CN117944092A - Instant-time-varying stiffness modular flexible base system - Google Patents

Abstract

The invention relates to the technical field of space mechanics simulation, in particular to an instant variable stiffness modularized flexible base system which comprises a flexible base input end, a rotational stiffness simulation platform and a translational stiffness simulation platform, wherein the flexible base input end is used for inputting horizontal rotation or translation, the rotational stiffness simulation platform is used for simulating the change of rotational stiffness, and the translational stiffness simulation platform is used for simulating the change of translational stiffness. The flexible base provided by the invention can simulate the rigidity change of the big arm in the movement process when the big arm and the small arm of the space station are combined on the ground and react to the small arm, thereby laying a foundation for researching the disturbance movement law generated in the combined arm under the joint movement of the big arm and the small arm of the space station.

Description

Instant-time-varying stiffness modular flexible base system

Technical Field

The invention relates to the technical field of space mechanics simulation, and particularly provides an instant stiffness-changing modularized flexible base system.

Background

As the chinese space station is fully built, increasingly diverse, complex space tasks need to be completed. The mechanical arm on the space station has wider roles in various operation tasks, from assisting the operation of the spaceship outside the cabin to carrying, transferring, plugging and pulling various loads and other fine operations. These tasks all require the robotic arm to meet various dynamic performance requirements.

The mechanical arm system on the space station consists of a big arm and a small arm. The two can work independently, and can also form a combined arm to further expand a working space so as to meet the working requirements of local fine operation and not only need range transfer, but also greatly improve the maneuverability of the space manipulator system. Aiming at the research on the dynamic performance of the combined arm on the ground, the large arm serving as the base can be generally equivalent to a flexible base, so that the complexity of a test system is greatly reduced.

The presently discovered flexible bases of prior designs are variable stiffness, but not time-varying stiffness. The stiffness of the base can only be adjusted in advance to meet the stiffness of the large arm under a certain configuration, and then the small arm moves under the stiffness characteristic of the base, namely the base is simulated as follows: the big arm maintains a certain configuration stationary and the system scene of the movement of the small arm, and the rigidity of the base is also changed in real time by manual control in the movement process of the small arm, namely the system scene that the small arm moves and the big arm moves at the same time cannot be simulated.

Disclosure of Invention

The invention provides the instant rigidity-changing modularized flexible base system which can simulate the simultaneous movement of the large arm and the small arm of the space station, and the large arm is used as the base of the small arm, so that the rigidity change caused by the configuration change in the movement process of the large arm and the small arm of the space station is researched, and the disturbance movement law generated in the combined arm under the common movement of the large arm and the small arm of the space station is researched.

The invention provides an instant variable stiffness modularized flexible base system, which comprises a flexible base input end, a rotational stiffness simulation platform and a translational stiffness simulation platform; the rotation stiffness simulation platform comprises a support frame, a rotation transmission mechanism and a rotation stiffness changing mechanism, wherein the input end of the flexible base and the rotation stiffness changing mechanism are respectively arranged on the support frame, the input end of the flexible base is connected with the rotation stiffness changing mechanism, rotation input by the input end of the flexible base is transmitted to the rotation stiffness changing mechanism, the rotation stiffness changing mechanism is connected with the rotation transmission mechanism and is used for adjusting the stiffness of the rotation transmission mechanism in a mode of changing the position of a supporting point, and therefore the adjustment of the rotation stiffness of the input end of the flexible base is achieved; the translational rigidity simulation platform comprises a first transmission shaft, a first platform supporting plate, a first guide rail group and a first translational rigidity-changing mechanism, wherein a guide bearing piece of the first guide rail group is arranged on the first platform supporting plate, a moving piece of the first guide rail group is fixedly connected with the bottom of the supporting frame, the first translational rigidity-changing mechanism is connected with the supporting frame through the first transmission shaft, and the first translational rigidity-changing mechanism is used for adjusting self rigidity in a moment-changing mode to realize adjustment of translational rigidity of an input end of the flexible base; or the translational rigidity simulation platform comprises a connecting frame, a second platform supporting plate, a second guide rail group and a second translational rigidity-changing mechanism, wherein the connecting frame is connected below the supporting frame, a bearing guide piece of the second guide rail group is arranged on the second platform supporting plate, a moving piece of the second guide rail group is fixedly connected with the bottom of the connecting frame, the second translational rigidity-changing mechanism is arranged on the second platform supporting plate and is fixedly connected with the connecting frame, and the second translational rigidity-changing mechanism is used for adjusting the self rigidity in a mode of changing the effective number of turns of a spring so as to realize the adjustment of the translational rigidity of the input end of the flexible base; or the translational rigidity simulation platform comprises a second transmission shaft, a third platform supporting plate, a third guide rail group and a third translational rigidity-changing mechanism, wherein a guide bearing piece of the third guide rail group is arranged on the third platform supporting plate, a moving piece of the third guide rail group is fixedly connected with the bottom of the supporting frame, the third translational rigidity-changing mechanism is connected with the supporting frame through the second transmission shaft, and the third translational rigidity-changing mechanism is used for adjusting the self rigidity in a pretightening force changing mode to realize the adjustment of the translational rigidity of the input end of the flexible base.

Preferably, the rotation transmission mechanism comprises a first coupling and a flexible framework, the flexible framework comprises a framework main body, a connecting shaft is formed on the surface of the framework main body, three pairs of flexible sheets distributed at 120 degrees are formed on the side surface of the framework main body, and the connecting shaft is connected with the input end of the flexible base through the first coupling.

Preferably, the support frame comprises a flexible base top cover plate, a support bottom plate and a connecting plate, wherein the support bottom plate is fixedly connected below the flexible base top cover plate through the connecting plate; the rotary rigidity-changing mechanism comprises three roller slide block assemblies, a retainer, a rotary rigidity-adjusting motor, a second coupler, a pinion with a shaft and a large gear with a shaft; the retainer is fixed on the supporting bottom plate through the support posts and is positioned below the flexible framework, three long-strip-shaped sliding holes distributed at 120 degrees are formed in the retainer, and a boss is formed on the inner wall of each long-strip-shaped sliding hole; the three roller slide block assemblies comprise a pressing block, a roller, a meshing slide block, a rack slide block and a linear guide rail, wherein the pressing block is fixed on the meshing slide block, the roller is rotationally connected with the pressing block and positioned between two opposite flexible sheets, an inclined slide groove is formed on the bottom surface of the meshing slide block, a straight slide groove which is in sliding fit with a boss is formed on the side surface of the meshing slide block, an inclined bulge which is in sliding fit with the inclined slide groove is arranged on the top surface of the rack slide block, and a straight rack is formed on the side surface of the rack slide block; the guide bearing piece of the linear guide rail is fixed on the supporting bottom plate, and the rack sliding block is fixed on the moving piece of the linear guide rail; the rotating rigidity-adjusting motor is fixed on the bottom surface of the supporting bottom plate, an output shaft of the rotating rigidity-adjusting motor is connected with the shaft-carrying pinion through the second coupler, the shaft-carrying large gear is rotationally connected with the supporting bottom plate, and the shaft-carrying large gear is respectively meshed with the straight rack and the shaft-carrying pinion; the meshing sliding block is driven by the rotation rigidity-adjusting motor to linearly slide along the strip-shaped sliding hole of the retainer, the position of a supporting point where the roller contacts with two opposite flexible sheets is changed, and the rigidity of the rotation transmission mechanism is adjusted.

Preferably, the input end of the flexible base comprises a triangular connecting frame and a U-shaped frame, the triangular connecting frame is positioned above the U-shaped frame, and a connecting hole is formed in the triangular connecting frame and is used for being connected with a power source; the two ends of the U-shaped frame are outwards provided with a table edge, the table edge is fixed on the top cover plate of the flexible base through screws, the U-shaped bottom of the U-shaped frame is provided with a rolling bearing, the other end of the first coupler is fixedly connected with a rotating shaft, the rotating shaft is fixedly connected with the triangular connecting frame, and the rotating shaft and the U-shaped frame are in running fit through the rolling bearing.

Preferably, the first translational rigidity-changing mechanism comprises a sliding component and two translational rigidity-changing adjusting units which are symmetrically arranged by taking the sliding component as a center, and the two translational rigidity-changing adjusting units are respectively in close contact with the sliding component, so that the translational rigidity of the input end of the flexible base is adjusted in real time by the two translational rigidity-changing adjusting units through the sliding component.

Preferably, the translational rigidity-changing adjusting unit comprises an arc track, a track rotation center column, an inscription sliding block, a guiding connecting arm, a guiding connecting rod, a pressure spring, a first translational rigidity-adjusting motor, a rigidity-adjusting rotation center column, a driving bevel gear, a driven bevel gear and a linear bearing; the track rotation center column is fixed on the first platform supporting plate; one end of the arc track is tightly contacted with the sliding component, and the other end of the arc track is fixedly connected with the track rotation center column, so that the sliding component extrudes the arc track, and the arc track rotates around the track rotation center column; the driving bevel gear is arranged at the output end of the first translational rigidity-adjusting motor, the driven bevel gear is sleeved on the rigidity-adjusting rotation center column and meshed with the driving bevel gear, and the first translational rigidity-adjusting motor drives the output end of the rigidity-adjusting rotation center column to rotate through the meshing of the driving bevel gear and the driven bevel gear; the fixed end of the guide connecting arm is fixedly connected with the output end of the rigid adjusting rotation center column, and the movable end of the guide connecting arm is provided with a mounting piece for mounting the guide connecting rod; one end of the linear bearing is fixed on the guide connecting arm, and the other end of the linear bearing is connected with the guide connecting rod, so that the guide connecting rod can be subjected to telescopic adjustment along the linear bearing; the installation side of the internal connecting sliding block is arranged on the guide connecting rod; the movable side of the inscription slide block is matched with the inner wall of the circular arc track, so that the inscription slide block drives the guide connecting rod to move along the inner wall of the circular arc track; one end of the pressure spring is fixed on the fixed end of the guide connecting arm, and the other end of the pressure spring is connected with the guide connecting rod, so that the first translational rigidity adjusting motor can control the rigidity adjusting rotary center column in real time, adjust the moment of the pressure spring and be matched with the expansion and contraction of the pressure spring, and further realize the real-time adjustment of the translational rigidity of the sliding component to the input end of the flexible base.

Preferably, the sliding assembly comprises a sliding block and a linear sliding rail which are in sliding fit, the linear sliding rail is fixed on the first platform supporting plate, one end of the first transmission shaft is fixed on the sliding block, the other end of the first transmission shaft is fixedly connected with the supporting bottom plate, a pressing wheel is sleeved on the first transmission shaft, one end of the circular arc rail is in tight contact with the pressing wheel, and when the first transmission shaft drives the sliding block to translate on the linear sliding rail, the pressing wheel rolls and extrudes the circular arc rail, so that the circular arc rail rotates around the rail revolution center column.

Preferably, the second translational rigidity-changing mechanism comprises a top cone seat and two translational rigidity-changing units, wherein the top cone seat is fixedly connected to the side surface of the connecting frame, and the two translational rigidity-changing units are respectively propped to two sides of the top cone seat through top cones; the two translational rigidity-changing units comprise a second translational rigidity-adjusting motor, a third coupler, ball splines, a rotating shaft, springs, a pedestal, clamping pieces, bearings, shaft sleeves and end covers, wherein the second translational rigidity-adjusting motor is fixed on a second platform supporting plate, an output shaft of the second translational rigidity-adjusting motor is connected with a spline shaft of the ball splines through the third coupler, a flange of the ball splines is connected with the rotating shaft, the shaft sleeves are sleeved at the end parts of the rotating shaft, the springs and the bearings are respectively sleeved at two ends of the shaft sleeves, the end covers are sleeved at the outer sides of the springs and the bearings, and top cone holes matched with top cones are respectively formed on the end covers and the top cone seat; the pedestal comprises a T-shaped base and a sleeve, the T-shaped base is arranged on a second platform supporting plate and is fixedly connected with the sleeve, the sleeve is sleeved on the outer side of the spring, the clamping piece is fixedly connected with the sleeve and is clamped into the spring, the output shaft of the second translational rigidity adjusting motor is controlled to rotate, the output shaft is sequentially transmitted to the spring through a third coupler, a ball spline, a rotating shaft and a shaft sleeve, the spring is abutted against the clamping piece to rotate in the radial direction, the effective number of turns is changed, and translational rigidity of the input end of the flexible base is adjusted.

Preferably, the clamping piece is a limit bolt, an adjusting hole for adjusting the position of the limit bolt is formed in the sleeve, the head of the limit bolt is clamped at the outer side of the adjusting hole, and a screw rod of the limit bolt passes through the adjusting hole downwards and then is clamped into the spring.

Preferably, the clamping piece comprises a clamping cone and a clamping cone block which are of an integrated structure or a split structure, the clamping cone block is fixed on the sleeve through a fastening bolt, waist-shaped holes for the fastening bolt to adjust positions are respectively formed in the clamping cone block and the sleeve, the sleeve is further provided with an avoidance hole, and the clamping cone downwards penetrates through the avoidance hole and then is clamped into the spring.

Preferably, the third translational rigidity-changing mechanism comprises a rigidity-adjusting sliding block, a rigidity-adjusting guide rail, a spring steel wire rope, a fixed wheel, a guide wheel, a rope pressing wheel, a translational rope collecting wheel, a worm wheel, a bearing seat and a third translational rigidity-adjusting motor; the steel adjusting guide rail is fixedly connected to the third platform supporting plate and parallel to the third guide rail group, the steel adjusting sliding block linearly slides on the steel adjusting guide rail, and two ends of the second transmission shaft are fixedly connected with the steel adjusting sliding block and the supporting bottom plate respectively; the fixed wheels and the translational rope collecting wheels are positioned at one end of the rigidity adjusting guide rail, and the number of the rope pressing wheels is not less than two and is fixed at two ends of the rigidity adjusting slide block; the guide wheel is positioned at the other end of the rigid adjusting guide rail; one end of the spring wire rope is fixed on the fixed wheel, and the other end of the spring wire rope is fixed on the translational rope collecting wheel after passing through one rope pressing wheel, the guide wheel and the other rope pressing wheel in sequence; the third translational rigidity-adjusting motor and the bearing seat are respectively fixed on a third platform supporting plate, the output end of the third translational rigidity-adjusting motor is connected with one end of a worm through a fourth coupler, the bearing seat at the other end of the worm is rotationally connected, a worm wheel is sleeved on the translational rope winding wheel and is meshed with the worm, rotation output by the third translational rigidity-adjusting motor is transmitted to the translational rope winding wheel through the matching of the worm and the worm wheel, and the pre-tightening force of the rigidity-adjusting sliding block along the rigidity-adjusting guide rail is controlled through a spring steel wire rope, so that the translational rigidity of the input end of the flexible base is adjusted.

Preferably, a reversing wheel for changing the direction of the spring wire rope is arranged between the fixed wheel and the rope pressing wheel, between the rope pressing wheel and the guide wheel and between the rope pressing wheel and the translational rope collecting wheel.

Preferably, the number of the translational rigidity simulation platforms is at least two, the translational rigidity simulation platforms are distributed up and down and are connected with each other, and the movement directions of the first guide rail group or the second guide rail group or the third guide rail group of each translational rigidity simulation platform are different.

Preferably, the number of the translational rigidity simulation platforms is two, and the movement directions of the first guide rail group or the second guide rail group or the third guide rail group of the two translational rigidity simulation platforms are vertical.

Compared with the prior art, the flexible base system provided by the invention can simulate the rigidity change of the large arm in the movement process when the large arm and the small arm of the space station are combined on the ground and react to the small arm, so that a foundation is laid for researching the disturbance movement law in the combined arm under the joint movement of the large arm and the small arm of the space station.

Drawings

Fig. 1 is an overall block diagram of an instant variable stiffness modular flexible base system provided in accordance with embodiment 1 of the present invention.

Fig. 2 is a schematic structural view of a rotational stiffness simulation platform provided in embodiment 1 according to the present invention.

Fig. 3 is a schematic structural view of a flexible frame provided according to embodiment 1 of the present invention.

Fig. 4 is a schematic structural diagram of a roller slider assembly according to embodiment 1 of the present invention.

Fig. 5 is a schematic structural view of a retainer provided according to embodiment 1 of the present invention.

Fig. 6 is a schematic diagram illustrating the cooperation of the rotation transmission mechanism and the rotation stiffness varying mechanism according to the first view angle of embodiment 1 of the present invention.

Fig. 7 is a schematic diagram illustrating the cooperation of the rotation transmission mechanism and the second view angle of the rotation stiffness varying mechanism according to embodiment 1 of the present invention.

Fig. 8 is a structural diagram of a translational stiffness simulation platform provided in accordance with embodiment 1 of the present invention.

Fig. 9 is a structural diagram of a translational rigidity-varying mechanism provided in embodiment 1 of the present invention.

Fig. 10 is a top view of a translational stiffness varying mechanism provided in accordance with embodiment 1 of the present invention.

Fig. 11 is a schematic diagram of a translational rigidity-varying mechanism provided in accordance with embodiment 1 of the present invention.

Fig. 12 is an overall block diagram of an instant variable stiffness modular flexible base system provided in accordance with embodiment 2 of the present invention.

Fig. 13 is an overall structural diagram of a translational rigidity changing unit provided according to embodiment 2 of the present invention.

Fig. 14 is a sectional structural view of a translational rigidity changing unit provided according to embodiment 2 of the present invention.

Fig. 15 is an overall block diagram of an instant variable stiffness modular flexible base system provided in accordance with embodiment 3 of the present invention.

FIG. 16 is an overall block diagram of a translational stiffness simulation platform provided in accordance with embodiment 3 of the present invention;

Fig. 17 is a schematic diagram of a translational rigidity-varying mechanism provided in accordance with embodiment 3 of the present invention.

Reference numerals of embodiment 1 include: the flexible base input end 1, the triangular connecting frame 101, the U-shaped frame 102, the connecting hole 103, the table edge 104, the rotational rigidity simulation platform 2, the flexible base top cover 201, the first coupler 202, the flexible framework 203, the framework main body 204, the connecting shaft 205, the flexible sheet 206, the supporting bottom plate 207, the retainer 208, the rotary rigidity adjusting motor 209, the second coupler 210, the shaft pinion 211, the shaft large gear 212, the connecting plate 213, the long sliding hole 214, the boss 215, the pressing block 216, the roller 217, the meshing sliding block 218, the rack sliding block 219, the linear guide 220, the inclined sliding groove 221, the straight sliding groove 222, the inclined convex 223, the straight toothed bar 224, the strut 225, the first rigidity simulation platform 3, the transmission shaft 31, the platform support plate 32, the guide rail group 33, the rigidity changing mechanism 34, the sliding component 341, the sliding block 3411, the linear slide 3412, the translational rigidity adjusting unit 342, the circular arc track 3421, the track rotation center column 3422, the inner sliding block 3423, the guiding connecting arm 3424, the guiding connecting rod 3425, the pressure spring 3426, the rigidity adjusting motor center column 28, the driving bevel gear 29, the driving bevel gear 30, the driven bevel gear 43, the driving bevel gear 43, and the driven bevel gear 43.

Reference numerals of embodiment 2 include: the flexible base input end 1', the rotational stiffness simulation platform 2', the first translational stiffness simulation platform 3 ', the connecting frame 301, the platform supporting plate 302, the guide rail group 303, the translational stiffness changing mechanism 304, the top cone seat 305, the translational stiffness changing unit 306, the top cone 307, the translational stiffness adjusting motor 308, the third coupling 309, the ball spline 310, the rotating shaft 311, the spring 312, the pedestal 313, the T-shaped base 314, the sleeve 315, the clamping piece 316, the clamping cone 317, the clamping cone block 318, the fastening bolt 319, the bearing 320, the shaft sleeve 321, the end cover 322, the motor bracket 323, the connecting block 324, the profile 325, the connecting bottom plate 326, the second translational stiffness simulation platform 4', the platform supporting plate 402, the translational guide rail group 403 and the stiffness changing mechanism 404.

Reference numerals of embodiment 3 include: the mechanical rigidity simulation platform comprises a flexible base input end 1 ', a rotation rigidity simulation platform 2 ', a first translational rigidity simulation platform 3 ', a transmission shaft 3-1, a platform supporting plate 3-2, a guide rail set 3-3, a translational rigidity-changing mechanism 3-4, a rigidity-adjusting sliding block 3-4-1, a rigidity-adjusting guide rail 3-4-2, a spring steel wire rope 3-4-3, a fixed wheel 3-4-4, a guide wheel 3-4-5, a rope pressing wheel 3-4-6, a translational rope collecting wheel 3-4-7, a worm 3-4-8, a worm wheel 3-4-9, a bearing seat 3-4-10, a translational rigidity-adjusting motor 3-4-11, a translational reversing wheel 3-4-12, a second translational rigidity simulation platform 4', a transmission shaft 4-1, a platform supporting plate 4-2, a guide rail set 4-3, and a rigidity-changing mechanism 4-4 '.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, like modules are denoted by like reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, a detailed description thereof will not be repeated.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.

The invention provides three instant variable-rigidity modularized flexible base systems with different structural designs, wherein each modularized flexible base can simulate the rigidity change of a combined arm in multiple degrees of freedom when a large arm is used as a small arm base.

The following description will be given by taking three degrees of freedom as an example, and the same applies to other degrees of freedom. The three degrees of freedom are a horizontal rotation degree of freedom and two translation degrees of freedom perpendicular to the movement direction respectively, so that the modularized flexible base can simulate the change of rotation rigidity of horizontal rotation and the change of two perpendicular translation rigidity.

The three instant stiffness-changing modularized flexible base systems adopt flexible base input ends and rotation stiffness simulation platforms with the same structural design, and translational stiffness simulation platforms with different structural designs, and the specific structures of the three instant stiffness-changing modularized flexible base systems are described in detail below in three embodiments.

Example 1

As shown in fig. 1 to 11, the instant variable stiffness modular flexible base system provided in embodiment 1 of the present invention includes a flexible base input end 1, a rotational stiffness simulation platform 2, a first translational stiffness simulation platform 3, and a second translational stiffness simulation platform 4; the rotation rigidity simulation platform 2 comprises a support frame, a rotation transmission mechanism and a rotation rigidity changing mechanism, wherein the support frame comprises a flexible base top cover plate 201, a support bottom plate 207 and a connecting plate 213, the support bottom plate 207 is fixed below the flexible base top cover plate 201 through the connecting plate 213, a flexible base input end 1 is fixedly arranged on the flexible base top cover plate 201, the rotation rigidity changing mechanism is arranged on the support bottom plate 207, the flexible base input end 1 is connected with the rotation rigidity changing mechanism, rotation input by the flexible base input end 1 is transmitted to the rotation rigidity changing mechanism, the rotation rigidity changing mechanism is connected with the rotation transmission mechanism and used for adjusting rigidity of the rotation transmission mechanism in a mode of changing positions of support points, and therefore adjustment of rotation rigidity of the flexible base input end 1 is achieved; the structure and the working principle of the first translational rigidity simulation platform 3 and the second translational rigidity simulation platform 4 are the same, and the difference is that the translational directions are orthogonal, so only the structure of the first translational rigidity simulation platform 3 is described in detail, and the first translational rigidity simulation platform 3 and the second translational rigidity simulation platform 4 are used for adjusting the rigidity of the translational transmission mechanism by changing the moment, thereby realizing the adjustment of the translational rigidity of the flexible base input end 1.

The flexible base input end 1 comprises a triangular connecting frame 101 and a U-shaped frame 102, the triangular connecting frame 101 can rotate relative to the U-shaped frame 102, a connecting hole 103 is formed in the triangular connecting frame 101 and is used for being connected with an external power source, and the power source inputs rotation or translation to the flexible base input end 1 so as to simulate rotation of the forearm in the horizontal direction and orthogonal translation of the forearm in the horizontal direction; the two ends of the U-shaped frame 102 are outwards provided with a table edge 104, the table edge 104 is fixed on the flexible base top cover plate 201 through screws, and a rolling bearing is arranged at the U-shaped bottom of the U-shaped frame 102.

The rotation transmission mechanism comprises a first coupler 202 and a flexible framework 203, the flexible framework 203 comprises a framework main body 204, a connecting shaft 205 is formed on the surface of the framework main body 204, three pairs of flexible sheets 206 distributed at 120 degrees are formed on the side surface of the framework main body 204, the connecting shaft 205 is fixedly connected with one end of the first coupler 202, the other end of the first coupler 202 is fixedly connected with a rotating shaft, the rotating shaft is fixedly connected with the triangular connecting frame 101 and is in running fit with the U-shaped frame 102 through a rolling bearing, and rotation of the input end 1 of the flexible base is transmitted to the flexible framework 203 through the first coupler 202.

The rotary rigidity-changing mechanism comprises a retainer 208, a rotary rigidity-adjusting motor 209, a second coupler 210, a pinion 211 with a shaft, a large gear 212 with a shaft and three roller slide block assemblies; wherein, the retainer 208 is fixed on the supporting bottom plate 207 through the supporting post 225 and is positioned below the flexible framework 203, three long-strip-shaped sliding holes 214 distributed at 120 degrees are formed on the retainer 208, and a boss 215 is formed on the inner wall of each long-strip-shaped sliding hole 214; the three roller slide block assemblies comprise a pressing block 216, a roller 217, a meshing slide block 218, a rack slide block 219 and a linear guide rail 220, wherein the pressing block 216 is in a stepped structure, a lower table top is fixedly connected with the meshing slide block 218, an upper table top is rotationally connected with the roller 217, the roller 217 is positioned between two opposite flexible sheets 206 and is contacted with the flexible sheets 206, an inclined slide groove 221 is formed on the bottom surface of the meshing slide block 218, a straight slide groove 222 which is in sliding fit with the boss 215 is formed on the side surface of the meshing slide block 218, an inclined bulge 223 which is in sliding fit with the inclined slide groove 221 is formed on the top surface of the rack slide block 219, and a straight toothed bar 224 is formed on the side surface of the rack slide block 219; the guide piece of the linear guide rail 220 is fixed on the supporting base plate 207, the rack slider 219 is fixed on the moving piece of the linear guide rail 220, and the rack slider 219 linearly slides along the linear guide rail 220; the axial both sides of the axle pinion 211 are provided with rotating shafts, the position of the retainer 208 corresponding to the axle pinion 211 is provided with bearing holes, bearings are arranged in the bearing holes, the rotating rigidity-adjusting motor 209 is fixed on the bottom surface of the supporting bottom plate 207, an output shaft of the rotating rigidity-adjusting motor 209 is connected with the rotating shafts on one side of the axle pinion 211 through a second coupling 210, the rotating shafts on the other side of the axle pinion 211 are arranged in the bearings of the retainer 208, the rotation of the axle pinion 211 relative to the retainer 208 is realized, one side of the axle large gear 212 in the axial direction is provided with a short shaft, the bearings are arranged on the supporting bottom plate 207, the short shaft of the axle large gear 212 is arranged in the bearings of the supporting bottom plate 207, the rotating connection of the axle large gear 212 and the supporting bottom plate 207 is realized, and the axle large gear 212 is meshed with the straight toothed bars 224 and the axle pinion 211 respectively.

The rigidity of the rotation transmission mechanism is adjusted by rotating the rigidity adjustment motor 209 to drive the engagement slider 218 to slide linearly along the elongated slide hole 214 of the holder 208, changing the position of the support point where the roller 217 contacts the two opposing flexible sheets 206.

The rotation of the flexible base input end 1 is converted into the rotation of the flexible frame 203 by the rotation transmission mechanism, and the flexible sheet 206 of the flexible frame 203 contacts with the roller 217 to form a supporting point, so that the rotation of the flexible frame 203 is disturbed. By changing the position of the support point in real time, equivalently changing the rotational stiffness of the flexible frame 203, the rotational stiffness of the flexible base input 1 is controllable and time-varying.

The mode of changing the position of the supporting point in real time is as follows: the rotation rigidity-adjusting motor 209 drives the shaft pinion 211 to rotate, and the shaft pinion 211 drives the shaft bull gear 212 to rotate, so that the rack slider 219 slides on the linear guide rail 220. Since the engagement slider 218 cooperates with the rack slider 219 and the holder 208, respectively, the movement of the engagement slider 218 is converted into a linear movement along the elongated slide hole 214, thereby changing the position of the supporting point between the roller 217 and the flexible sheet 206.

The first translational rigidity simulation platform 3 comprises a transmission shaft 31, a platform supporting plate 32, a guide rail group 33 and a translational rigidity-changing mechanism 34, wherein a bearing guide piece of the guide rail group 33 is arranged on the platform supporting plate 32, a moving piece of the guide rail group 33 is fixedly connected with the bottom of a supporting bottom plate 207, the translational rigidity-changing mechanism 34 is connected with the supporting bottom plate 207 through the transmission shaft 31, and the translational rigidity-changing mechanism 34 is used for adjusting the self rigidity in a moment-changing mode and adjusting the translational rigidity of the flexible base input end 1 in the horizontal direction; the structure of the second translational rigidity simulation platform 4 is the same as that of the first translational rigidity simulation platform 3, the second translational rigidity simulation platform 4 comprises a transmission shaft, a platform supporting plate 42, a guide rail group 43 and a translational rigidity changing mechanism 44, the transmission shaft is fixedly connected with the platform supporting plate 32, a guide bearing piece of the guide rail group 43 is fixedly connected to the platform supporting plate 42, a moving piece of the guide rail group 43 is fixedly connected with the bottom of the platform supporting plate 32, the guide rail group 43 and the guide rail group 33 are orthogonally arranged, namely, the moving directions of the guide rail group 43 and the guide rail group 33 are perpendicular, and the translational rigidity changing mechanism 44 is arranged on the platform supporting plate 42 and is used for adjusting the translational rigidity of the other horizontal direction of the flexible base input end 1.

The translational rigidity-changing mechanism 34 comprises a sliding component 341 and two translational rigidity-changing adjusting units 342 with the same structure, the two translational rigidity-changing adjusting units 342 are symmetrically distributed by taking the sliding component 341 as a center, the two translational rigidity-changing adjusting units 342 are respectively in close contact with the sliding component 341, and the translational rigidity of the flexible base input end 1 is adjusted in real time by the sliding component 341 through the two translational rigidity-changing adjusting units 342.

The sliding assembly 341 includes a sliding block 3411 and a linear sliding rail 3412, the linear sliding rail 3412 is fixed on the platform supporting plate 32, the sliding block 3411 slides on the linear sliding rail 3412, and two ends of the transmission shaft 31 are fixedly connected with the sliding block 3411 and the supporting bottom plate 207 respectively.

Each translational rigidity-changing adjusting unit 342 comprises an arc track 3421, a track rotation center column 3422, an inscribed sliding block 3423, a guiding connecting arm 3424, a guiding connecting rod 3425, a pressure spring 3426, a translational rigidity-adjusting motor 3427, a rigidity-adjusting rotation center column 3428, a driving bevel gear 3429, a linear bearing 3430, a pressing wheel 3431 and a driven bevel gear 3432.

The track rotation center column 3422 is fixed on the platform support plate 32, one end of the arc track 3421 is tightly contacted with the pinch roller 3431 sleeved on the transmission shaft 31, and the other end of the arc track 3421 is fixedly connected with the track rotation center column 3422. When the transmission shaft 31 and the pinch roller 3431 thereof translate along the translation sliding rail, the pinch roller 3431 extrudes the circular arc track 3421, so that the circular arc track 3421 rotates by the track rotation center column 3422.

The rigidity-adjusting rotary center column 3428 and the translational rigidity-adjusting motor 3427 are arranged on the platform supporting plate 32, the driving bevel gear 3429 is arranged at the output end of the translational rigidity-adjusting motor 3427, the driven bevel gear 3432 is sleeved on the rigidity-adjusting rotary center column 3428 and meshed with the driving bevel gear 3429, and the translational rigidity-adjusting motor 3427 drives the output end of the rigidity-adjusting rotary center column 3428 to rotate through the meshing of the driving bevel gear 3429 and the driven bevel gear 3432.

The fixed end of the guiding connecting arm 3424 is fixedly connected with the output end of the rigid rotation center column 3428, and the movable end of the guiding connecting arm 3424 is provided with a mounting piece for mounting the guiding connecting rod 3425. The guide rod of the linear bearing 3430 is fixed to the guide link arm 3424, and the bearing of the linear bearing 3430 is connected to the guide link 3425 so that the guide link 3425 moves in the direction of the linear bearing 3430.

The installation side of the inscription slider 3423 is installed on the guide link 3425, and the movable side of the inscription slider 3423 is matched with the inner wall of the circular arc track 3421, so that the inscription slider 3423 drives the guide link 3425 to move along the inner wall of the circular arc track 3421. One end of the compression spring 3426 is fixed on the fixed end of the guide connecting arm 3424, and the other end of the compression spring 3426 is connected with the guide connecting rod 3425.

When the slider 3411 slides along the linear rail 3412, it always keeps in contact with the circular arc rail 3421. The sliding block 3411 receives a resistance force F against sliding. F simultaneously counteracts the circular arc track 3421 to enable the circular arc track 3421 to rotate around the track rotation center column 3422, and the moment is l. In this process, the resistance force F is transmitted to the compression spring 3426 via the inscribed slider 3423 and the guide link 3425. The compression spring 3426 is pressed to generate the elastic force F ₁, and the elastic moment is l ₁. Balancing the moment:

F·l=F₁·l₁；

Wherein the resistance force F is a function of the output stiffness of the translational stiffness varying mechanism 34 and the displacement amount delta thereof, and the elastic force F ₁ is a function of the stiffness of the compression spring 3426 and the displacement amount delta thereof. Therefore, the rigidity of the compression spring 3426 is constant, and the output rigidity of the translational rigidity-changing mechanism 34 can be changed by changing the elastic moment l ₁.

The elastic force moment l ₁ is changed in such a way that the translational rigidity-adjusting motor 3427 drives the driving bevel gear 3429 to be meshed with the driven bevel gear 3432 for transmission, and drives the internal connecting slide block 3423, the guide connecting rod 3425, the pressure spring 3426 and the linear bearing 3430 to rotate around the rigidity-adjusting rotation center column 3428. The stiffness of the translational stiffness varying mechanism 34 in this direction of motion is adjusted by changing the spring moment l ₁ in real time.

Example 2

As shown in fig. 12 to 14, the instant variable stiffness modular flexible base system provided in embodiment 2 of the present invention includes a flexible base input end 1 ', a rotational stiffness simulation platform 2', a first translational stiffness simulation platform 3 'and a second translational stiffness simulation platform 4', the structure of the flexible base input end 1 'is the same as that of the flexible base input end 1 of embodiment 1, and the structure of the rotational stiffness simulation platform 2' is the same as that of the rotational stiffness simulation platform 2 of embodiment 1, so that the specific structures of the flexible base input end 1 'and the rotational stiffness simulation platform 2' are not repeated.

The first translational rigidity simulation platform 3 'comprises a connecting frame 301, a platform supporting plate 302, a guide rail group 303 and a translational rigidity changing mechanism 304, wherein the connecting frame 301 is composed of two sectional materials 325 and two connecting bottom plates 326, the two connecting bottom plates 326 are arranged at intervals, a middle gap forms an installation space, the two sectional materials 325 are fixed on the two connecting bottom plates 326 and fixedly connected with the bottom of the supporting bottom plate 207 of the rotational rigidity simulation platform 2', a guide bearing piece of the guide rail group 303 is fixed on the platform supporting plate 302, a moving piece of the guide rail group 303 is fixedly connected with the bottoms of the two connecting bottom plates 326, and the translational rigidity changing mechanism 304 is installed on the platform supporting plate 302.

The translational rigidity-changing mechanism 304 comprises a top cone seat 305 and two translational rigidity-changing units 306 with the same structure, wherein top cone holes are respectively processed on two opposite surfaces of the top cone seat 305 and are used for installing a top cone 307, the two translational rigidity-changing units 306 are respectively abutted to the two top cones 307, the top cone seat 305 is fixed on the side surface of the profile 325, the profile 325 is subjected to forces in two directions, namely, the translational movement of the profile 325 is interfered by the two translational rigidity-changing units 306. The translational rigidity of the input end 1 of the flexible base is controllable and time-varying by changing the output rigidity of the translational rigidity-varying unit 306 in real time.

The translational rigidity-changing unit 306 comprises a translational rigidity-changing motor 308, a third coupler 309, a ball spline 310, a rotating shaft 311, a spring 312, a pedestal 313, a clamping piece 316, a bearing 320, a shaft sleeve 321 and an end cover 322, wherein the translational rigidity-changing motor 308 is fixed on a platform supporting plate 302 through a motor bracket 323, an output shaft of the translational rigidity-changing motor 308 is connected with a spline shaft of the ball spline 310 through the third coupler 309, a flange of the ball spline 310 is connected with the rotating shaft 311, the shaft sleeve 321 is sleeved at the end part of the rotating shaft 311, the spring 312 and the bearing 320 are respectively sleeved at two ends of the shaft sleeve 321, the end cover 322 is sleeved on the shaft sleeve 321 and is positioned at the outer side of the spring 312 and the bearing 320, the end cover 322 is abutted against the tip cone 307, an inner ring of the bearing 320 is contacted with the shaft sleeve 321, and an outer ring of the bearing 320 is contacted with the end cover 322; the pedestal 313 comprises a T-shaped base 314 and a sleeve 315 with an integral structure or a split structure, the T-shaped base 314 is fixedly arranged on the platform supporting plate 302 through a connecting block 324, the supporting and fixing of the sleeve 315 are realized, and the sleeve 315 is sleeved on the outer side of the spring 312; the clamping piece 316 comprises a clamping cone 317 and a clamping cone block 318 which are of an integral structure or a split structure, the clamping cone block 318 is fixed on the outer side of the sleeve 315 through a fastening bolt 319, and the clamping cone 317 passes through the sleeve 315 and then is clamped into the spring 312; the output shaft of the translational rigidity-adjusting motor 308 is controlled to rotate, and is sequentially transmitted to the spring 312 through the third coupler 309, the ball spline 310, the rotating shaft 311 and the shaft sleeve 321, the spring 312 is abutted against the clamping cone 317 to rotate in the radial direction, so that the effective number of turns of the spring 312 is changed, and the time-varying rigidity output of the end cover 322 to the tip cone seat 305 is realized.

In order to adjust the position of the clamping cone 317, waist-shaped holes for adjusting the position of the fastening bolt 319 are respectively formed in the clamping cone block 318 and the sleeve 315, and an avoidance hole is further formed in the sleeve 315, and the clamping cone 317 passes through the avoidance hole downwards and then is clamped into the spring 312.

Alternatively, the clamping member 316 may also be a limit bolt, in which an adjusting hole is formed in the sleeve 315, the head of the limit bolt is clamped at the outer side of the adjusting hole, and the screw of the limit bolt passes through the adjusting hole downwards and then is clamped into the spring 312, and is locked on the sleeve 315 by a nut.

The structure of the second translational rigidity simulation platform 4 ' is substantially the same as that of the first translational rigidity simulation platform 3', and the second translational rigidity simulation platform 4 ' includes a platform support plate 402, a translational guide rail set 403, and a translational rigidity-changing mechanism 404, but does not include a connection frame, and the principle of rigidity adjustment of the second translational rigidity simulation platform 4 ' is the same as that of the first translational rigidity simulation platform 3', so that a detailed description thereof is omitted. The top cone seat of the translational rigidity-changing mechanism 404 is fixed on the platform supporting plate 302, other structures of the translational rigidity-changing mechanism 404 are installed on the platform supporting plate 402, the guide bearing piece of the guide rail group 403 is fixed on the platform supporting plate 402, and the moving piece of the guide rail group 403 is fixedly connected with the bottom of the platform supporting plate 302.

The guide rail set 403 is arranged orthogonal to the guide rail set 303, that is, the second translational rigidity simulation platform 4 ' is perpendicular to the movement direction of the first translational rigidity simulation platform 3 ', and the translational freedom degrees perpendicular to the two movement directions of the flexible base input end 1 ' are adjusted through the translational rigidity changing mechanism of the first translational rigidity simulation platform 3 ' and the second translational rigidity simulation platform 4 '.

Example 3

As shown in fig. 15 to 17, the instant variable stiffness modular flexible base system provided in embodiment 3 of the present invention includes a flexible base input end 1 ", a rotational stiffness simulation platform 2", a first translational stiffness simulation platform 3 "and a second translational stiffness simulation platform 4", the structure of the flexible base input end 1 "is the same as that of the flexible base input end 1 of embodiment 1, and the structure of the rotational stiffness simulation platform 2" is the same as that of the rotational stiffness simulation platform 2 of embodiment 1, so that the specific structures of the flexible base input end 1 "and the rotational stiffness simulation platform 2" are not repeated.

The first translational rigidity simulation platform 3 ' comprises a transmission shaft 3-1, a platform supporting plate 3-2, a guide rail group 3-3 and a translational rigidity-changing mechanism 3-4, wherein a guide bearing part of the guide rail group 3-3 is arranged on the platform supporting plate 3-2, a moving part of the guide rail group 3-3 is fixedly connected with the bottom of a supporting bottom plate of the rotational rigidity simulation platform 2', the translational rigidity-changing mechanism 3-4 is connected with the supporting bottom plate through the transmission shaft 3-1, and the translational rigidity-changing mechanism 3-4 adjusts the self rigidity in a mode of changing pretightening force so as to realize the translational rigidity adjustment of the input end 1 '.

The translational rigidity-changing mechanism 3-4 comprises a rigidity-adjusting sliding block 3-4-1, a rigidity-adjusting guide rail 3-4-2, a spring steel wire rope 3-4-3, a fixed wheel 3-4-4, a guide wheel 3-4-5, a rope pressing wheel 3-4-6, a translational rope receiving wheel 3-4-7, a worm 3-4-8, a worm wheel 3-4-9, a bearing seat 3-4-10, a translational rigidity-adjusting motor 3-4-11 and a reversing wheel 3-4-12; wherein, the rigidity adjusting guide rail 3-4-2 is fixedly connected on the platform supporting plate 3-2 and parallel to the guide rail group 3-3, the rigidity adjusting slide block 3-4-1 linearly slides on the rigidity adjusting guide rail 3-4-2, and two ends of the transmission shaft 3-1 are respectively fixedly connected with the rigidity adjusting slide block 3-4-1 and the supporting bottom plate of the rotational rigidity simulation platform 2'.

The fixed wheels 3-4-4 and the translational rope collecting wheels 3-4-7 are positioned at one end of the rigidity adjusting guide rail 3-4-2, and the number of the rope pressing wheels 3-4-6 is two and are fixed at two ends of the rigidity adjusting sliding block 3-4-1; the guide wheel 3-4-5 is positioned at the other end of the rigid adjusting guide rail 3-4-2; one end of the spring wire rope 3-4-3 is fixed on the fixed wheel 3-4-4, and the other end of the spring wire rope 3-4-3 is fixed on the translational rope collecting wheel 3-4-7 after passing through one rope pressing wheel 3-4-6, the guide wheel 3-4-5 and the other rope pressing wheel 3-4-6 in sequence.

The translational rigidity-adjusting motor 3-4-11 is fixed on the platform supporting bottom plate 3-2, the output end of the translational rigidity-adjusting motor 3-4-11 is connected with the worm 3-4-8 through a coupler, the worm 3-4-8 is meshed with the worm wheel 3-4-9 arranged on the translational rigidity-adjusting wheel 3-4-7, the translational rigidity-adjusting motor 3-4-11 controls the rotation of the translational rigidity-adjusting wheel 3-4-7 through the cooperation of the worm 3-4-8 and the worm wheel 3-4-9, and then the spring steel wire rope 3-4-3 controls and adjusts the pretightening force exerted by the rigidity-adjusting sliding block 3-4-1 along the rigidity-adjusting guide rail 3-4-2.

A reversing wheel 3-4-12 for changing the direction of the spring wire rope 3-4-3 is arranged between the fixed wheel 3-4-4 and the rope pressing wheel 3-4-6, between the rope pressing wheel 3-4-6 and the guide wheel 3-4-5 and between the rope pressing wheel 3-4-6 and the translational rope collecting wheel 3-4-7.

The structure of the second translational rigidity simulation platform 4 ' is the same as that of the first translational rigidity simulation platform 3', and the principle of rigidity adjustment of the second translational rigidity simulation platform and the first translational rigidity simulation platform is the same naturally, so that the specific structure of the second translational rigidity simulation platform 4 ' is not repeated.

The second translational rigidity simulation platform 4 ' comprises a transmission shaft 4-1, a platform supporting plate 4-2, a guide rail group 4-3 and a translational rigidity-changing mechanism 4-4, wherein the guide rail group 4-3 and the guide rail group 3-3 are orthogonally arranged, namely, the second translational rigidity simulation platform 4 ' and the first translational rigidity simulation platform 3' are orthogonally arranged in the moving direction, the transmission shaft 4-1 is fixedly connected with the platform supporting plate 3-2, and the guide rail group 4-3 is connected between the platform supporting plate 4-2 and the platform supporting plate 3-2.

Because the guide rail group 3-3 is perpendicular to the movement direction of the guide rail group 4-3, the translational degree of freedom of the two movement directions perpendicular to the movement direction of the flexible base input end 1″ can be adjusted through the translational rigidity changing mechanism of the first translational rigidity simulation platform 3″ and the second translational rigidity simulation platform 4″.

The three embodiments detail the structure of the instant stiffness-variable modularized flexible base system with three different structures, and embodiments 1-3 all transmit motion through the input end of the flexible base, utilize the mechanical structure to transmit and convert the motion to the stiffness-variable mechanism, and are interfered by the stiffness-variable mechanism, and the stiffness of the flexible base in the motion freedom degree can be adjusted in real time by changing the stiffness of the stiffness-variable mechanism in real time, and then the stiffness at the input end of the flexible base can be controlled through stiffness conversion. In this way, the stiffness of the boom is simulated as varying in real time during movement.

While embodiments of the present invention have been illustrated and described above, it will be appreciated that the above described embodiments are illustrative and should not be construed as limiting the invention. Variations, modifications, alternatives and variations of the above-described embodiments may be made by those of ordinary skill in the art within the scope of the present invention.

The above embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.

Claims (14)

1. The instant rigidity-changing modularized flexible base system is characterized by comprising a flexible base input end, a rotational rigidity simulation platform and a translational rigidity simulation platform; wherein,

The rotation rigidity simulation platform comprises a support frame, a rotation transmission mechanism and a rotation rigidity changing mechanism, wherein the input end of the flexible base and the rotation rigidity changing mechanism are respectively arranged on the support frame, the input end of the flexible base is connected with the rotation rigidity changing mechanism, rotation input by the input end of the flexible base is transmitted to the rotation rigidity changing mechanism, the rotation rigidity changing mechanism is connected with the rotation transmission mechanism and is used for adjusting the rigidity of the rotation transmission mechanism in a mode of changing the position of a supporting point, so that the adjustment of the rotation rigidity of the input end of the flexible base is realized;

The translational rigidity simulation platform comprises a first transmission shaft, a first platform supporting plate, a first guide rail group and a first translational rigidity-changing mechanism, wherein a guide bearing piece of the first guide rail group is arranged on the first platform supporting plate, a moving piece of the first guide rail group is fixedly connected with the bottom of the supporting frame, the first translational rigidity-changing mechanism is connected with the supporting frame through the first transmission shaft, and the first translational rigidity-changing mechanism is used for adjusting self rigidity in a moment-changing mode to realize the adjustment of translational rigidity of the input end of the flexible base;

Or the translational rigidity simulation platform comprises a connecting frame, a second platform supporting plate, a second guide rail group and a second translational rigidity-changing mechanism, wherein the connecting frame is connected below the supporting frame, a bearing guide piece of the second guide rail group is arranged on the second platform supporting plate, a moving piece of the second guide rail group is fixedly connected with the bottom of the connecting frame, the second translational rigidity-changing mechanism is arranged on the second platform supporting plate and is fixedly connected with the connecting frame, and the second translational rigidity-changing mechanism is used for adjusting the self rigidity in a mode of changing the effective number of turns of a spring so as to realize the adjustment of the translational rigidity of the input end of the flexible base;

Or the translational rigidity simulation platform comprises a second transmission shaft, a third platform supporting plate, a third guide rail group and a third translational rigidity-changing mechanism, wherein a guide bearing part of the third guide rail group is arranged on the third platform supporting plate, a moving part of the third guide rail group is fixedly connected with the bottom of the supporting frame, the third translational rigidity-changing mechanism is connected with the supporting frame through the second transmission shaft, and the third translational rigidity-changing mechanism is used for adjusting self rigidity in a mode of changing pretightening force so as to realize adjustment of translational rigidity of an input end of the flexible base.

2. The instant variable stiffness modular flexible base system of claim 1, wherein the rotation transfer mechanism comprises a first coupling and a flexible frame comprising a frame body having a connecting shaft formed on a surface thereof and three pairs of 120 degree distributed flexible sheets formed on a side of the frame body, the connecting shaft being connected to the flexible base input through the first coupling.

3. The instant variable stiffness modular flexible base system of claim 2, wherein the support frame comprises a flexible base top cover plate, a support bottom plate, and a connecting plate, the support bottom plate being fixedly connected below the flexible base top cover plate by the connecting plate;

The rotary rigidity-changing mechanism comprises three roller slide block assemblies, a retainer, a rotary rigidity-adjusting motor, a second coupler, a pinion with a shaft and a large gear with a shaft; wherein,

The retainer is fixed on the supporting bottom plate through a support column and is positioned below the flexible framework, three long strip-shaped sliding holes distributed at 120 degrees are formed in the retainer, and a boss is formed on the inner wall of each long strip-shaped sliding hole;

The three roller slide block assemblies comprise a pressing block, a roller, a meshing slide block, a rack slide block and a linear guide rail, wherein the pressing block is fixed on the meshing slide block, the roller is rotationally connected with the pressing block and positioned between two opposite flexible sheets, an inclined sliding groove is formed in the bottom surface of the meshing slide block, a straight sliding groove which is in sliding fit with the boss is formed in the side surface of the meshing slide block, an inclined protrusion which is in sliding fit with the inclined sliding groove is arranged on the top surface of the rack slide block, and a straight rack is formed in the side surface of the rack slide block; the guide bearing piece of the linear guide rail is fixed on the supporting bottom plate, and the rack sliding block is fixed on the moving piece of the linear guide rail;

The rotating rigidity-adjusting motor is fixed on the bottom surface of the supporting bottom plate, an output shaft of the rotating rigidity-adjusting motor is connected with the shaft-carrying pinion through the second coupler, the shaft-carrying big gear is rotationally connected with the supporting bottom plate, and the shaft-carrying big gear is respectively meshed with the straight rack and the shaft-carrying pinion;

the meshing sliding block is driven by the rotation rigidity-adjusting motor to linearly slide along the strip-shaped sliding hole of the retainer, so that the position of a supporting point where the roller contacts with two opposite flexible sheets is changed, and the rigidity of the rotation transmission mechanism is adjusted.

4. The instant variable stiffness modular flexible base system of claim 3, wherein the flexible base input comprises a triangular connection frame and a U-shaped frame, the triangular connection frame being positioned above the U-shaped frame, the triangular connection frame having connection holes for connection to a power source; the U-shaped frame comprises a flexible base top cover plate, a U-shaped frame body, a first coupler and a second coupler, wherein a table edge is outwards formed at two ends of the U-shaped frame body, the table edge is fixed on the flexible base top cover plate through screws, a rolling bearing is installed at the bottom of the U-shaped frame body, a rotating shaft is fixedly connected with the other end of the first coupler, the rotating shaft is fixedly connected with the triangular connecting frame body, and the rotating shaft is in running fit with the U-shaped frame body through the rolling bearing.

5. The instant variable stiffness modular flexible base system according to claim 3, wherein the first translational variable stiffness mechanism comprises a sliding assembly and two translational variable stiffness adjusting units symmetrically arranged with the sliding assembly as a center, and the two translational variable stiffness adjusting units are respectively in close contact with the sliding assembly, so that the translational stiffness of the input end of the flexible base is adjusted in real time by the sliding assembly.

6. The instant variable stiffness modular flexible base system of claim 5, wherein the translational variable stiffness adjustment unit comprises a circular arc track, a track revolution center post, an inscribed slider, a guide connecting arm, a guide connecting rod, a compression spring, a first translational rigid adjustment motor, a rigid adjustment revolution center post, a drive bevel gear, a driven bevel gear, and a linear bearing; wherein,

The track rotation center column is fixed on the first platform supporting plate; one end of the arc track is tightly contacted with the sliding component, and the other end of the arc track is fixedly connected with the track rotation center column, so that the sliding component extrudes the arc track, and the arc track rotates around the track rotation center column;

The rigidity-adjusting rotation center column and the first translational rigidity-adjusting motor are arranged on the first platform supporting plate, the driving bevel gear is arranged at the output end of the first translational rigidity-adjusting motor, the driven bevel gear is sleeved on the rigidity-adjusting rotation center column and meshed with the driving bevel gear, and the first translational rigidity-adjusting motor drives the output end of the rigidity-adjusting rotation center column to rotate through the meshing of the driving bevel gear and the driven bevel gear;

the fixed end of the guide connecting arm is fixedly connected with the output end of the rigidity-adjusting rotary center column, and the movable end of the guide connecting arm is provided with a mounting piece for mounting the guide connecting rod;

One end of the linear bearing is fixed on the guide connecting arm, and the other end of the linear bearing is connected with the guide connecting rod, so that the guide connecting rod can be subjected to telescopic adjustment along the linear bearing;

one side of the inscription sliding block is arranged on the guide connecting rod; the other side of the inscription slide block is matched with the inner wall of the circular arc track, so that the inscription slide block drives the guide connecting rod to move along the inner wall of the circular arc track;

One end of the pressure spring is fixed on the fixed end of the guide connecting arm, the other end of the pressure spring is connected with the guide connecting rod, so that the first translational rigidity adjusting motor is used for controlling the rigidity adjusting rotation center column in real time, adjusting the moment of the pressure spring and matching with the expansion and contraction of the pressure spring, and further realizing the real-time adjustment of translational rigidity of the sliding component to the input end of the flexible base.

7. The instant variable stiffness modular flexible base system of claim 6, wherein the sliding assembly comprises a sliding block and a linear sliding rail which are in sliding fit, the linear sliding rail is fixed on the first platform supporting plate, one end of the first transmission shaft is fixed on the sliding block, the other end of the first transmission shaft is fixedly connected with the supporting bottom plate, a pinch roller is sleeved on the first transmission shaft, one end of the circular arc rail is in tight contact with the pinch roller, and when the first transmission shaft drives the sliding block to translate on the linear sliding rail, the pinch roller rolls and extrudes the circular arc rail to enable the circular arc rail to rotate around the rail revolution center column.

8. The instant variable stiffness modular flexible base system according to claim 1, wherein the second translational variable stiffness mechanism comprises a tip cone seat and two translational variable stiffness units, the tip cone seat is fixedly connected to the side surface of the connecting frame, and the two translational variable stiffness units are respectively propped against two sides of the tip cone seat through a tip cone; the two translational rigidity-changing units comprise a second translational rigidity-adjusting motor, a third coupler, a ball spline, a rotating shaft, a spring, a pedestal, a clamping piece, a bearing, a shaft sleeve and an end cover, wherein the second translational rigidity-adjusting motor is fixed on the second platform supporting plate, an output shaft of the second translational rigidity-adjusting motor is connected with a spline shaft of the ball spline through the third coupler, a flange of the ball spline is connected with the rotating shaft, the shaft sleeve is sleeved at the end part of the rotating shaft, the spring and the bearing are respectively sleeved at two ends of the shaft sleeve, the end cover is sleeved at the outer sides of the spring and the bearing, and top taper holes matched with the top taper are respectively formed on the end cover and the top taper seat; the pedestal comprises a T-shaped base and a sleeve, the T-shaped base is mounted on the second platform supporting plate and is fixedly connected with the sleeve, the sleeve is sleeved on the outer side of the spring, the clamping piece is fixedly connected with the sleeve and is clamped into the spring, the rotation of an output shaft of the second translational rigidity-adjusting motor is controlled, the rotation of the output shaft of the second translational rigidity-adjusting motor is sequentially transmitted to the spring through a third coupler, the rotation shaft and the shaft sleeve, the spring is abutted against the clamping piece to rotate along the radial direction, the effective number of turns is changed, and the translational rigidity of the input end of the flexible base is adjusted.

9. The instant variable stiffness modular flexible base system of claim 8, wherein the clamping piece is a limit bolt, an adjusting hole for adjusting the position of the limit bolt is formed in the sleeve, the head of the limit bolt is clamped at the outer side of the adjusting hole, and a screw rod of the limit bolt passes through the adjusting hole downwards and is clamped into the spring.

10. The instant variable stiffness modularized flexible base system according to claim 8, wherein the clamping piece comprises a clamping cone and a clamping cone block, the clamping cone and the clamping cone block are of an integrated structure or a split structure, the clamping cone block is fixed on the sleeve through a fastening bolt, waist-shaped holes for adjusting positions of the fastening bolt are respectively formed in the clamping cone block and the sleeve, avoidance holes are further formed in the sleeve, and the clamping cone is clamped into the spring after downwards penetrating through the avoidance holes.

11. The instant variable stiffness modular flexible base system of claim 3, wherein the third translational variable stiffness mechanism comprises a stiffening slider, a stiffening rail, a spring wire, a fixed sheave, a guide sheave, a translational sheave, a worm gear, a bearing housing, a fourth coupling, and a third translational stiffening motor; wherein,

The rigidity adjusting guide rail is fixedly connected to the third platform supporting plate and parallel to the third guide rail group, the rigidity adjusting sliding block linearly slides on the rigidity adjusting guide rail, and two ends of the second transmission shaft are respectively and fixedly connected with the rigidity adjusting sliding block and the supporting bottom plate;

The fixed wheels and the translational rope collecting wheels are positioned at one end of the rigidity adjusting guide rail, and the number of the rope pressing wheels is not less than two and is fixed at two ends of the rigidity adjusting sliding block; the guide wheel is positioned at the other end of the rigidity adjusting guide rail; one end of the spring wire rope is fixed on the fixed wheel, and the other end of the spring wire rope is fixed on the translational rope collecting wheel after passing through one rope pressing wheel, the guide wheel and the other rope pressing wheel in sequence;

the third translational rigidity adjusting motor and the bearing seat are respectively fixed on the third platform supporting plate, the output end of the third translational rigidity adjusting motor is connected with one end of the worm through the fourth coupler, the other end of the worm is rotationally connected with the bearing seat, the worm wheel is sleeved on the translational steel collecting wheel and meshed with the worm, rotation output by the third translational rigidity adjusting motor is transmitted to the translational steel collecting wheel through the cooperation of the worm and the worm wheel, and then the spring steel wire rope is used for controlling pretightening force born by the rigidity adjusting sliding block in a linear sliding mode along the rigidity adjusting guide rail, so that rigidity translational adjustment of the input end of the flexible base is realized.

12. The instant variable stiffness modular flexible base system of claim 11, wherein a reversing wheel for changing the direction of the spring wire rope is disposed between the fixed wheel and the sheave, between the sheave and the guide wheel, and between the sheave and the translational sheave.

13. The instant variable stiffness modular flexible base system of claim 1, wherein the number of translational stiffness analog platforms is at least two, and the translational stiffness analog platforms are vertically distributed and connected to each other, and the movement directions of the first guide rail group or the second guide rail group or the third guide rail group of each translational stiffness analog platform are different.

14. The instant variable stiffness modular flexible base system of claim 13, wherein the number of translational stiffness analog platforms is two, and the direction of motion of the first or second or third set of rails of the two translational stiffness analog platforms is perpendicular.