阅读说明：本技术 一种复合硬度软体机器人模块单元 (Composite hardness soft robot module unit ) 是由 张宇 董国琦 李东洁 于 2021-08-27 设计创作，主要内容包括：一种复合硬度软体机器人模块单元,包含弹性变形体、非金属硬质主动体、非金属硬质被动体和直线型连接机构；非金属硬质主动体的外侧面和非金属硬质被动体的外侧面分别具有数量相一致的多个平面,非金属硬质主动体内布置有与所述平面数量相一致的直线型连接机构,直线型连接机构的输出部从非金属硬质主动体的平面的中部伸出和缩回,相邻模块单元对接时,输出部伸出与对接部相连锁紧,相邻模块单元断开时,输出部脱离对接部并缩回；弹性变形体内的中部设有向两端延伸的多个直内腔,多个直内腔沿同一圆周均布设置,弹性变形体内位于多个直内腔的两端分别设有双螺旋内腔。本发明模块单元结构紧凑,运动灵活性好,可完成多种机器人构型的重构。(A composite hardness soft robot module unit comprises an elastic deformation body, a non-metal hard driving body, a non-metal hard driven body and a linear type connecting mechanism; the outer side surface of the non-metal hard driving body and the outer side surface of the non-metal hard driven body are respectively provided with a plurality of planes with the same number, linear connecting mechanisms with the same number as the planes are arranged in the non-metal hard driving body, the output parts of the linear connecting mechanisms extend out of and retract back from the middle parts of the planes of the non-metal hard driving body, when adjacent module units are butted, the output parts extend out to be connected and locked with the butted parts, and when the adjacent module units are disconnected, the output parts are separated from the butted parts and retract back; the middle part in the elastic deformation body is provided with a plurality of straight inner chambers extending to two ends, the straight inner chambers are uniformly distributed along the same circumference, and two ends of the elastic deformation body, which are positioned in the straight inner chambers, are respectively provided with double-spiral inner chambers. The modular unit of the invention has compact structure and good movement flexibility, and can complete the reconstruction of various robot configurations.)

1. A compound hardness software robot module unit which characterized in that: comprises an elastic deformation body (1), a non-metal hard driving body (2), a non-metal hard driven body (3) and a linear type connecting mechanism (4);

elastic deformation bodies (1) connected with the nonmetal hard driving body (2) and the nonmetal hard driven body (3) are arranged between the nonmetal hard driving body (2) and the nonmetal hard driven body (3), the outer side surface of the nonmetal hard driving body (2) and the outer side surface of the nonmetal hard driven body (3) are respectively provided with a plurality of planes with the same number, linear connecting mechanisms (4) with the same number as the planes are arranged in the nonmetal hard driving body (2), the middle part of each plane of the nonmetal hard driven body (3) is provided with a butt joint part (C), an output part (B) of each linear connecting mechanism (4) can extend out of and retract from the middle part of the plane of the nonmetal hard driving body (2), when adjacent module units are butted, the output part (B) extends out to be connected and locked with the butt joint part (C), and when the adjacent module units are disconnected, the output part (B) is separated from the butt joint part (C) and retracts; the middle part in the elastic deformation body (1) is provided with a plurality of straight inner cavities (1-1) extending towards two ends, the straight inner cavities (1-1) are uniformly distributed along the same circumference, the straight inner cavities (1-1) are respectively provided with an external air pipe, two double-spiral inner cavities (1-2) are respectively arranged at two ends of the straight inner cavities (1-1) in the elastic deformation body (1), the external air pipes are arranged on the double-spiral inner cavities (1-2), the straight inner cavities (1-1) are not communicated with the double-spiral inner cavities (1-2), and the hardness of the non-metal hard driving body (2) and the hardness of the non-metal hard driven body (3) are both greater than that of the elastic deformation body (1).

2. The composite hardness soft robot modular unit of claim 1, wherein: each linear connecting mechanism (4) comprises a base (4-1), a motor (4-2) and an external threaded rod (4-3);

the motor (4-2) is installed on the base (4-1), the motor (4-2) is limited in the circumferential direction, the base (4-1) is arranged in the hard driving body (2) in a sliding mode along the axial direction of the motor, an output part (B) connected with the output end of the motor (4-2) is an external threaded rod (4-3), a butt joint part (C) pointing to a plane is arranged in the hard driving body (2), the butt joint part (C) is a threaded hole (2-0), the external threaded rod (4-3) is in threaded fit with the threaded hole (2-1), the external threaded rod (4-3) can retract and extend out of the threaded hole (2-0) under the driving of the motor (4-2), the butt joint part on the plane of the hard driven body (3) is an internal threaded hole (3-0), and when adjacent module units are in butt joint, the motor (4-2) drives the external thread rod (4-3) to be screwed into the internal thread hole (3-0), and when the adjacent module unit is disconnected, the motor (4-2) drives the external thread rod (4-3) to be separated from the internal thread hole (3-0).

3. The composite hardness soft robot modular unit of claim 2, wherein: magnets (5) with opposite magnetism are embedded in the plane of the non-metal hard driving body (2) and the plane of the non-metal hard driven body (3) respectively.

4. The composite hardness soft robot module unit according to claim 2 or 3, wherein: the nonmetal elastic deformation body (1) is made of low-hardness silica gel.

5. The composite hardness soft robot module unit of claim 4, wherein: the nonmetal hard driving body (2) and the nonmetal hard driven body (3) are both made of high-hardness silica gel.

6. The composite hardness soft robot modular unit of claim 2, wherein: the nonmetal hard driving body (2) and the nonmetal hard driven body (3) are respectively provided with 5 planes, any two adjacent planes in the nonmetal hard driving body (2) are vertical, and any two adjacent planes in the nonmetal hard driven body (3) are vertical.

7. The composite hardness soft robot modular unit of claim 2, wherein: the nonmetal hard driving body (2) comprises a hard driving connecting piece I (2-1) and a hard driving connecting piece II (2-2); the hard driving connecting piece I (2-1) and the hard driving connecting piece II (2-2) are straight parallelepipeds, one side surface of the hard driving connecting piece II (2-2) is connected with the elastic deformation body (1), the hard driving connecting piece II (2-2) is butted with the hard driving connecting piece I (2-1) to form a regular hexahedron, a threaded hole (2-0) pointing to other planes is arranged in the hard driving connecting piece II (2-2), linear connecting mechanisms (4) with the same number as the other planes are arranged in the hard driving connecting piece II (2-2), the linear connecting mechanisms (4) are arranged in the hard driving connecting piece I (2-1), the middle part of the side surface of the hard driving connecting piece I (2-1) opposite to the elastic deformation body (1) is provided with a threaded hole (2-0), the output part (B) of the linear type connecting mechanism (4) can extend out of and retract back from the threaded hole (2-0), and magnets (5) are arranged on the rest planes of the hard driving connecting piece II (2-2) and the rest planes of the hard driving connecting piece I (2-1).

8. The composite hardness soft robot module unit according to claim 2 or 7, wherein: the nonmetal hard passive body (3) comprises a hard passive connecting piece I (3-1) and a hard passive connecting piece II (3-2); the hard passive connecting piece I (3-1) and the hard passive connecting piece II (3-2) are both straight parallelepipeds, one side surface of the hard passive connecting piece II (3-2) is connected with the elastic deformation body (1), the hard passive connecting piece II (3-2) is in butt joint with the hard passive connecting piece I (3-1) to form a regular hexahedron, the other side surfaces of the hard passive connecting piece II (3-2) are provided with internal thread holes (3-0), the middle part of the side surface, opposite to the elastic deformation body (1), on the hard passive connecting piece I (3-1) is provided with the internal thread holes (3-0), and magnets (5) are arranged on the other planes of the hard passive connecting piece I (3-1) and the other planes of the hard passive connecting piece II (3-2).

9. The composite hardness soft robot modular unit of claim 8, wherein: when the double-helix driving inner cavities (1-2) on any side are respectively or simultaneously filled with air pressure, the elastic deformation body (1) is in a torsional state.

10. The composite hardness soft robot modular unit of claim 8, wherein: when air pressure is introduced into any two driving inner cavities (1-1) and any one spiral driving inner cavity (1-2) in a combined mode, and the air pressure of the two driving inner cavities (1-1) is different, the elastic deformation body (1) is in a bending and twisting state.

Technical Field

The invention relates to a robot module unit, in particular to a composite hardness soft robot module unit.

Background

The modularized robot consists of a plurality of module units with the same structure and similar functions, and the robots with various configurations are formed by changing the mutual connection among the modules. With the rapid development of new materials and 3D printing technologies, the development of the modularized robot is promoted, and the software modularized robot comes along. The soft material is used for replacing a rigid material, and the multi-degree-of-freedom movement and continuous deformation capacity are realized, however, the existing robot module has poor connection capacity, flexible structure and high quality.

Disclosure of Invention

The invention provides a composite hardness soft robot module unit for overcoming the prior art. The module unit has compact structure and good motion flexibility.

A composite hardness soft robot module unit comprises an elastic deformation body, a non-metal hard driving body, a non-metal hard driven body and a linear type connecting mechanism;

an elastic deformation body connected with the nonmetal hard driving body and the nonmetal hard driven body is arranged between the nonmetal hard driving body and the nonmetal hard driven body, the outer side surface of the nonmetal hard driving body and the outer side surface of the nonmetal hard driven body are respectively provided with a plurality of planes with the same number, linear connecting mechanisms with the same number as the planes are arranged in the nonmetal hard driving body, the middle part of each plane of the nonmetal hard driven body is provided with a butt joint part, an output part of each linear connecting mechanism extends out of and retracts back from the middle part of the plane of the nonmetal hard driving body, when adjacent module units are in butt joint, the output part extends out to be connected with the butt joint part for locking, and when the adjacent module units are disconnected, the output part is separated from the butt joint part and retracts back; the middle part in the elastic deformation body is provided with a plurality of straight inner chambers extending to two ends, the straight inner chambers are uniformly distributed along the same circumference, the straight inner chambers are respectively provided with an external air pipe, two ends of the elastic deformation body, which are positioned in the straight inner chambers, are respectively provided with double-spiral inner chambers, the double-spiral inner chambers are provided with external air pipes, the straight inner chambers and the double-spiral inner chambers are not communicated, and the hardness of the non-metal hard driving body and the non-metal hard driven body is greater than that of the elastic deformation body.

Compared with the prior art, the invention has the beneficial effects that:

the invention adopts the hard driving body and the hard driven body as the basic structure of the connecting piece, thereby enhancing the connecting performance and reliability; the elastic deformation body is used as a deformation main body, so that the deformation capacity is improved, air pressure is provided for the driving inner cavity and the double-bolt inner cavity, the extension, bending and torsion motions of the elastic deformation body can be realized, the module unit moves flexibly, and the unstructured environment can be better adapted; the output part of the hard driving body and the butt joint part of the hard driven body are used for realizing the connection and locking of the adjacent module units, so that the connection between the module units is more reliable; and the method can automatically form diversified connections and complete the reconstruction of various robot configurations.

The technical scheme of the invention is further explained by combining the drawings and the embodiment:

drawings

FIG. 1 is a perspective view of the present invention from one direction;

FIG. 2 is a perspective view of the present invention from another direction;

FIG. 3 is an exploded view of the present invention;

fig. 4 is a perspective view of an elastic deformation body;

FIG. 5 is a front view of the elastic deformation body;

FIG. 6 is a side view of FIG. 5;

FIG. 7 is a sectional view taken along line A-A of FIG. 5

FIG. 8 is a front sectional view of an elastic deformation body;

fig. 9 is a perspective view of the hard active body viewed from one direction;

fig. 10 is a perspective view of the hard active body viewed from another direction;

FIG. 11 is an exploded view of the rigid active body as viewed from one direction;

FIG. 12 is an exploded view of the rigid active body viewed from another direction;

FIG. 13 is an exploded view of the linear linkage mechanism and the rigid active link in an arrangement in one direction in the embodiment;

FIG. 14 is an exploded view of the arrangement relationship between the linear type connecting mechanism and the rigid active connecting member II as seen from another direction in the embodiment;

FIG. 15 is an exploded view of the arrangement relationship between the linear type connecting mechanism and the rigid active connecting member II as seen from another direction in the embodiment;

FIG. 16 is a view showing a structure of a hard driven member in the embodiment;

FIG. 17 is an exploded view of the arrangement relationship between the first rigid passive connecting member and the second rigid passive connecting member in the embodiment;

FIG. 18 is a schematic view of a first embodiment of a rigid passive connector;

FIG. 19 is a schematic diagram showing the distribution of the pneumatic pressure driving in the inner cavity of the elastic deformation body in the embodiment.

Detailed Description

As shown in fig. 1-8, a composite hardness soft robot module unit comprises an elastic deformation body 1, a non-metal hard driving body 2, a non-metal hard driven body 3 and a linear connecting mechanism 4;

an elastic deformation body 1 connected with the nonmetal hard driving body 2 and the nonmetal hard driven body 3 is arranged between the nonmetal hard driving body 2 and the nonmetal hard driven body 3, the outer side surface of the nonmetal hard driving body 2 and the outer side surface of the nonmetal hard driven body 3 are respectively provided with a plurality of planes with the same number, linear connecting mechanisms 4 with the same number as the planes are arranged in the nonmetal hard driving body 2, the middle part of each plane of the nonmetal hard driven body 3 is provided with a butt joint part C, an output part B of each linear connecting mechanism 4 can extend out of and retract back from the middle part of the plane of the nonmetal hard driving body 2, when adjacent module units are in butt joint, the output part B extends out of and is connected and locked with the butt joint part C, and when the adjacent module units are disconnected, the output part B is separated from the butt joint part C and retracts back; the middle part in the elastic deformation body 1 is provided with a plurality of straight inner cavities 1-1 extending towards two ends, the straight inner cavities 1-1 are uniformly distributed along the same circumference, the straight inner cavities 1-1 are respectively provided with an external air pipe, two ends of the elastic deformation body 1, which are positioned at the straight inner cavities 1-1, are respectively provided with a double-spiral inner cavity 1-2, the double-spiral inner cavities 1-2 are provided with external air pipes, the straight inner cavities 1-1 and the double-spiral inner cavities 1-2 are not communicated, and the hardness of the non-metal hard driving body 2 and the non-metal hard driven body 3 is greater than that of the elastic deformation body 1.

In general, in order to ensure the alignment of adjacent module units, as shown in fig. 9 and 16, corresponding magnets 5 with opposite magnetism are respectively embedded on the plane of the non-metal rigid driving body 2 and the plane of the non-metal rigid driven body 3, so that when the output part B is connected and locked with the butt joint part C, the magnets 5 with opposite magnetism are firstly adopted to align the non-metal rigid driving body 2 and the non-metal rigid driven body 3, thereby realizing the butt joint locking of the adjacent module units.

The elastic deformation body 1 adopts a plurality of straight inner cavities 1-1 and two sets of double-bolt inner cavities 1-2, and adopts different combinations to drive the straight inner cavities 1-1 and the double-spiral inner cavities 1-2 to complete omnidirectional bending and twisting motion, so that the motion flexibility of the module unit is improved, and the requirements of an unstructured environment are better met. The simple spiral inner cavity structure is adopted, the anti-stretching and anti-shearing capabilities among the modules are realized, and the connection among the module units is more reliable.

For convenience of explanation: as shown in fig. 5-8 and 19, the plurality of straight inner cavities 1-1 with the same structure are defined as three straight inner cavities, namely a first straight inner cavity 1-11, a second straight inner cavity 1-12 and a third straight inner cavity 1-13; two sets of double-spiral inner cavities 1-2 with the same structure and symmetrical arrangement are defined: the first helical lumen 1-21 and the second helical lumen 1-22 form a set, and the third helical lumen 1-23 and the fourth helical lumen 1-24 form a set.

In the first case: only driving the straight inner cavity 1-1 and not driving the spiral inner cavity 1-2

(1) Driving a straight air cavity 1-1: when only one straight air cavity 1-1 is driven, the silica gel main body generates unidirectional bending motion due to different strains to be generated at two sides;

(2) the two straight air cavities 1-1 are driven: when the two straight inner cavities 1-1 are driven simultaneously, the bending is generated because of different strains; when the internal pressure intensities of the two air cavities are the same, the two air cavities 1-1 perform bending motion on the central line, and when the internal pressure intensities of the two air cavities 1-1 are different, the elastic deformation body 1 can perform bending motion between the axes of the two inner cavities;

(3) the three straight air cavities 1-1 are driven: when the internal pressure intensities of the three straight air cavities 1-1 are the same, the elastic deformation body 1 does not bend but generates axial body length movement; when the internal pressure intensities of the three straight air cavities 1-1 are different, bending motion among the axes of the three straight inner cavities 1-1 is generated, and 360-degree omnidirectional bending can be realized;

to sum up: the straight inner chamber 1-1 of the central region of the elastically deformable body 1 is driven, mainly to produce a large movement, i.e. a bending movement, or an elongation movement.

In the second case: only drives the spiral inner cavity 1-2 and does not drive the straight inner cavity 1-1

(1) Only one helical lumen is driven: taking the driving of the first spiral inner cavity 1-21 as an example, the first spiral inner cavity 1-21 is spiral, and under the driving of pressure intensity, a torsion force is generated, and mainly a torsion motion is exhibited;

(2) only two spiral cavities are driven: taking driving the first spiral inner cavity 1-21 and the second spiral inner cavity 1-22 as an example, as the inner cavities are spiral, under the driving of pressure intensity, a pair of twisting forces can be generated to form a twisting moment, and the elastic deformation body 1 shows twisting motion;

to sum up: the spiral inner cavities 1-2 of the left and right parts of the elastic deformation body 1 are driven to mainly generate surface twisting motion, and the elastic deformation body is suitable for precise operation.

In the third case: the straight air cavity 1-1 and the spiral inner cavity 1-2 are driven simultaneously

(1) When driving a spiral inner cavity and a straight air cavity: taking the first straight air cavity 1-11 and the first spiral inner cavity 1-21 as examples, the first straight air cavity 1-11 and the first spiral inner cavity 1-21 can be driven simultaneously or respectively, and finally the elastic deformation body 1 achieves the same pose. When the first straight air cavity 1-11 is driven, the elastic deformation body 1 generates bending motion, then the first spiral inner cavity 1-21 is driven, the tail end of the elastic deformation body 1 generates torsion motion, and the two motions are matched, so that more accurate motion can be realized.

(2) When driving a spiral inner cavity and two straight air cavities: taking the first straight inner cavity 1-11, the second straight inner cavity 1-12 and the first spiral inner cavity 1-21 as an example, when the first straight inner cavity 1-11 and the second straight inner cavity 1-12 are driven, the elastic deformation body 1 can generate bending motion between two air cavity axes, and then the first spiral inner cavity 1-21 is driven, and the tail end of the elastic deformation body 1 generates twisting motion.

(3) When driving a spiral air cavity and three straight inner cavities: taking the first straight inner cavity 1-11, the second straight inner cavity 1-12, the third straight inner cavity 1-13 and the first spiral inner cavity 1-21 as an example, when the first straight inner cavity 1-11, the second straight inner cavity 1-12 and the third straight inner cavity 1-13 are driven, an extension motion or an omnidirectional bending motion can be generated, then the first spiral inner cavity 1-21 is driven, and the tail end of the elastic deformation body 1 generates a twisting motion.

(4) When two spiral cavities and one straight cavity are driven, the motion is similar to that of driving one spiral cavity and one straight cavity, but the torsion moment formed by the two spiral cavities is larger, and the generated torsion angle is also larger.

To sum up: the straight air cavity 1-1 and two sets of spiral inner cavities 1-2 of the elastic deformation body 1 are matched with each other, large-angle bending motion or large-distance extension motion can be generated through the straight inner cavity 1-1, the spiral inner cavities can generate torsion, the two types of motion are matched to realize accurate motion of the tail end of the elastic deformation body 1 after large motion, and meanwhile, the mutual butt joint capacity among module units can be ensured.

Preferably, the material of the non-metal elastic deformation body 1 is low-hardness silica gel. The nonmetal hard driving body 2 and the nonmetal hard driven body 3 are both made of high-hardness silica gel. The silica gel material is adopted as the soft material, so that the weight is light, the cost is low, the movement is flexible, and the non-structural environment can be better adapted. Generally, the elastic deformation body 1 has a cylindrical shape in outer shape. The non-metal hard driving body 2 and the non-metal hard driven body 3 are respectively connected with the non-metal elastic deformation body 1 in a bonding mode. When the double-spiral inner cavities 1-2 on any side are respectively or simultaneously filled with air pressure, the elastic deformation body 1 is in a torsional state. When air pressure is introduced into any two straight inner cavities 1-1 and any one spiral inner cavity 1-2 in a combined mode, and the air pressure of the two straight inner cavities 1-1 is different, the elastic deformation body 1 is in a bending and twisting state.

Further, as shown in FIGS. 1 to 3, 9 to 10 and 16, each of the linear connection mechanisms 4 comprises a base 4-1, a motor 4-2 and an externally threaded rod 4-3; the motor 4-2 is arranged on the base 4-1, the motor 4-2 is limited in the circumferential direction, the base 4-1 is arranged in the hard driving body 2 in a sliding manner along the axial direction of the motor, an output part B connected with the output end of the motor 4-2 is an external threaded rod 4-3, a butting part C pointing to the plane is arranged in the hard driving body 2, the butting part C is a threaded hole 2-0, the external threaded rod 4-3 is in threaded fit with the threaded hole 2-1, the external threaded rod 4-3 can be retracted and extended out of the threaded hole 2-0 under the driving of the motor 4-2, a butting part on the plane of the hard driven body 3 is an internal threaded hole 3-0, when adjacent module units are butted, the external threaded rod 4-3 is driven by the motor 4-2 to be screwed into the internal threaded hole 3-0, when the adjacent module units are disconnected, the motor 4-2 drives the external thread rod 4-3 to be separated from the internal thread hole 3-0.

In the embodiment, the connection and locking of the non-metal hard driving body 2 and the non-metal hard driven body 3 are realized by adopting the thread matching of the external thread rod 4-3 and the internal thread hole 3-0, and the connection of the adjacent module units is realized. The working principle is as follows: the motor 4-2 is fixed on the base 4-1, so that the motor does not rotate; the output end of a motor 4-1 is connected with an external thread rod 4-3, the external thread rod 4-3 is in threaded connection with a threaded hole 2-0, when the motor 4-2 works, the external thread rod 4-3 is driven to rotate in the threaded hole 2-0, the linear motion of a base 4-1 on a slideway 6 is realized, the external thread rod 4-3 extends out or retracts in a linear motion manner while rotating, when adjacent module units are in butt joint, the external thread rod 4-3 extends out linearly and is in threaded connection with an internal thread hole 3-0 in a nonmetal hard passive body 3, and the connection and locking between the adjacent module units are completed. The motor 4-2 rotates reversely, the external thread rod 4-3 withdraws from the internal thread hole 3-0 and moves linearly to retract into the threaded hole 2-0, and the separation of the adjacent module units is completed.

Usually, the base 4-1 is made into a flat structure with two symmetrical sides of the middle bulge, so that the base 4-1 can only axially move in the matched slide ways 6 in the non-metal hard driving body 2 and the non-metal hard driven body 3, is limited in the circumferential direction and cannot rotate when moving, and thus the motor 4-2 drives the external threaded rod 4-3 to linearly move in the threaded hole 2-0 to realize extension and retraction, and further realize threaded connection and locking with the internal threaded hole 3-0 in the non-metal hard driven body 3.

Generally, as shown in fig. 1 to 3, the non-metal hard driving body 2 and the non-metal hard driven body 3 have 5 planes respectively, any two adjacent planes of the non-metal hard driving body 2 are perpendicular, and any two adjacent planes of the non-metal hard driven body 3 are perpendicular. In this way, 5 non-metal hard driving bodies 2 can be butted against the non-metal hard driven body 3, or 5 non-metal hard driven bodies 3 can be butted against the non-metal hard driving body 2. And then form diversified connections to complete the reconstruction of various robot configurations.

Based on the planar design of the structure, as shown in fig. 9-14, optionally, the non-metal hard active body 2 comprises a hard active connecting piece one 2-1 and a hard active connecting piece two 2-2; the hard active connecting piece I2-1 and the hard active connecting piece II 2-2 are both straight parallelepipeds, one side surface of the hard active connecting piece II 2-2 is connected with the elastic deformation body 1, the hard active connecting piece II 2-2 is butted with the hard active connecting piece I2-1 to form a regular hexahedron, a threaded hole 2-0 pointing to the other planes is arranged in the hard active connecting piece II 2-2, linear connecting mechanisms 4 with the same number as the other planes are arranged in the hard active connecting piece II 2-2, a linear connecting mechanism 4 is arranged in the hard active connecting piece I2-1, the middle part of the side surface of the hard active connecting piece I2-1 opposite to the elastic deformation body 1 is provided with the threaded hole 2-0, and an output part B of the linear connecting mechanism 4 can extend out of and retract from the threaded hole 2-0, and magnets 5 are arranged on the rest planes of the hard driving connecting piece II 2-2 and the rest planes of the hard driving connecting piece I2-1. As shown in fig. 10-12, the constructed regular hexahedron forms 1 single plane and 4 coplanar planes, and there are 5 planes, wherein there are 4 coplanar planes of the hard active connector two 2-2 and the hard passive connector one 2-1 having a threaded hole 2-0 and corresponding 4 linear connectors 4, and there are 1 plane of the hard active connector one 2-1 having a threaded hole 2-0 and corresponding 1 linear connector 4, and there are 4 magnets 5 embedded on each plane, and the magnets 5 are arranged at the corners of the planes.

Based on the planar design of the above structure, as shown in fig. 16-18, the non-metal rigid passive body 3 comprises a rigid passive connecting piece one 3-1 and a rigid passive connecting piece two 3-2; the first hard passive connecting piece 3-1 and the second hard passive connecting piece 3-2 are both straight parallelepipeds, one side face of the second hard passive connecting piece 3-2 is connected with the elastic deformation body 1, the second hard passive connecting piece 3-2 is butted with the first hard passive connecting piece 3-1 to form a regular hexahedron, the other side faces of the second hard passive connecting piece 3-2 are provided with internal thread holes 3-0, the middle part of the side face, opposite to the elastic deformation body 1, of the first hard passive connecting piece 3-1 is provided with the internal thread holes 3-0, and magnets 5 are arranged on the other planes of the first hard passive connecting piece 3-1 and the other planes of the second hard passive connecting piece 3-2.

As shown in fig. 16, the constructed regular hexahedron forms 1 single plane and 4 coplanar planes, and has 5 planes, wherein the hard driven connecting piece two 3-2 and the hard driven connecting piece one 3-1 have 4 coplanar planes with an internal threaded hole 3-0, the hard driven connecting piece one 3-1 has 1 plane with an internal threaded hole 3-0, each plane is embedded with 4 magnets 5, and the magnets 5 are arranged at the corners of the planes. The internal thread hole 3-0 of the regular hexahedral non-metal hard driven body 3 is matched with the threaded hole 2-0 of the regular hexahedral non-metal hard driving body 2.

In the above embodiment, the first hard active connecting piece 2-1 and the second hard active connecting piece 2-2 are connected together by a silica gel adhesive, and the first hard passive connecting piece 3-1 and the second hard passive connecting piece 3-2 are connected together by a silica gel adhesive.

The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.