lid body and cylinder Portion, on the inner face of the first end cap, lid body and the first end cap are rotatablely connected trunk portion rotating support, the first swing arm and the Two swing arms and the 3rd equal forming V-shape of swing arm, the two-arm of V-arrangement are located at cylinder when second rotation axis is close to third rotation axis respectively The both sides in portion.

First swing arm is arranged to U-shaped or V-arrangement, to be set to swing arm relative to end cap or the guide part of other swing arms To the both sides of flexible gearing, using two guide rails, every guide rail undertakes smaller load respectively, is easy to reduce Flexible Transmission The volume of device.

Technical scheme still more preferably, its additional technical feature are：Also include encoder, encoder includes rotor And stator, rotor are connected with one of the first end cap and the second end cap, stator with it is another in the first end cap and the second end cap Person connects.

By encoder, the first end cap can be measured relative to the relative rotation between the second end cap, record is therebetween Angular turn situation.By the record of the angular turn situation for each joint, coordinate flexible gearing, can be by people Work is to robot input action, after the robot learning action, so that robot reappears corresponding action again.

A kind of robot, it is characterised in that：It is provided with according to any of the above-described flexible gearing.

The advantages of robot is provided with any of the above-described flexible apparatus, positive drive can be not only realized, to ensure to be driven Accuracy, moreover, it is also possible to have Flexible Transmission function, when meeting with obstruction, mechanical arm can be avoided to injure work Personnel or other parts.Moreover, also having learning functionality, the input speed of robot motion can be improved.

Brief description of the drawings

Fig. 1 is the side view of the flexible gearing of embodiment 1：

Fig. 2 is Fig. 1 A-A sectional views；

Fig. 3 is Fig. 1 B-B sectional views；

Fig. 4 is Fig. 1 D-D sectional views；

Fig. 5 is that the flexible gearing of embodiment 1 removes the dimensional structure diagram after the first end cap；

Fig. 6 is the side view of the schematic diagram of mechanism of embodiment 1；

Fig. 7 is the front view of the schematic diagram of mechanism of embodiment 1；

Fig. 8 is that flexible gearing is splitted at middle part of the embodiment 2 along the second axle, the letter observed to the first end cap direction Figure；

Fig. 9 is the kinematic sketch of mechanism of embodiment 3；

Figure 10 is the kinematic sketch of mechanism of embodiment 4；

Figure 11 is the kinematic sketch of mechanism of variants 14.

Embodiment

In order to further understand the content, features and effects of the present invention, hereby enumerating following examples, and describe in detail It is as follows：

Firstly the need of explanation, in this application, the understanding of the definition for enclosed planar kinematic pair should be with chemistry Industrial publishing house《Mechanical design handbook, separate edition, mechanism》19-4 pages of (ISBN7-5025-4961-7,2004 versions in January) Explanation be defined.In this application, in the case of not doing specified otherwise, the understanding for spring should be with Chemical Industry Press 's《Mechanical design handbook, separate edition, spring lifting transportation handware》(ISBN7-5025-4956-0,2004 January Version) chapter 1 introductory song at explanation be defined.

Embodiment 1：

Fig. 1 is the side view of the flexible gearing of embodiment 1：Fig. 2 is Fig. 1 A-A sectional views；Fig. 3 is Fig. 1 B-B Sectional view；Fig. 4 is Fig. 1 D-D sectional views；Fig. 5 is that the flexible gearing of embodiment 1 removes the stereochemical structure after the first end cap Schematic diagram；Fig. 6 is the side view of the schematic diagram of mechanism of embodiment 1；Fig. 7 is the front view of the schematic diagram of mechanism of embodiment 1.

In figure, the expression implication of each reference is as follows：

1st, the first end cap；2nd, the first swing arm；3rd, the second swing arm；4th, the 3rd swing arm；5th, the second end cap；6th, rolling bearing；7、 First axle；8th, the second axle；9th, the first guide rail；10th, the first sliding block；11st, the second guide rail；12nd, the second sliding block；14th, pressure ring；15th, One gland；16th, compression spring；17th, motor；18th, output gear；19th, rack.

A kind of flexible gearing, including the first end cap 1, the first end cap 1 have an end cap outside wall portions, end cap outside wall portions Edge the second end cap 5 is provided with by rolling bearing, end cap outside wall portions are fixed by a pressure ring 14, and the second end cap 5 has One trunk portion, trunk portion are arranged in the first end cap 1 close to the one end of the first end cap 1 by another rolling bearing 6.

First axle 7 is installed, first axle 7 is rotatablely connected with the first swing arm 2, and the rotation connection can also on first end cap 1 Realized using rolling bearing 6, the first swing arm 2 is V-shaped, and the first swing arm 2 can be logical with the first end cap 1 in the root of V-shaped It is be hinged to cross the realization of first axle 7, the first a pair of parallel guide rail 9 is mounted with the two-arm of V-shaped.Slided on every first guide rail 9 The first sliding block 10 is provided with, each first sliding block 10 is connected with the second swing arm 3, the second swing arm 3 and V-shaped, the second swing arm 3 Be rotatablely connected in the root of V-shaped and the second axle 8, it is rotatablely connected by rolling bearing 6.Second axle 8 is installed In the 3rd swing arm 4, particularly, the second axle 8 can be connected by screw onto the 3rd swing arm 4, the 3rd swing arm 4 and V Font, the 3rd swing arm 4 are provided with 2 the second sliding blocks 12 on the side away from the second swing arm 3 of the two-arm of V-shaped, and each second Sliding block 12 is slidably arranged on second guide rail 11 in a pair of second guide rails 11 respectively, and the second guide rail 11 is arranged on the second end On lid 5.By setting a pair of second guide rails 11, the moment of torsion between each opposed moving members can be undertaken, avoids single sliding block The un-reasonable phenomenon for undertaking moment of torsion occurs.And by setting two guide rails, make it also possible to second and third swing arm being arranged to U Shape or V-arrangement, so as to which the both sides for arriving flexible gearing will be set relative to end cap or the guide part of other swing arms to swing arm, utilize Two guide rails, every guide rail undertake smaller load respectively, are easy to reduce the volume of flexible gearing.

First end cap 1 is provided with the first groove, and the position of the remote first axle 7 of the first swing arm 2 is provided with fan-shaped pylone, the First gland 15 is further fixed on one end cap 1, the first gland 15 is provided with the second groove, the second groove, the first groove, fan The first compression spring 16 is accommodated in shape through hole.The side wall of first groove and the side wall of fan-shaped pylone, which constitute, undertakes compression spring 16 Apply the spring stop part of active force to the first swing arm 2 and the first end cap 1.Using compression spring 16, flexible gearing is in quilt When the part of connection remains static, compression spring 16 still can keep the state being partially compressed, and can improve flexibility Rigidity of the transmission device when part is static, to avoid causing because flexible drive member is taken relative motion part static When, the problem of vibration can not be eliminated in time.

Motor 17 is also equipped with second end cap 5, motor is provided with output gear 18, and output gear 18 is nibbled with rack 19 Close, rack 19 is arranged in the 3rd swing arm 4.Pass through the combination of motor 17 and rack-and-pinion 19, in that context it may be convenient to change The distance between two pivot centers and first rotation axis, flexible or rigid drive state is in change flexible gearing, Or the flexible degree of flexible gearing.

By the swing arm part for being arranged to be hinged in end cap and end cap by the first~the 5th opposed moving members, It is easy to each part is integrated, is easily installed on various axial workpieces and mechanical arm.Simultaneously using the shape for being arranged to end cap Formula, lubrication and the reliability of sealing can be also improved in order to be integrated for the lubrication of all parts, sealing.

Fig. 6 and Fig. 7 shows the simplified painting of the present embodiment, wherein, in the figure 7, due to via motor by the 3rd The relative position of the end cap 5 of swing arm 4 and second determines, so being drawn as a component, and eliminates spring in Fig. 6 and Fig. 7 Expression.The embodiment can be reduced to drag：

A kind of flexible gearing, including drive member and multiple opposed moving members --- the first opposed moving members, Second opposed moving members, third phase are to moving link, the 4th opposed moving members, the 5th opposed moving members；

Second opposed moving members are flexibly connected with third phase to moving link by the first sliding pair；

4th opposed moving members are flexibly connected with the 5th opposed moving members by the second sliding pair；

It is provided between the 4th opposed moving members and the 5th opposed moving members being flexibly connected by the second sliding pair Drive member, drive member are used to change the distance between second rotation axis and first rotation axis with by flexible gearing Switch or change the flexible limit of the Flexible Transmission of flexible gearing between positive drive state and Flexible Transmission state；

In the first opposed moving members and the relative fortune of the second opposed moving members being flexibly connected by the first sliding pair Dynamic direction, when first rotation axis overlaps with second rotation axis, with side of the first rotation axis away from second rotation axis To vertical；

Spring is provided between the first opposed moving members and the second opposed moving members, spring is used to hinder to be connected by spring Two opposed moving members connect relatively rotate.

In the present embodiment, the corresponding relation of said mechanism simplified model and all parts of embodiment 1 is as follows：

First opposed moving members are the first end cap 1, and the second opposed moving members are the first swing arm 2, the first swing arm 2 and One end cap 1 is be hinged, and third phase is the second swing arm 3 to moving link, and the 4th opposed moving members are the 3rd swing arm 4, the 3rd swing arm 4 Be hinged with the second swing arm 3, the 5th opposed moving members are the second end cap 5, and the second end cap 5 and the first end cap 1 are be hinged.

Exemplified by spring is set between the first opposed moving members and the second opposed moving members, work as first rotation axis When being overlapped with second rotation axis, because the arm of force is zero, third phase becomes to moving link relative to the motion of second rotation axis Radial load when gesture produces suffered by first rotation axis, can't be relative to the first relative fortune on the second opposed moving members The rotation of dynamic component provides torque, as long as so the infinitesimal deformation of spring generation, produces infinitesimal torque, then first turn The first opposed moving members and the second opposed moving members at shaft line would not relatively rotate.The flexible gearing In rigid driving condition.

Moreover, in the case where first rotation axis and second rotation axis are misaligned, distance between the two is changed, Just it can adjust what spring was provided in the case of the moment of resistance identical that identical, spring can be provided in spring deformation amount The power arm lengths of the power of moment of resistance confrontation, when also just regulation balances with the moment of resistance third phase to moving link relative to the The radial load when movement tendency of two pivot centers produces suffered by first rotation axis, that is, have adjusted the 5th opposed moving members The flexible degree of spring deflection corresponding to the moment of torsion of transmission, i.e. flexible gearing.

Embodiment 2：

Fig. 8 is that flexible gearing is splitted at middle part of the embodiment 2 along the second axle 8, the letter observed to the direction of the first end cap 1 Figure.In figure, with embodiment 1 used in reference identical in accompanying drawing, still continue to use the definition of the reference of embodiment 1. It is as follows relative to the implication represented by emerging reference in accompanying drawing used in embodiment 1 in figure：20th, extension spring；

The present embodiment and the difference of embodiment 1 are：

It is that compression spring 16 is set in embodiment 1, to provide anti-torque for positive drive.In fact, it can also set A pair of extension springs --- the first extension spring and the second extension spring, the first extension spring have first end and the second end, Second extension spring has the 3rd end and the 4th end, and the second end and the 3rd end are connected with the first swing arm 2, first end and the 4th end It is connected with the first end cap 1, in first rotation axis, second rotation axis and coplanar third rotation axis, the first rotary shaft Line, second rotation axis and third rotation axis are on the first face, and the first extension spring and the second extension spring are along the first face Symmetrically, and tilt or be vertically arranged with the first face.

Two springs are set, connected opposed moving members can be caused to be in equilibrium-like when moment of torsion is not transmitted State, once the movement in some direction, the stretching of opposite direction occur relative to another opposed moving members for the opposed moving members Spring can add, and apply restoring force for the opposed moving members, to ensure the stress balance of the opposed moving members, also achieve The function of Flexible Transmission.

Embodiment 3：

Fig. 9 is the kinematic sketch of mechanism of embodiment 3, in figure, with embodiment 1 used in identical reference in accompanying drawing, still So continue to use the definition in embodiment 1 to the reference.

In the present embodiment, the corresponding relation of each opposed moving members and specific part is as follows：First opposed moving members It is the first end cap 1, the second opposed moving members are the second end caps 5, and third phase is the 3rd rocking arm to moving link, and the 4th transports relatively Dynamic component is the second rocking arm, and the 5th opposed moving members are the first rocking arms,

The present embodiment and the difference of embodiment 1 are：It is that motor 17 is arranged on the second end cap 5 in embodiment 1 On, the rack 19 that the output gear 18 with the output end of motor 17 is engaged is arranged on the 3rd rocking arm, and in the present embodiment, It is then that the motor 17 as drive member is arranged on the second rocking arm, rack 19 is arranged on the first rocking arm, to change Become the distance between axle 8 of first axle 7 and second, so as to change the distance between first rotation axis and second rotation axis, with Switch the rigidity and Flexible Transmission state of flexible gearing.

Embodiment 4：

Figure 10 is the kinematic sketch of mechanism of embodiment 4.In order to save space in figure, for the first end cap 1 and the second end cap 5, employ the simplified painting of geosutures.In figure, with embodiment 1 used in identical reference in accompanying drawing, still continue to use implementation To the definition of the reference in example 1.

In the present embodiment, the corresponding relation between each opposed moving members and specific part is the first relative motion structure Part is the second swing arm 3；Second opposed moving members are the first swing arms 2, and third phase is the first end cap 1 to moving link, the 4th phase It is the second end cap 5 to moving link, the 5th opposed moving members are the 3rd swing arms 4.

The present embodiment and the difference of embodiment 1 or 2 are, the first guide rail 9 is provided with the first end cap 1, and the first guide rail 9 is logical Cross the first sliding block 10 to be slidably connected with the first swing arm 2, the first swing arm 2 and the second swing arm 3 are be hinged by first axle 7, first axle 7 Axis is first rotation axis, and the second swing arm 3 is also be hinged by the second axle 8 with the 3rd swing arm 4, and the axis of the second axle 8 is the 3rd Pivot center, the 3rd swing arm 4 are provided with the second sliding block 12, and the second sliding block 12 is slidably arranged on the second guide rail 11, the second guide rail 11 are arranged on the second end cap 5.Second end cap 5 and the first end cap 1 are be hinged, and the axis that the first end cap 1 is hinged with the second end cap 5 is First rotation axis.Particularly, because third rotation axis needs to overlap with first rotation axis, so being not easy to second Trunk portion is set on end cap 5, it is possible to a pair of rolling bearings 6 are installed in the outer circumference surface of the second end cap 5, rolling bearing 6 Outer ring coordinates with the first end cap 1, so as to realize the be hinged of the first end cap and the second end cap 5.

Embodiment 5：

A kind of robot, it is provided with any of the above-described kind of flexible gearing.

The advantages of robot is provided with any of the above-described flexible apparatus, positive drive can be not only realized, to ensure to be driven Accuracy, moreover, it is also possible to have Flexible Transmission function, when meeting with obstruction, mechanical arm can be avoided to injure work Personnel or other parts.Or reduce because of multiple power sources, such as multiple motors, drive multiple mechanical arms to clamp same article When it is caused motion it is uncoordinated the problem of.

Although the preferred embodiments of the present invention are described above in conjunction with accompanying drawing, the invention is not limited in upper The embodiment stated, above-mentioned embodiment is only schematical, be not it is restricted, this area it is common Technical staff in the case of present inventive concept and scope of the claimed protection is not departed from, may be used also under the enlightenment of the present invention By make it is many in the form of, such as：

(1) be based on above-described embodiment, flexible drive member also includes encoder, and encoder includes rotor and stator, rotor with First end cap is connected, and stator is connected with the second end cap, or the connecting object of stator and rotor is exchanged., can by encoder To measure the first end cap relative to the relative rotation between the second end cap, angular turn situation therebetween is recorded.By right In the record of the angular turn situation in each joint, coordinate flexible gearing, can be from manually to robot input action, machine After device people learns the action, so that robot reappears corresponding action again.

(2) the mounting means of the motor 17 in embodiment 1 is made into, drive member is to be arranged in the second swing arm Motor, motor are provided with output gear, the engagement of output gear wheel and rack, and rack is arranged in the 3rd swing arm.Its effect and embodiment 1 In it is identical.Or by the motor and the mode of rack in other embodiments, do and foregoing teachings same way in this variants Change.

(3) in embodiment 1, the first swing arm is to set through hole, actually can also be by the first pendulum to accommodate compression spring 16 Arm is arranged to U-shaped or V-arrangement, but the rigidity of U-shaped or V-arrangement is less than the rigidity of the part shown in Fig. 5.

(4) in embodiment 1, if changing first rotation axis and the second rotary shaft by way of motor driven gear rack The distance between line, actually by electric screw, cylinder, electromagnet, ball-screw or manual actuation silk can also be used The modes such as the structure of thick stick nut change the distance between first rotation axis and second rotation axis.

(5) be to be provided with a trunk portion at the middle part of the second end cap more than in each embodiment, by the trunk portion as In the bearing at the middle part of the first end cap, trunk portion can essentially be set at the middle part of the first end cap, trunk portion is embedded into setting In the bearing of the second end cap, the effect that the first end cap and the second end cap are hinged can be realized.Trunk portion and the first end cap or Which one in second end cap is integral, and which in the first or second end cap the rolling bearing of trunk portion end be placed in Person, it is can have knowledge according to it completely and be actually needed setting to those skilled in the art.

(6) in embodiment 1, the first end cap and the second end cap are be hinged, actually if the first end cap is consolidated with external part Surely it is connected to, the external part that the second end cap is driven with another needs is fixedly connected, and the center of rotation of both parts It is relatively-stationary, the first end cap and the second end cap are substantially still that the mode relatively rotated freely is set, and this is relative Rotation is along first rotation axis.

(7) it is that spring is set between two opposed moving members relatively rotated along first rotation axis in embodiment 1, Actually can also be in the two relative motion structures relatively rotated along the second rotation axis that can be overlapped with first rotation axis Between part --- spring is set between the second swing arm and the 3rd swing arm.Other embodiments can also make similar modification, i.e. edge It can be overlapped with the pivot center for having been described above setting two opposed moving members of spring to relatively rotate in each embodiment Another pivot center sets spring between relatively rotating two opposed moving members, can realize in two pivot center weights Rigidity driving effect during conjunction.

(8) embodiment 1 and embodiment 2 describe to set the situation of compression spring 16 and extension spring respectively, in fact, Torsionspring can also be set between two components relatively rotated along corresponding pivot center, same skill can also be played Art effect.

(9) in embodiment 1, first axle is mounted in first end and covered, and first axle is relative with the first swing arm by rolling bearing The connection of rotation, in fact, first axle can also be arranged in the first swing arm, first axle passes through rolling bearing phase with the first end cap Connection to rotation.As long as in fact, realizing the be hinged of connected part using the first/bis- axle, set as bearing On which connected component, which part axle is arranged on, even with sliding bearing, or it is without using bearing and direct By the way of hole axle cooperation, those skilled in the art can voluntarily select completely according to existing knowledge.

(10) by more than in each embodiment, the part that every group of sliding block is connected with guide rail is mutually exchanged.

(11) above example shows the connection that enclosed planar contact pair is realized by slide rail and sliding block, can also actually incite somebody to action The part being motor driven makes articulated form into, directly can change two opposed moving members using motor or rotary cylinder Between angle to change the distance between corresponding pivot center, 2 can also be changed using the mode of push rod support Opening angle between individual revolving member changes the distance between corresponding pivot center.

(12) described above is all as a kind of Flexible Transmission that can switch flexibility/stiffness transmission or change flexible limit Device, in fact, each above use available for the adjustable spring that can change as rigidity on spring energy storage part.

(13) on the basis of embodiment 1, extension spring is being set in direct between the first swing arm and the second swing arm that are slidably connected, The relative slip between the first swing arm and the second swing arm is hindered, also can hinders the angle that first paragraph should be between the second end cap The opening of degree, model shown in this point from Fig. 7 it will be appreciated that；

(14) Figure 11 is the structure diagram of this variants 14, although each component can be straight in itself, in order to avoid It is overlapping in view, so each component represented by curve, on the basis of embodiment 1, the first swing arm and the second swing arm are hinged, When first axle overlaps with second axis, the first swing arm is drawn to the shape vertical with the line of first axle and the 3rd axis State, now if relative motion will occur for the first swing arm and the second swing arm, and opened along the above-below direction of diagram, and first Relative motion will then occur for end cap and the second end cap, then is the motion of the left and right directions in figure, two directions of motion be it is vertical, So it is still not movable, it is overall still to keep rigidity.

(15) what each embodiment represented more than is as flexible drive, it is also possible to as can change rigidity Adjustable spring or the energy storage component that rigidity can be changed.Or can also be changed to be used as a kind of lock uint, it is sealed when needing When device locks, second rotation axis overlaps with first rotation axis or third rotation axis, and respective members and rotation The direction of relative movement of axis is vertical, when needing lock uint to open, second rotation axis and first rotation axis or Third rotation axis is misaligned, has the function of self-return if necessary to lock uint, then can set spring, if be not required to Want lock uint that there is self-return, then can not have to set spring.

These are belonged within protection scope of the present invention.

Claims

A kind of 1. flexible gearing, it is characterised in that：It is multiple described relative including drive member and multiple opposed moving members Moving link includes the first opposed moving members, the second opposed moving members, third phase to moving link, the 4th relative motion structure Part, the 5th opposed moving members；

First opposed moving members are set with second opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that first opposed moving members relatively rotate with second opposed moving members is the first rotary shaft Line；

The third phase is set to moving link and the 4th opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that the third phase relatively rotates to moving link and the 4th opposed moving members is the second rotary shaft Line；

5th opposed moving members are set with first opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that the 5th opposed moving members relatively rotate with first opposed moving members is the 3rd rotary shaft Line；

There is consistently greater than zero spacing between the first rotation axis and the third rotation axis；

Second opposed moving members are flexibly connected with the third phase to moving link by the first enclosed planar kinematic pair；

4th opposed moving members are flexibly connected with the 5th opposed moving members by the second enclosed planar kinematic pair；

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair and pass through the second enclosed plane In a pair of opposed moving members of kinematic pair connection, drive member is provided between opposed moving members described in one pair of which, it is described Drive member is used to change the distance between the second rotation axis and the first rotation axis or described second turn of change The distance between shaft line and the third rotation axis are limited with will change the flexible of the Flexible Transmission of the flexible gearing Degree；

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair and pass through the second enclosed plane Opposed moving members or first relative motion described in another pair in a pair of opposed moving members of kinematic pair connection To moving link and the 4th opposed moving members between component and second opposed moving members or in the third phase Between or be provided between the 5th opposed moving members and first opposed moving members spring, the spring is used to hinder Two opposed moving members connected by the spring are hindered to relatively rotate.
2. flexible gearing according to claim 1, it is characterised in that：The drive member is additionally operable to change described The distance between two pivot centers and described first rotation axis with by the flexible gearing in positive drive state and soft Switch between property drive state,

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair or pass through second enclosed In a pair of opposed moving members of planar kinematic pair connection, the direction of relative movement of opposed moving members described in one pair of which When the first rotation axis overlaps with the second rotation axis, rotated with the first rotation axis away from described second The direction of axis is vertical；

The spring is used for when the first rotation axis or the third rotation axis overlap with the second rotation axis, Make to be in following shape along two opposed moving members that the pivot center overlapped with second rotation axis rotates freely State --- leave first rotation axis with the second rotation axis in the direction that two opposed moving members are located remotely from each other Direction is vertical；

Or

The drive member is additionally operable to change the distance between the second rotation axis and the third rotation axis with by institute State flexible gearing and switch between positive drive state and Flexible Transmission state,

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair or pass through second enclosed In a pair of opposed moving members of planar kinematic pair connection, the direction of relative movement of opposed moving members described in one pair of which When the third rotation axis overlaps with the second rotation axis, rotated with the third rotation axis away from described second The direction of axis is vertical；

The spring is used for when the third rotation axis overlaps with the second rotation axis, makes edge and second rotation axis Two opposed moving members that the pivot center of coincidence rotates freely are in following state --- two relative motions The direction that the third rotation axis is left in the direction that component is located remotely from each other with the second rotation axis is vertical.
3. flexible gearing according to claim 1 or 2, it is characterised in that：The spring is compression spring or a pair Extension spring, two opposed moving members rotated freely along the first rotation axis of the compression spring connection exist Spring stop part is provided with the outside of the both ends of the compression spring；Or compression spring connection along second rotary shaft Two opposed moving members that line rotates freely are provided with spring stop part on the outside of the both ends of the compression spring；Or Two opposed moving members rotated freely along the third rotation axis of the compression spring connection are in the compression Spring stop part is provided with the outside of the both ends of spring；

The extension spring includes the first extension spring and the second extension spring, and first extension spring has first end and Two ends, second extension spring have the 3rd end and the 4th end, second end and the 3rd end with along described first Two phases that a pivot center in pivot center and the second rotation axis and the third rotation axis rotates freely One of moving link is connected, the first end and the 4th end with rotated freely along the pivot center two The other of opposed moving members connect, and are rotated in the first rotation axis, the second rotation axis and the described 3rd During axis co-planar, the first rotation axis, the second rotation axis and the third rotation axis are on the first face, institute State the first extension spring and second extension spring is symmetrical along the first face, and tilt or be vertically arranged with the first face.
4. flexible gearing according to claim 1 or 2, it is characterised in that：The first enclosed planar kinematic pair is First sliding pair, the relative glide direction of two opposed moving members connected by first sliding pair is described the When one pivot center overlaps with the second rotation axis, with side of the first rotation axis away from the second rotation axis It is remote with the third rotation axis to vertical, or when the third rotation axis overlaps with the second rotation axis The direction of the second rotation axis is vertical.
5. flexible gearing according to claim 3, it is characterised in that：The first enclosed planar kinematic pair is first Sliding pair, the relative glide direction of two opposed moving members connected by first sliding pair is at described first turn When shaft line overlaps with the second rotation axis, hung down with direction of the first rotation axis away from the second rotation axis Directly, or when the third rotation axis overlaps with the second rotation axis, with the third rotation axis away from described The direction of second rotation axis is vertical.
6. according to the flexible gearing described in claim 1 or 2 or 5, it is characterised in that：First opposed moving members are First end cap, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, described Three opposed moving members are the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and described the Two swing arms are hinged, and the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
7. flexible gearing according to claim 3, it is characterised in that：First opposed moving members are first end Lid, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, the third phase pair Moving link is the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and second swing arm Be hinged, the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
8. flexible gearing according to claim 4, it is characterised in that：First opposed moving members are first end Lid, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, the third phase pair Moving link is the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and second swing arm Be hinged, the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
9. flexible gearing according to claim 6, it is characterised in that：The drive member is to be arranged on the described 3rd Motor in swing arm, the motor are provided with output gear, the output gear wheel and rack engagement, and the rack is arranged on described the On two end caps；

Or

The drive member is the motor being arranged on second end cap, and the motor is provided with output gear, the output gear Wheel and rack is engaged, and the rack is arranged in the 3rd swing arm.
10. the flexible gearing according to claim 7 or 8, it is characterised in that：The drive member is described to be arranged on Motor in 3rd swing arm, the motor are provided with output gear, the output gear wheel and rack engagement, and the rack is arranged on institute State on the second end cap；

Or

The drive member is the motor being arranged on second end cap, and the motor is provided with output gear, the output gear Wheel and rack is engaged, and the rack is arranged in the 3rd swing arm.
11. flexible gearing according to claim 9, it is characterised in that：First swing arm is provided with a pair first Guide rail, second swing arm are provided with a pair of first sliding blocks, and each first sliding block is slidably arranged in one article described the respectively On one guide rail；

A pair of second guide rails are installed, the 3rd swing arm is provided with a pair of second sliding blocks, each described on second end cap Second sliding block is slidably arranged on second guide rail respectively.
12. flexible gearing according to claim 10, it is characterised in that：First swing arm is provided with a pair first Guide rail, second swing arm are provided with a pair of first sliding blocks, and each first sliding block is slidably arranged in one article described the respectively On one guide rail；

A pair of second guide rails are installed, the 3rd swing arm is provided with a pair of second sliding blocks, each described on second end cap Second sliding block is slidably arranged on second guide rail respectively.
13. according to the flexible gearing described in claim 9 or 11 or 12, it is characterised in that：Second end cap includes lid Body and trunk portion, the trunk portion rotating support on the inner face of first end cap, the lid body with it is described First end cap is rotatablely connected, first swing arm and second swing arm and the equal forming V-shape of the 3rd swing arm, and the two of the V-arrangement Arm is located at the both sides of the trunk portion when the second rotation axis is close to the third rotation axis respectively.
14. flexible gearing according to claim 10, it is characterised in that：Second end cap include lid body and Trunk portion, the trunk portion rotating support is on the inner face of first end cap, the lid body and first end cap Rotation connection, first swing arm and second swing arm and the equal forming V-shape of the 3rd swing arm, the two-arm of the V-arrangement is described It is located at the both sides of the trunk portion when second rotation axis is close to the third rotation axis respectively.
15. flexible gearing according to claim 13, it is characterised in that：Also include encoder, the encoder bag Include rotor and stator, the rotor is connected with one of first end cap and second end cap, the stator with it is described The other of first end cap and second end cap connect.
16. flexible gearing according to claim 14, it is characterised in that：Also include encoder, the encoder bag Include rotor and stator, the rotor is connected with one of first end cap and second end cap, the stator with it is described The other of first end cap and second end cap connect.
A kind of 17. adjustable spring, it is characterised in that：Including drive member and multiple opposed moving members, multiple relative fortune Dynamic component includes the first opposed moving members, the second opposed moving members, third phase to moving link, the 4th relative motion structure Part, the 5th opposed moving members；

First opposed moving members are set with second opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that first opposed moving members relatively rotate with second opposed moving members is the first rotary shaft Line；

The third phase is set to moving link and the 4th opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that the third phase relatively rotates to moving link and the 4th opposed moving members is the second rotary shaft Line；

5th opposed moving members are set with first opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that the 5th opposed moving members relatively rotate with first opposed moving members is the 3rd rotary shaft Line；

There is consistently greater than zero spacing between the first rotation axis and the third rotation axis；

Second opposed moving members are flexibly connected with the third phase to moving link by the first enclosed planar kinematic pair；

4th opposed moving members are flexibly connected with the 5th opposed moving members by the second enclosed planar kinematic pair；

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair and pass through the second enclosed plane In a pair of opposed moving members of kinematic pair connection, drive member is provided between opposed moving members described in one pair of which, it is described Drive member is used to change the distance between the second rotation axis and the first rotation axis or described second turn of change The distance between shaft line and the third rotation axis are will change the flexible limit of the adjustable spring；

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair and pass through the second enclosed plane Opposed moving members or first relative motion described in another pair in a pair of opposed moving members of kinematic pair connection To moving link and the 4th opposed moving members between component and second opposed moving members or in the third phase Between or be provided between the 5th opposed moving members and first opposed moving members spring, the spring is used to hinder Two opposed moving members connected by the spring are hindered to relatively rotate.
18. adjustable spring according to claim 17, it is characterised in that：The drive member is additionally operable to change described second The distance between pivot center and the first rotation axis with by the adjustable spring between rigid state and flexible state Switching,

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair or pass through second enclosed In a pair of opposed moving members of planar kinematic pair connection, the direction of relative movement of opposed moving members described in one pair of which When the first rotation axis overlaps with the second rotation axis, rotated with the first rotation axis away from described second The direction of axis is vertical；

The spring is used for when the first rotation axis or the third rotation axis overlap with the second rotation axis, Make to be in following shape along two opposed moving members that the pivot center overlapped with second rotation axis rotates freely State --- leave first rotation axis with the second rotation axis in the direction that two opposed moving members are located remotely from each other Direction is vertical；

Or

The drive member is additionally operable to change the distance between the second rotation axis and the third rotation axis with by institute Adjustable spring is stated between rigid state and flexible state to switch,

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair or pass through second enclosed In a pair of opposed moving members of planar kinematic pair connection, the direction of relative movement of opposed moving members described in one pair of which When the third rotation axis overlaps with the second rotation axis, rotated with the third rotation axis away from described second The direction of axis is vertical；

The spring is used for when the third rotation axis overlaps with the second rotation axis, makes edge and second rotation axis Two opposed moving members that the pivot center of coincidence rotates freely are in following state --- two relative motions The direction that the third rotation axis is left in the direction that component is located remotely from each other with the second rotation axis is vertical.
19. the adjustable spring according to claim 17 or 18, it is characterised in that：The spring is compression spring or a pair of drawings Spring is stretched, two opposed moving members rotated freely along the first rotation axis of the compression spring connection are in institute State and be provided with spring stop part on the outside of the both ends of compression spring；Or compression spring connection along the second rotation axis Two opposed moving members rotated freely are provided with spring stop part on the outside of the both ends of the compression spring；Or institute Two opposed moving members rotated freely along the third rotation axis of compression spring connection are stated in the compression bullet Spring stop part is provided with the outside of the both ends of spring；

The extension spring includes the first extension spring and the second extension spring, and first extension spring has first end and Two ends, second extension spring have the 3rd end and the 4th end, second end and the 3rd end with along described first Two phases that a pivot center in pivot center and the second rotation axis and the third rotation axis rotates freely One of moving link is connected, the first end and the 4th end with rotated freely along the pivot center two The other of opposed moving members connect, and are rotated in the first rotation axis, the second rotation axis and the described 3rd During axis co-planar, the first rotation axis, the second rotation axis and the third rotation axis are on the first face, institute State the first extension spring and second extension spring is symmetrical along the first face, and tilt or be vertically arranged with the first face.
20. the adjustable spring according to claim 17 or 18, it is characterised in that：The first enclosed planar kinematic pair is the One sliding pair, the relative glide direction of two opposed moving members connected by first sliding pair is described first When pivot center overlaps with the second rotation axis, with direction of the first rotation axis away from the second rotation axis Vertically, or when the third rotation axis overlaps with the second rotation axis, with the third rotation axis away from institute The direction for stating second rotation axis is vertical.
21. adjustable spring according to claim 19, it is characterised in that：The first enclosed planar kinematic pair is the first cunning Dynamic pair, two opposed moving members connected by first sliding pair rotate relative to glide direction described first When axis overlaps with the second rotation axis, hung down with direction of the first rotation axis away from the second rotation axis Directly, or when the third rotation axis overlaps with the second rotation axis, with the third rotation axis away from described The direction of second rotation axis is vertical.
22. according to the adjustable spring described in claim 17 or 18 or 21, it is characterised in that：First opposed moving members are First end cap, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, described Three opposed moving members are the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and described the Two swing arms are hinged, and the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
23. adjustable spring according to claim 19, it is characterised in that：First opposed moving members are first end Lid, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, the third phase pair Moving link is the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and second swing arm Be hinged, the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
24. adjustable spring according to claim 20, it is characterised in that：First opposed moving members are first end Lid, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, the third phase pair Moving link is the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and second swing arm Be hinged, the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
25. adjustable spring according to claim 22, it is characterised in that：The drive member is put to be arranged on the described 3rd Motor on arm, the motor are provided with output gear, the output gear wheel and rack engagement, and the rack is arranged on described second On end cap；

Or

The drive member is the motor being arranged on second end cap, and the motor is provided with output gear, the output gear Wheel and rack is engaged, and the rack is arranged in the 3rd swing arm.
26. the adjustable spring according to claim 23 or 24, it is characterised in that：The drive member is is arranged on described the Motor in three swing arms, the motor are provided with output gear, and the output gear wheel and rack engagement, the rack is arranged on described On second end cap；

Or

The drive member is the motor being arranged on second end cap, and the motor is provided with output gear, the output gear Wheel and rack is engaged, and the rack is arranged in the 3rd swing arm.
27. adjustable spring according to claim 25, it is characterised in that：First swing arm is led provided with a pair first Rail, second swing arm are provided with a pair of first sliding blocks, and each first sliding block is slidably arranged in one described first respectively On guide rail；

A pair of second guide rails are installed, the 3rd swing arm is provided with a pair of second sliding blocks, each described on second end cap Second sliding block is slidably arranged on second guide rail respectively.
28. adjustable spring according to claim 26, it is characterised in that：First swing arm is led provided with a pair first Rail, second swing arm are provided with a pair of first sliding blocks, and each first sliding block is slidably arranged in one described first respectively On guide rail；

A pair of second guide rails are installed, the 3rd swing arm is provided with a pair of second sliding blocks, each described on second end cap Second sliding block is slidably arranged on second guide rail respectively.
29. according to the adjustable spring described in claim 25 or 27 or 28, it is characterised in that：Second end cap includes lid body Portion and trunk portion, the trunk portion rotating support is on the inner face of first end cap, the lid body and described first End cap is rotatablely connected, and first swing arm and second swing arm and the equal forming V-shape of the 3rd swing arm, the two-arm of the V-arrangement exist It is located at the both sides of the trunk portion when second rotation axis is close to the third rotation axis respectively.
30. adjustable spring according to claim 26, it is characterised in that：Second end cap includes lid body and cylinder Portion, on the inner face of first end cap, the lid body rotates the trunk portion rotating support with first end cap Connection, first swing arm and second swing arm and the equal forming V-shape of the 3rd swing arm, the two-arm of the V-arrangement is described second It is located at the both sides of the trunk portion when pivot center is close to the third rotation axis respectively.
31. adjustable spring according to claim 29, it is characterised in that：Also include encoder, the encoder includes turning Son and stator, the rotor are connected with one of first end cap and second end cap, the stator and described first The other of end cap and second end cap connect.
32. adjustable spring according to claim 30, it is characterised in that：Also include encoder, the encoder includes turning Son and stator, the rotor are connected with one of first end cap and second end cap, the stator and described first The other of end cap and second end cap connect.
A kind of 33. energy storage component, it is characterised in that：Including drive member and multiple opposed moving members, multiple relative fortune Dynamic component includes the first opposed moving members, the second opposed moving members, third phase to moving link, the 4th relative motion structure Part, the 5th opposed moving members；

First opposed moving members are set with second opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that first opposed moving members relatively rotate with second opposed moving members is the first rotary shaft Line；

The third phase is set to moving link and the 4th opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that the third phase relatively rotates to moving link and the 4th opposed moving members is the second rotary shaft Line；

5th opposed moving members are set with first opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that the 5th opposed moving members relatively rotate with first opposed moving members is the 3rd rotary shaft Line；

There is consistently greater than zero spacing between the first rotation axis and the third rotation axis；

Second opposed moving members are flexibly connected with the third phase to moving link by the first enclosed planar kinematic pair；

4th opposed moving members are flexibly connected with the 5th opposed moving members by the second enclosed planar kinematic pair；

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair and pass through the second enclosed plane In a pair of opposed moving members of kinematic pair connection, drive member is provided between opposed moving members described in one pair of which, it is described Drive member is used to change the distance between the second rotation axis and the first rotation axis or described second turn of change The distance between shaft line and the third rotation axis are will change the flexible limit of the energy storage component；

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair and pass through the second enclosed plane Opposed moving members or first relative motion described in another pair in a pair of opposed moving members of kinematic pair connection To moving link and the 4th opposed moving members between component and second opposed moving members or in the third phase Between or be provided between the 5th opposed moving members and first opposed moving members spring, the spring is used to hinder Two opposed moving members connected by the spring are hindered to relatively rotate.
34. energy storage component according to claim 33, it is characterised in that：The drive member is additionally operable to change described second The distance between pivot center and the first rotation axis with by the energy storage component between rigid state and flexible state Switching,

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair or pass through second enclosed In a pair of opposed moving members of planar kinematic pair connection, the direction of relative movement of opposed moving members described in one pair of which When the first rotation axis overlaps with the second rotation axis, rotated with the first rotation axis away from described second The direction of axis is vertical；

The spring is used for when the first rotation axis or the third rotation axis overlap with the second rotation axis, Make to be in following shape along two opposed moving members that the pivot center overlapped with second rotation axis rotates freely State --- leave first rotation axis with the second rotation axis in the direction that two opposed moving members are located remotely from each other Direction is vertical；

Or

The drive member is additionally operable to change the distance between the second rotation axis and the third rotation axis with by institute Energy storage component is stated between rigid state and flexible state to switch,

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair or pass through second enclosed In a pair of opposed moving members of planar kinematic pair connection, the direction of relative movement of opposed moving members described in one pair of which When the third rotation axis overlaps with the second rotation axis, rotated with the third rotation axis away from described second The direction of axis is vertical；

The spring is used for when the third rotation axis overlaps with the second rotation axis, makes edge and second rotation axis Two opposed moving members that the pivot center of coincidence rotates freely are in following state --- two relative motions The direction that the third rotation axis is left in the direction that component is located remotely from each other with the second rotation axis is vertical.
35. the energy storage component according to claim 33 or 34, it is characterised in that：The spring is compression spring or a pair of drawings Spring is stretched, two opposed moving members rotated freely along the first rotation axis of the compression spring connection are in institute State and be provided with spring stop part on the outside of the both ends of compression spring；Or compression spring connection along the second rotation axis Two opposed moving members rotated freely are provided with spring stop part on the outside of the both ends of the compression spring；Or institute Two opposed moving members rotated freely along the third rotation axis of compression spring connection are stated in the compression bullet Spring stop part is provided with the outside of the both ends of spring；

The extension spring includes the first extension spring and the second extension spring, and first extension spring has first end and Two ends, second extension spring have the 3rd end and the 4th end, second end and the 3rd end with along described first Two phases that a pivot center in pivot center and the second rotation axis and the third rotation axis rotates freely One of moving link is connected, the first end and the 4th end with rotated freely along the pivot center two The other of opposed moving members connect, and are rotated in the first rotation axis, the second rotation axis and the described 3rd During axis co-planar, the first rotation axis, the second rotation axis and the third rotation axis are on the first face, institute State the first extension spring and second extension spring is symmetrical along the first face, and tilt or be vertically arranged with the first face.
36. the energy storage component according to claim 33 or 34, it is characterised in that：The first enclosed planar kinematic pair is the One sliding pair, the relative glide direction of two opposed moving members connected by first sliding pair is described first When pivot center overlaps with the second rotation axis, with direction of the first rotation axis away from the second rotation axis Vertically, or when the third rotation axis overlaps with the second rotation axis, with the third rotation axis away from institute The direction for stating second rotation axis is vertical.
37. energy storage component according to claim 35, it is characterised in that：The first enclosed planar kinematic pair is the first cunning Dynamic pair, two opposed moving members connected by first sliding pair rotate relative to glide direction described first When axis overlaps with the second rotation axis, hung down with direction of the first rotation axis away from the second rotation axis Directly, or when the third rotation axis overlaps with the second rotation axis, with the third rotation axis away from described The direction of second rotation axis is vertical.
38. according to the energy storage component described in claim 33 or 34 or 37, it is characterised in that：First opposed moving members are First end cap, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, described Three opposed moving members are the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and described the Two swing arms are hinged, and the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
39. energy storage component according to claim 35, it is characterised in that：First opposed moving members are first end Lid, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, the third phase pair Moving link is the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and second swing arm Be hinged, the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
40. energy storage component according to claim 36, it is characterised in that：First opposed moving members are first end Lid, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, the third phase pair Moving link is the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and second swing arm Be hinged, the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
41. the energy storage component according to claim 38, it is characterised in that：The drive member is put to be arranged on the described 3rd Motor on arm, the motor are provided with output gear, the output gear wheel and rack engagement, and the rack is arranged on described second On end cap；

Or

The drive member is the motor being arranged on second end cap, and the motor is provided with output gear, the output gear Wheel and rack is engaged, and the rack is arranged in the 3rd swing arm.
42. the energy storage component according to claim 39 or 40, it is characterised in that：The drive member is is arranged on described the Motor in three swing arms, the motor are provided with output gear, and the output gear wheel and rack engagement, the rack is arranged on described On second end cap；

Or

The drive member is the motor being arranged on second end cap, and the motor is provided with output gear, the output gear Wheel and rack is engaged, and the rack is arranged in the 3rd swing arm.
43. energy storage component according to claim 41, it is characterised in that：First swing arm is led provided with a pair first Rail, second swing arm are provided with a pair of first sliding blocks, and each first sliding block is slidably arranged in one described first respectively On guide rail；

A pair of second guide rails are installed, the 3rd swing arm is provided with a pair of second sliding blocks, each described on second end cap Second sliding block is slidably arranged on second guide rail respectively.
44. energy storage component according to claim 42, it is characterised in that：First swing arm is led provided with a pair first Rail, second swing arm are provided with a pair of first sliding blocks, and each first sliding block is slidably arranged in one described first respectively On guide rail；

A pair of second guide rails are installed, the 3rd swing arm is provided with a pair of second sliding blocks, each described on second end cap Second sliding block is slidably arranged on second guide rail respectively.
45. according to the energy storage component described in claim 41 or 43 or 44, it is characterised in that：Second end cap includes lid body Portion and trunk portion, the trunk portion rotating support is on the inner face of first end cap, the lid body and described first End cap is rotatablely connected, and first swing arm and second swing arm and the equal forming V-shape of the 3rd swing arm, the two-arm of the V-arrangement exist It is located at the both sides of the trunk portion when second rotation axis is close to the third rotation axis respectively.
46. energy storage component according to claim 42, it is characterised in that：Second end cap includes lid body and cylinder Portion, on the inner face of first end cap, the lid body rotates the trunk portion rotating support with first end cap Connection, first swing arm and second swing arm and the equal forming V-shape of the 3rd swing arm, the two-arm of the V-arrangement is described second It is located at the both sides of the trunk portion when pivot center is close to the third rotation axis respectively.
47. energy storage component according to claim 45, it is characterised in that：Also include encoder, the encoder includes turning Son and stator, the rotor are connected with one of first end cap and second end cap, the stator and described first The other of end cap and second end cap connect.
48. energy storage component according to claim 46, it is characterised in that：Also include encoder, the encoder includes turning Son and stator, the rotor are connected with one of first end cap and second end cap, the stator and described first The other of end cap and second end cap connect.
A kind of 49. lock uint, it is characterised in that：Including drive member and multiple opposed moving members, multiple relative fortune Dynamic component includes the first opposed moving members, the second opposed moving members, third phase to moving link, the 4th relative motion structure Part, the 5th opposed moving members；

First opposed moving members are set with second opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that first opposed moving members relatively rotate with second opposed moving members is the first rotary shaft Line；

The third phase is set to moving link and the 4th opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that the third phase relatively rotates to moving link and the 4th opposed moving members is the second rotary shaft Line；

5th opposed moving members are set with first opposed moving members in a manner of relatively rotating therebetween freely Put, the pivot center that the 5th opposed moving members relatively rotate with first opposed moving members is the 3rd rotary shaft Line；

There is consistently greater than zero spacing between the first rotation axis and the third rotation axis；

Second opposed moving members are flexibly connected with the third phase to moving link by the first enclosed planar kinematic pair；

4th opposed moving members are flexibly connected with the 5th opposed moving members by the second enclosed planar kinematic pair；

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair and pass through the second enclosed plane In a pair of opposed moving members of kinematic pair connection, drive member is provided between opposed moving members described in one pair of which, it is described Drive member is used to change the distance between the second rotation axis and the first rotation axis or described second turn of change The distance between shaft line and the third rotation axis are will change the flexible limit of the lock uint；

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair and pass through the second enclosed plane Opposed moving members or first relative motion described in another pair in a pair of opposed moving members of kinematic pair connection To moving link and the 4th opposed moving members between component and second opposed moving members or in the third phase Between or be provided between the 5th opposed moving members and first opposed moving members spring, the spring is used to hinder Two opposed moving members connected by the spring are hindered to relatively rotate.
50. lock uint according to claim 49, it is characterised in that：The drive member is additionally operable to change described second The distance between pivot center and the first rotation axis with by the lock uint between rigid state and flexible state Switching,

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair or pass through second enclosed In a pair of opposed moving members of planar kinematic pair connection, the direction of relative movement of opposed moving members described in one pair of which When the first rotation axis overlaps with the second rotation axis, rotated with the first rotation axis away from described second The direction of axis is vertical；

The spring is used for when the first rotation axis or the third rotation axis overlap with the second rotation axis, Make to be in following shape along two opposed moving members that the pivot center overlapped with second rotation axis rotates freely State --- leave first rotation axis with the second rotation axis in the direction that two opposed moving members are located remotely from each other Direction is vertical；

Or

The drive member is additionally operable to change the distance between the second rotation axis and the third rotation axis with by institute Lock uint is stated between rigid state and flexible state to switch,

In a pair of the opposed moving members connected by the first enclosed planar kinematic pair or pass through second enclosed In a pair of opposed moving members of planar kinematic pair connection, the direction of relative movement of opposed moving members described in one pair of which When the third rotation axis overlaps with the second rotation axis, rotated with the third rotation axis away from described second The direction of axis is vertical；

The spring is used for when the third rotation axis overlaps with the second rotation axis, makes edge and second rotation axis Two opposed moving members that the pivot center of coincidence rotates freely are in following state --- two relative motions The direction that the third rotation axis is left in the direction that component is located remotely from each other with the second rotation axis is vertical.
51. the lock uint according to claim 49 or 50, it is characterised in that：The spring is compression spring or a pair of drawings Spring is stretched, two opposed moving members rotated freely along the first rotation axis of the compression spring connection are in institute State and be provided with spring stop part on the outside of the both ends of compression spring；Or compression spring connection along the second rotation axis Two opposed moving members rotated freely are provided with spring stop part on the outside of the both ends of the compression spring；Or institute Two opposed moving members rotated freely along the third rotation axis of compression spring connection are stated in the compression bullet Spring stop part is provided with the outside of the both ends of spring；

The extension spring includes the first extension spring and the second extension spring, and first extension spring has first end and Two ends, second extension spring have the 3rd end and the 4th end, second end and the 3rd end with along described first Two phases that a pivot center in pivot center and the second rotation axis and the third rotation axis rotates freely One of moving link is connected, the first end and the 4th end with rotated freely along the pivot center two The other of opposed moving members connect, and are rotated in the first rotation axis, the second rotation axis and the described 3rd During axis co-planar, the first rotation axis, the second rotation axis and the third rotation axis are on the first face, institute State the first extension spring and second extension spring is symmetrical along the first face, and tilt or be vertically arranged with the first face.
52. the lock uint according to claim 49 or 50, it is characterised in that：The first enclosed planar kinematic pair is the One sliding pair, the relative glide direction of two opposed moving members connected by first sliding pair is described first When pivot center overlaps with the second rotation axis, with direction of the first rotation axis away from the second rotation axis Vertically, or when the third rotation axis overlaps with the second rotation axis, with the third rotation axis away from institute The direction for stating second rotation axis is vertical.
53. lock uint according to claim 51, it is characterised in that：The first enclosed planar kinematic pair is the first cunning Dynamic pair, two opposed moving members connected by first sliding pair rotate relative to glide direction described first When axis overlaps with the second rotation axis, hung down with direction of the first rotation axis away from the second rotation axis Directly, or when the third rotation axis overlaps with the second rotation axis, with the third rotation axis away from described The direction of second rotation axis is vertical.
54. according to the lock uint described in claim 49 or 50 or 53, it is characterised in that：First opposed moving members are First end cap, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, described Three opposed moving members are the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and described the Two swing arms are hinged, and the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
55. lock uint according to claim 51, it is characterised in that：First opposed moving members are first end Lid, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, the third phase pair Moving link is the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and second swing arm Be hinged, the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
56. lock uint according to claim 52, it is characterised in that：First opposed moving members are first end Lid, second opposed moving members are the first swing arm, and first swing arm is hinged with first end cap, the third phase pair Moving link is the second swing arm, and the 4th opposed moving members are the 3rd swing arm, the 3rd swing arm and second swing arm Be hinged, the 5th opposed moving members are the second end cap, and second end cap is hinged with first end cap.
57. lock uint according to claim 54, it is characterised in that：The drive member is put to be arranged on the described 3rd Motor on arm, the motor are provided with output gear, the output gear wheel and rack engagement, and the rack is arranged on described second On end cap；

Or

The drive member is the motor being arranged on second end cap, and the motor is provided with output gear, the output gear Wheel and rack is engaged, and the rack is arranged in the 3rd swing arm.
58. the lock uint according to claim 55 or 56, it is characterised in that：The drive member is is arranged on described the Motor in three swing arms, the motor are provided with output gear, and the output gear wheel and rack engagement, the rack is arranged on described On second end cap；

Or

The drive member is the motor being arranged on second end cap, and the motor is provided with output gear, the output gear Wheel and rack is engaged, and the rack is arranged in the 3rd swing arm.
59. lock uint according to claim 57, it is characterised in that：First swing arm is led provided with a pair first Rail, second swing arm are provided with a pair of first sliding blocks, and each first sliding block is slidably arranged in one described first respectively On guide rail；

A pair of second guide rails are installed, the 3rd swing arm is provided with a pair of second sliding blocks, each described on second end cap Second sliding block is slidably arranged on second guide rail respectively.
60. lock uint according to claim 58, it is characterised in that：First swing arm is led provided with a pair first Rail, second swing arm are provided with a pair of first sliding blocks, and each first sliding block is slidably arranged in one described first respectively On guide rail；

A pair of second guide rails are installed, the 3rd swing arm is provided with a pair of second sliding blocks, each described on second end cap Second sliding block is slidably arranged on second guide rail respectively.
61. according to the lock uint described in claim 57 or 59 or 60, it is characterised in that：Second end cap includes lid body Portion and trunk portion, the trunk portion rotating support is on the inner face of first end cap, the lid body and described first End cap is rotatablely connected, and first swing arm and second swing arm and the equal forming V-shape of the 3rd swing arm, the two-arm of the V-arrangement exist It is located at the both sides of the trunk portion when second rotation axis is close to the third rotation axis respectively.
62. lock uint according to claim 58, it is characterised in that：Second end cap includes lid body and cylinder Portion, on the inner face of first end cap, the lid body rotates the trunk portion rotating support with first end cap Connection, first swing arm and second swing arm and the equal forming V-shape of the 3rd swing arm, the two-arm of the V-arrangement is described second It is located at the both sides of the trunk portion when pivot center is close to the third rotation axis respectively.
63. lock uint according to claim 61, it is characterised in that：Also include encoder, the encoder includes turning Son and stator, the rotor are connected with one of first end cap and second end cap, the stator and described first The other of end cap and second end cap connect.
64. lock uint according to claim 62, it is characterised in that：Also include encoder, the encoder includes turning Son and stator, the rotor are connected with one of first end cap and second end cap, the stator and described first The other of end cap and second end cap connect.
A kind of 65. robot, it is characterised in that：It is provided with the flexible gearing any one of claim 1-16.